An underactuated hand based on a claw-studded adhesion array

Abstract

The application discloses an attaching device based on an underactuated manipulator and claw thorn, and relates to the field of climbing robots. The main base of the attaching device is hinged with underactuated double-joint fingers on the front side and the left and right sides; the proximal phalanx and the distal phalanx of each double-joint finger are designed with flexible claw thorns on the bottom surfaces. A special winch is installed on the main base, two attaching driving ropes and two detaching driving ropes are connected with the four fingers by penetrating the slot on the winch, and then the winch is driven to rotate by only one drive, so that the loading of the four fingers can be realized, the left and right and front and back fingers are bent downward by the two attaching driving ropes, and the attaching function is realized; the two detaching driving ropes are also penetrated on the winch, and the left and right and front and back fingers are respectively realized to move in the opposite direction, and the detaching is realized. Meanwhile, the distal phalanx and the claw thorn part thereon have a moving pair in the front and back directions, so that the attaching has good shape adaptability and provides greater attaching force.

Description

Technical Field

[0001] This invention relates to the field of climbing robots, and more particularly to an underactuated hand based on a claw spike attachment array. Background Technology

[0002] Climbing robots are a type of robot that can move and work in complex, dangerous, or inaccessible environments, and they have broad application prospects in fields such as fieldwork, planetary exploration, and scientific research.

[0003] As an important component of climbing robots, attachment devices allow robots to attach to surfaces and achieve climbing movements. However, existing attachment devices suffer from problems such as limited shape adaptability, inability to simultaneously meet the needs of rapid walking and climbing, poor detachment performance, and long movement cycles. Summary of the Invention

[0004] To address the aforementioned issues, this invention proposes an underactuated hand based on a claw-spiked attachment array, which has four double-jointed fingers with claws. Driven by a rope, it can perform attachment and detachment movements onto object surfaces, exhibiting good shape adaptability and providing greater adhesion through flexible claws.

[0005] The present invention relates to a sub-actuated hand based on a claw-and-spiky attachment array, comprising four double-knuckle fingers, two attachment drive ropes, two detachment drive ropes, a drive module, and a base.

[0006] Two-knuckle fingers are hinged to the front left and right sides of the base, as well as to the left and right sides; each two-knuckle finger has a proximal phalanx and a distal phalanx. The proximal phalanx and distal phalanx are hinged together, as are the proximal phalanx and the base, and torsion springs are installed at the hinge points.

[0007] The aforementioned two-jointed fingers have claw spikes installed at the base of the proximal phalanx. The base of the distal phalanx has a groove containing two claw spike sliders that slide against each other at their left and right positions. The sidewalls of these two claw spike sliders are designed to engage with grooves on the left and right sidewalls of the distal phalanx, forming a sliding pair along the front-back direction of the distal phalanx. Simultaneously, the two claw spike sliders are connected to the front end of the distal phalanx via elastic cords.

[0008] Two claw-shaped sliders are fitted with claws at their bottoms, and corresponding holes are opened on the left and right sidewalls. A load-sharing shaft with a diameter smaller than the radial length of the opening passes through the openings on the sidewalls of the two claw-shaped sliders and is set with grooves on the left and right sidewalls of the distal phalanx.

[0009] The drive module includes a drive servo motor and a drive winch. The drive winch has a cylindrical structure and is fixed coaxially with the output shaft of the drive servo motor. The drive servo motor is mounted on the base via a servo motor frame. The drive winch has three layers of grooves along its axial direction: upper, middle, and lower. Each layer has two grooves circumferentially arranged along the outer wall of the drive winch, and they are symmetrically arranged on the left and right sides.

[0010] One of the two attachment drive ropes passes through the two grooves in the lower layer. Its left end passes sequentially through the rope holes at the lower parts of the proximal and distal phalanges of the two-joint fingers on the left side of the base, and is then fixed to the load-sharing shaft. Its right end passes sequentially through the rope holes at the lower parts of the proximal and distal phalanges of the two-joint fingers on the right side of the base, and is then fixed to the load-sharing shaft. When the angle between the proximal and distal phalanges of the two-joint fingers on both sides of the base, and between the proximal phalanx and the base, is 180 degrees, the attachment drive rope contacts one end of the two grooves in the counter-clockwise direction when viewed from above.

[0011] Another attachment drive rope passes through the two grooves in the middle layer. The left end passes through the rope hole below the proximal phalanx and the distal phalanx of the left-hand double-knuckle finger in front of the base, and is then fixed to the load-sharing shaft. The right end passes through the rope hole below the proximal phalanx and the distal phalanx of the right-hand double-knuckle finger in front of the base, and is then fixed to the load-sharing shaft. When the angle between the proximal and distal phalanxes of the left and right double-knuckle fingers in front of the base and between the proximal phalanx and the base is 180 degrees, the attachment drive rope contacts one end of the two grooves in the counterclockwise direction when viewed from above.

[0012] Both desorption drive ropes pass through the two grooves on the upper layer; the two ends of one desorption drive rope pass through the rope holes above the proximal phalanges of the two-pronged fingers on the left and right sides of the base and are then fixed to the protrusion above the distal phalanx of the base. The two ends of the other desorption drive rope also pass through the rope holes above the proximal phalanges of the two-pronged fingers on the left and right sides of the base and are then fixed to the protrusion above the distal phalanx; and when the angle between the proximal and distal phalanges of the two-pronged fingers on the left and right sides of the base, and between the proximal phalanges and the base, is 180 degrees, the two desorption drive ropes contact one end of the two grooves in the clockwise direction when viewed from above.

[0013] When the drive winch rotates clockwise from above, the two attached drive ropes are wound around the winch, pulling the four double-knuckle fingers and the claw-sliding sliders on them, thus bending the double-knuckle fingers; during the process, the two detached drive ropes do not contact the ends of the two upper cable trays.

[0014] When the proximal and distal phalanges are in contact with the surface to be attached, the attachment drive rope pulls the load-sharing shaft, causing the two claw sliders to move towards the proximal phalanges. This allows the claws on the distal phalanges to lock or hook onto the surface to be attached. Simultaneously, the load-sharing shaft is allowed to tilt, causing the two claw sliders to displace to varying degrees towards the proximal phalanges, increasing the number of claws in contact with the surface to be attached and thus increasing the attachment success rate.

[0015] During debonding, the drive winch rotates in the opposite direction, and the two debonding drive ropes will contact the edge of the debonding drive rope groove, wrap around the drive winch, shorten the free length, and pull the finger in the opposite direction to complete the debonding.

[0016] The advantages of this invention are:

[0017] 1. The present invention is based on a claw-claw attachment array underactuated hand, which effectively improves the contact between the claws and the rough surface through a multi-level load distribution device, thereby increasing the adhesion force.

[0018] 2. The present invention is based on an underactuated hand with a claw-spiked attachment array. It adopts the underactuated principle and improves the adaptability of the underactuated hand to various object surface shapes.

[0019] 3. This invention relates to an underactuated hand based on a claw-like attachment array. It uses a single drive unit to simultaneously load all four fingers, significantly simplifying the overall structure of the underactuated hand and reducing its weight and size. Simultaneously, it can effectively adjust the load between each finger, ensuring simultaneous contact with the attachment surface and preventing the remaining fingers from ceasing movement after one finger has made contact.

[0020] 4. The present invention is based on a claw-and-spiked attachment array for an underactuated hand. It uses a specially designed winch to drive the fingers to complete the attachment and detachment, which solves the problem of difficult detachment in traditional attachment devices, and at the same time makes the overall structure of the underactuated hand more compact.

[0021] 5. The present invention is based on a claw-and-spiked attachment array of an underactuated hand. By arranging the relative positions of the four underactuated fingers, the underactuated hand can generate large normal and tangential forces, thereby improving the probability of successful attachment. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the underactuated hand based on the claw-spiked attachment array of the present invention when it is in the attached state;

[0023] Figure 2 This is a schematic diagram of the overall structure of the underactuated hand based on the claw-spiked attachment array of the present invention when it is in a detached state;

[0024] Figure 3 This is a schematic diagram of the underactuated hand single finger structure based on the claw barb attachment array of the present invention;

[0025] Figure 4 This is a schematic diagram of the underactuated distal phalanx claw-sliding mounting structure based on claw-spiked attachment array of the present invention.

[0026] Figure 5 This is a schematic diagram of the underactuated proximal phalanx claw-sliding mounting structure based on claw-spiky attachment array of the present invention;

[0027] Figure 6 This is a schematic diagram of the underactuated hand drive module structure based on the claw barb attachment array of the present invention;

[0028] Figure 7This is a motion diagram of the drive module during the underactuated hand attachment process based on the claw-spiked attachment array of the present invention.

[0029] In the picture:

[0030] 1-Finger 2-Attachment drive rope 3-Detachment drive rope

[0031] 4-Drive module 5-Base 101-Proximal knuckle

[0032] 102 - Distal phalanx; 103 - Distal phalanx torsion spring; 104 - Proximal phalanx torsion spring

[0033] 105 - Reamed bolt; 106 - Elastic cord; 101a - Rectangular hole

[0034] 101b - Claw mounting channel; 101c - Proximal phalanx claw; 101d - Spring

[0035] 101e - End cap; 101f - Protrusion; 102a - Distal phalanx base

[0036] 102a1 Boss, 102a2 Fixed claw, 102b Claw slider

[0037] 102b1 - Cylindrical slider; 102b2 - Distal phalanx claw; 102b3 - Positioning plate

[0038] 102b4 - Through hole; 102c - Load-shaping shaft; 102d - Front cover

[0039] 102e-Slide groove; 102f-Front cover rope head; 401-Drive servo motor

[0040] 402 - Drive winch; 403 - Upper cable tray; 404 - Middle cable tray

[0041] 405-layer cable tray, 501-sleeve, 502-motor support frame Detailed Implementation

[0042] The present invention will now be described in further detail with reference to the accompanying drawings.

[0043] This invention relates to a sub-actuated hand based on a claw-like attachment array, comprising four double-knuckle fingers 1, two attachment drive ropes 2, two detachment drive ropes 3, a drive module 4, and a base 5, as follows: Figure 1 , Figure 2 As shown.

[0044] The base 5 has a rectangular cross-section, and hinge joints are designed on the left and right sides of its front side, as well as on the left and right sides, respectively, to hinge a double-knuckle finger 1; let the double-knuckle fingers 1 on the left and right sides of its front side be finger A and finger B respectively; let the double-knuckle fingers 1 on the left and right sides be finger C and finger D respectively.

[0045] The four double-jointed fingers 1 have the same structure, such as Figure 3 As shown, it includes a proximal phalanx 101 and a distal phalanx 102. The proximal phalanx 101 has hinge joints on its rear and front sides, used to connect the base 5 and the distal phalanx 102, respectively. A rectangular hole 101a is located in the center of the bottom surface of the proximal phalanx 101; rope holes penetrating the front and rear sides of the proximal phalanx 101 are respectively located at opposite positions on the front and rear sides of the rectangular hole 101a. Multiple claw-mounting channels 101b penetrating the bottom surface of the proximal phalanx are formed on the left and right sides of the top surface of the proximal phalanx along the front-rear direction for mounting proximal phalanx claws 101c. (See figure) Figure 4 As shown, the claw mounting channel 101b has a large inner diameter section and a small inner diameter section, wherein the small inner diameter section is connected to the bottom surface of the proximal phalanx 101. The proximal phalanx claw 101c is a rod-shaped structure with a pointed front end and an annular shoulder at the end. The proximal phalanx claw 101c passes through the small inner diameter section of the channel, with its front end exposed from the bottom surface of the proximal phalanx 101, and its annular shoulder at the end engaging with and limiting the shoulder formed between the small and large inner diameter sections. Simultaneously, a spring 101d is installed within the large inner diameter section, with both ends of the spring 101d contacting the end of the proximal phalanx claw 101c and the end cap 101e fixedly mounted on the top surface of the proximal phalanx 101, respectively. The aforementioned claw mounting channel 101b has a certain inclination angle, so that after the proximal phalanx claw 101c is installed, the tip of the proximal phalanx claw 101c is tilted 65°-80° towards the base 5. In this embodiment, the inclination angle is designed to be 76°.

[0046] The distal phalanx 102 includes a distal phalanx base 102a, claw-shaped sliders 102b, and a load-sharing shaft 102c. The distal phalanx base 102a has a hinge joint in the center of its rear side, with a rope hole located below the hinge joint. The bottom surface of the distal phalanx base 102a is open, with a claw-shaped slider 102b positioned on each of its left and right sides. The opposing sides of the two claw-shaped sliders 102b each have a sliding groove and a slider that engage to form a sliding pair. The outer sides of the two claw-shaped sliders 102b each have a columnar slider 102b1 positioned at their front and rear ends, which engage with the sliding grooves 102e on the left and right sidewalls of the distal phalanx base 102a to form a sliding pair. The forward and backward movement of the two claw-shaped sliders 102b is limited by the rear end face of the distal phalanx 102 and the front cover 102d mounted at the front end.

[0047] The two claw sliders 102b described above have multiple claw mounting channels designed along the front-back direction, and their structure is the same as that of the claw mounting channel 101b in the proximal phalanx 101. Each claw mounting channel is equipped with a distal phalanx claw 102b2, and the structure and installation method of the distal phalanx claw 102b2 are the same as those of the proximal phalanx claw 101c described above; similarly, the tips of the distal phalanx claws 102b2 are all inclined at 65°-80° towards the base 5, and in this embodiment, the inclination angle is designed to be 76°.

[0048] Two claw-shaped sliders 102b have through holes 102b4 at their midpoints, respectively, which penetrate the left and right walls of the claw-shaped sliders 102b and are designed along the front-back direction. Figure 5 As shown. The load-sharing shaft 102c passes through the through hole 102b4 on the two claw-shaped sliders 102b and the groove 102e on the distal phalanx base 102a, and achieves its axial limitation through the end caps installed at both ends.

[0049] A positioning plate 102b3 is installed at the end of the columnar slider 102b1 behind the outer side wall of the two claw sliders 102b. A U-shaped groove is formed between the positioning plate 102b3, the columnar slider 102b1, and the outer wall of the distal phalanx base 102a. This groove is used to cooperate with the L-shaped front cover rope ends 102f designed on the left and right sides of the front cover 102d to connect the elastic rope 106.

[0050] like Figure 2 As shown, a protrusion 101f is designed at the front and rear middle position of the top of the proximal phalanx 101; the two protrusions 101f pass through the grooves opened at the front and rear positions of the end cap 101e respectively. A rope hole is opened at the corresponding position in the middle of the two protrusions 101f.

[0051] A boss 102a1 is designed at the middle of the rear side of the top surface of the distal phalanx base 102a, and a rope hole is opened in the middle of the boss 102a1. Multiple fixing claws 102a2 are also designed on the front side wall of the front cover 102d along the left and right direction; when the angle between the bottom surfaces of the distal phalanx 102 and the proximal phalanx 101 is 180°, the bottom surfaces of the two are coplanar; at this time, the rope holes located on the same side of the distal phalanx 102 and the proximal phalanx 101 are coaxial; at the same time, when the claws on the distal phalanx 102 and the proximal phalanx 101 are not subjected to external force, under the action of the spring 101d, the tips of each claw are coplanar with the tips of the fixing claws 102a2.

[0052] The hinge joint on the rear side wall of the distal phalanx base 102a and the hinge joint on the front side wall of the proximal phalanx base 101a are connected by a hinge bolt 105 and a distal phalanx torsion spring 103 to form a rotating pair; the hinge joint on the rear side wall of the proximal phalanx base 101a and the hinge joint on the side wall of the base 5 are connected by a rotating shaft and a proximal phalanx torsion spring 104 to form a rotating pair; and the stiffness of the distal phalanx torsion spring 103 is greater than that of the proximal phalanx torsion spring 104 and less than that of the elastic rope 106, so as to ensure that when the two phalanges of the finger 1 bend, the proximal phalanx 101 bends before the distal phalanx 102, and the two claw-shaped sliders 102b move last, ensuring the degree of contact between the underdriven hand and the attachment surface.

[0053] The four double-knuckle fingers 1 are driven by two attachment drive ropes 2 and two detachment drive ropes 3 and the drive module 4 to achieve the underactuated hand's attachment and detachment movement on the object surface.

[0054] The drive module 4 includes a drive servo motor 401 and a drive winch 402, such as Figure 6 As shown. Among them, the drive winch 402 is a cylindrical structure, with its end coaxially fixed to the output shaft of the drive servo motor 401, and can rotate under the drive of the drive servo motor 401.

[0055] The drive winch 402 has three layers of grooves along its axial direction: upper, middle, and lower. Each layer has two grooves circumferentially designed along the outer wall of the drive winch 402. The two grooves in each layer are symmetrically arranged and have equal lengths. The upper groove 403 serves as the groove for detaching the drive rope, while the middle groove 404 and the lower groove 405 both serve as grooves for attaching the drive rope. Furthermore, to facilitate subsequent rope assembly, the middle groove 404 and the lower groove 405 are offset counterclockwise from the two grooves in the upper groove 403 when viewed from above. The arc length of the offset portion is the arc length between the ends of the two upper grooves.

[0056] The aforementioned structure drives the winch 402 to be coaxially placed within the sleeve 501 located at the center of the base 5, as shown below. Figure 2 As shown; at the same time, a motor support frame 502 is installed on the circumferential side wall of the base; the top of the motor support frame 502 is fixed to the side wall of the body of the drive servo motor 401 by bolts, thereby supporting the motor of the drive servo motor 401 and thus positioning the drive winch 402.

[0057] like Figure 7 As shown, one of the two attached drive ropes 2 passes through the two grooves in the lower wire groove 405. Its left end passes through the wiring channel in the base 5 located on the left side of the drive winch 402, extending in the left direction. Then, it passes through the two rope holes below the proximal phalanx 101 and the rope hole below the distal phalanx 102 in the finger C, and finally passes between the two claw-shaped sliders 102b in the distal phalanx 102, and is fixed to the load-sharing shaft 102c. Its right end passes through the base 5 located on the right side of the drive winch 402. After the wiring channel is opened on the side in the left and right direction, it passes through the two rope holes below the proximal phalanx 101 and the rope hole below the distal phalanx 102 of finger D in sequence, and is fixed to the load-sharing shaft 102c between the two claw-shaped sliders 102b in the distal phalanx 102; and when the angle between the proximal phalanx 101 and distal phalanx 102 of finger C and finger D and between the proximal phalanx 101 and the base 5 is 180 degrees, the attached drive rope 2 contacts one end of the two wire grooves in the counterclockwise direction when viewed from above.

[0058] Another attachment drive rope 2 passes through two cable slots in the middle layer cable slot 404. The left end passes through the cable routing channel in the base 5 located on the left side of the drive winch 402, which is opened in the front-back direction. Then, it passes through the two cable holes below the proximal phalanx 101 and the cable hole below the distal phalanx 102 in finger A. Finally, it passes between the two claw-shaped sliders 102b in the distal phalanx 102 and is fixed to the load-sharing shaft 102c. The right end passes through the cable routing channel in the base 5 located on the right side of the drive winch 402, which is opened in the front-back direction. Then, it passes through the two cable holes on the proximal phalanx 101 and the cable hole on the rear side of the distal phalanx 102 in finger B. Finally, it passes between the two claw-shaped sliders 102b in the distal phalanx 102 and is fixed to the load-sharing shaft 102c. Furthermore, when the angle between the proximal phalanx 101 and distal phalanx 102 of finger A and finger B, and between the proximal phalanx 101 and the base 5, is 180 degrees, the attached drive rope 2 contacts one end of the two grooves in the counterclockwise direction when viewed from above.

[0059] like Figure 2 As shown, both decoupling drive ropes 3 pass through the two grooves in the upper wire groove 403, ensuring the structural strength of the winch while preventing the two drive ropes from tangling. One decoupling drive rope 3 passes through the openings on the left and right sides of the upper part of the sleeve 501, then through the rope-passing holes above the proximal phalanx 101 of fingers A and B, and finally through the rope-passing hole above the distal phalanx base 102a to be attached to the boss 102a1. Similarly, the other decoupling drive rope 3 passes through the openings on the left and right sides of the upper part of the sleeve 501, then through the rope-passing holes above the proximal phalanx 101 of fingers C and D, and finally through the rope-passing hole above the distal phalanx base 102a to be attached to the boss 102a1. Because the two grooves in the upper groove 403 have a certain axial misalignment, when the angle between the proximal phalanx 101 and distal phalanx 102 of finger C and finger D, finger A and finger B, and between the proximal phalanx 101 and base 5 is 180 degrees, the two detachment drive ropes 3 contact one end of the two grooves in the clockwise direction when viewed from above.

[0060] Therefore, when the drive winch 403 is viewed from above and rotates clockwise ( Figure 7 When rotating (in the direction of the middle arrow), the two attached drive ropes 2 will wind around the winch, shortening their length, thereby pulling the four double-knuckle fingers 1 and their claw-like sliders 105, achieving bending of the double-knuckle fingers 1. Because the stiffness of the proximal knuckle torsion spring 104 is less than that of the distal knuckle torsion spring 103, and the stiffness of the distal knuckle torsion spring 103 is less than that of the elastic rope 106, the proximal knuckle bends first when the drive is pulled. The distal knuckle bends after the proximal knuckle 101 contacts the attached surface. Once the distal knuckle contacts the attached surface, the two claw-like sliders 102b are loaded, as... Figure 1As shown. In the above process, since the drive winch 402 rotates clockwise when viewed from above, and the two de-adhesion drive ropes 3 are located at one end of the trough in the opposite direction of rotation, the rotation of the drive winch 402 causes the two de-adhesion drive ropes 3 to move away from the end of the trough along the direction of the trough. Therefore, they will not be on the drive winch 402, and the free length of the two de-adhesion drive ropes 3 will remain unchanged, thus not interfering with the attachment process.

[0061] When the proximal phalanx 101 and distal phalanx 102 successively adhere to the surface to be attached, the attachment drive rope 2 pulls the load-sharing shaft 104, causing the two claw sliders 102b to move towards the proximal phalanx 101. This allows the claws on the distal phalanx 102 to lock or hook with the protrusions or depressions on the attachment surface, providing adhesion. In this invention, the diameter of the load-sharing shaft 102c is designed to be smaller than the radial direction of the through holes 102b4 on the two claw sliders 102b. This allows the load-sharing shaft 102c to tilt, thereby allowing the two claw sliders 102b to produce different degrees of displacement towards the proximal phalanx 101. This increases the number of claws in contact with the surface to be attached, increases the probability of successful attachment, and further improves the adhesion effect of the underactuated hand. During the above-mentioned adhesion process, after the underactuated hand comes into contact with the adhesion surface, each claw on the underactuated hand is elastic and can move upward, avoiding the generation of a large normal force. Furthermore, the local undulations of the claw on the adhesion surface will not reduce the number of claws in contact with it too much, which further ensures the success rate of adhesion.

[0062] During desorption, the drive winch 402 rotates in the opposite direction. Figure 7 (If the direction is opposite to the middle arrow), then the two decoupling drive ropes 3 will contact the edge of the decoupling drive rope groove 405, wrap around the drive winch 402, shorten their free length, and pull the four fingers in the opposite direction to complete the decoupling. Figure 2 As shown. In the detached state, the elastic cord 106 can ensure that the two claw sliders 102b are in front of the distal phalanx 102.

Claims

1. A subactuated hand based on a claw-spiked attachment array, characterized in that: It includes four double-knuckle fingers, two attachment drive ropes, two detachment drive ropes, a drive module, and a base. Two-knuckle fingers are hinged to the front left and right sides of the base, as well as to the left and right sides; the two-knuckle fingers have a proximal phalanx and a distal phalanx; the proximal phalanx and distal phalanx are hinged to each other and to the base, and a torsion spring is installed at the hinge point; The aforementioned two-jointed fingers have claw spikes installed at the bottom of the proximal phalanx; the bottom of the distal phalanx has a groove, and there are two claw spike sliders that slide against each other at the left and right positions in the groove. The sliders on the side walls of the two claw spike sliders are designed to cooperate with the sliding grooves opened on the left and right side walls of the distal phalanx to form a sliding pair along the front and back direction of the distal phalanx; at the same time, the two claw spike sliders are connected to the front end of the distal phalanx by elastic ropes. Two claw-shaped sliders are fitted with claws at the bottom and holes are opened at corresponding positions on the left and right side walls. A load-sharing shaft with a diameter smaller than the radial length of the opening passes through the openings on the side walls of the two claw-shaped sliders and the grooves on the left and right side walls of the distal phalanx. The drive module includes a drive servo motor and a drive winch; wherein, the drive winch is a cylindrical structure and is fixed coaxially with the output shaft of the drive servo motor; the drive servo motor is mounted on the base through a servo motor frame; the drive winch is designed with three layers of grooves along the axial direction, with two grooves in each layer designed along the circumference of the outer wall of the drive winch, and arranged symmetrically on the left and right. One of the two attachment drive ropes passes through the two grooves in the lower layer. The left end passes through the rope hole at the lower part of the proximal phalanx and the lower part of the distal phalanx of the double-knuckle finger on the left side of the base, and is then fixed to the load-sharing shaft. The right end passes through the rope hole at the lower part of the proximal phalanx and the lower part of the distal phalanx of the double-knuckle finger on the right side of the base, and is then fixed to the load-sharing shaft. When the angle between the proximal and distal phalanxes of the double-knuckle fingers on the left and right sides of the base, and between the proximal phalanx and the base, is 180 degrees, the attachment drive rope contacts one end of the two grooves in the counterclockwise direction when viewed from above. Another attachment drive rope passes through the two grooves in the middle layer. The left end passes through the rope hole below the proximal phalanx and the distal phalanx of the double-knuckle finger on the left side in front of the base, and is then fixed to the load-sharing shaft. The right end passes through the rope hole below the proximal phalanx and the distal phalanx of the double-knuckle finger on the right side in front of the base, and is then fixed to the load-sharing shaft. When the angle between the proximal and distal phalanxes of the double-knuckle fingers on the left and right sides in front of the base, and between the proximal phalanx and the base, is 180 degrees, the attachment drive rope contacts one end of the two grooves in the counterclockwise direction when viewed from above. Both desorption drive ropes pass through the two upper grooves; one of the desorption drive ropes passes through the rope holes above the proximal phalanges of the two-pronged fingers on the left and right sides of the base and is then fixed to the protrusion above the distal phalanx of the base; the other desorption drive rope also passes through the rope holes above the proximal phalanges of the two-pronged fingers on the front left and right sides of the base and is then fixed to the protrusion above the distal phalanx; and when the angle between the proximal and distal phalanges of the two-pronged fingers on the left and right sides of the base, and between the proximal phalanges and the base, is 180 degrees, the two desorption drive ropes contact one end of the two grooves in the clockwise direction when viewed from above. When the drive winch rotates clockwise from above, the two attached drive ropes are wound around the winch, pulling the four double-knuckle fingers and the claw-sliding sliders on them, thus bending the double-knuckle fingers; during the process, the two detached drive ropes do not contact the ends of the two upper cable slots. When the proximal and distal phalanges are in contact with the surface to be attached, the attachment drive rope pulls the load-sharing shaft, causing the two claw sliders to move towards the proximal phalanges. This allows the claws on the distal phalanges to lock or hook onto the surface to be attached. At the same time, the load-sharing shaft is allowed to tilt, causing the two claw sliders to move towards the proximal phalanges to different degrees, increasing the number of claws in contact with the surface to be attached and increasing the success rate of attachment. During debonding, the drive winch rotates in the opposite direction, and the two debonding drive ropes will contact the edge of the debonding drive rope groove, wrap around the drive winch, shorten the free length, and pull the finger in the opposite direction to complete the debonding.

2. The underactuated hand based on a claw-like attachment array as described in claim 1, characterized in that: The claws on the proximal and distal phalanges are rod-shaped structures with pointed ends. They are installed in the same way, both within the claw mounting channel. The claw mounting channel has a large inner diameter section and a small inner diameter section. The claw is placed in the small inner diameter section for radial restraint. The end of the claw has a shoulder that fits and restrains the shoulder formed between the large and small inner diameter sections. A spring is also installed in the large inner diameter section, with both ends of the spring connected to the end of the large inner diameter section and the end of the claw, respectively.

3. The underactuated hand based on a claw-like attachment array as described in claim 1, characterized in that: The claw spike installation channel has a certain inclination angle. After the claw spike is installed, the claw spike tip is tilted 65°-80° towards the base.

4. The underactuated hand based on a claw-like attachment array as described in claim 1, characterized in that: The stiffness of the torsion spring at the joint between the distal and proximal phalanges is greater than that at the joint between the proximal phalanges and the base, and the stiffness of the torsion spring at the joint between the distal and proximal phalanges is less than that of the elastic rope.

5. The underactuated hand based on a claw-like attachment array as described in claim 1, characterized in that: In the drive winch, the two wire grooves in each layer are of equal length; the two wire grooves in the middle and lower layers are offset counterclockwise from the two wire grooves in the upper layer when viewed from above, and the arc length of the offset part is the arc length between the ends of the two wire grooves in the upper layer.

6. The underactuated hand based on a claw-like attachment array as described in claim 1, characterized in that: The drive winch is coaxially placed inside a sleeve designed at the center of the base. The sleeve has a through hole for detaching the drive rope, while the base has a channel for attaching the drive rope.

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