Multi-degree-of-freedom bionic manipulator

Abstract

A multi-degree-of-freedom bionic manipulator belongs to the technical field of bionic manipulators and comprises a palm and fingers and further comprises a base, the base is fixedly mounted at one end of the palm, by arranging an anti-shake mechanism and a damper, the problems that the manipulator is weak in grabbing force and shakes when grabbing and releasing objects are solved, first springs are fixedly connected to the two sides of the base, and the first springs are fixedly connected to the two sides of the base. The buffer telescopic columns are sleeved with the first springs, when shaking occurs, the buffer columns are subjected to impact force, the first springs on the two sides of the base and the buffer telescopic columns are compressed, absorb and buffer the impact force, the stabilizing piece is composed of second springs and hydraulic buffer rods, and the second springs are sleeved with the outer surfaces of the hydraulic buffer rods. And one end of the hydraulic buffer rod is fixedly installed in the stabilizing seat, the stabilizing seat is rotationally connected with the limiting plate through the movable block, and when the buffer column is subjected to impact force, the second springs in the stabilizing pieces on the two sides of the fixing sleeve and the hydraulic buffer rod start to work, and the impact force generated by shaking is further absorbed and buffered.

Description

Technical Field

[0001] The invention relates to the technical field of bionic manipulators, and in particular to a multi-degree-of-freedom bionic manipulator. Background Art

[0002] A multi-degree-of-freedom bionic manipulator is a mechanical device that imitates the structure and movement of human or other biological hands. It has multiple independently movable joints to achieve highly flexible movements. Through advanced control systems, it can achieve precise control of each joint to complete various delicate operating tasks.

[0003] When using a bionic manipulator, first, the manipulator receives the task instruction, which specifies the requirements such as grasping a specific object, performing a specific action or completing a specific task. Then, the manipulator senses the surrounding environment through various installed sensors, such as visual sensors, force sensors, position sensors, etc. Then, the control system plans the movement of the manipulator according to the task instruction and environmental perception information, and determines the movement trajectory, speed, acceleration and other parameters. The drive system drives the various joints of the manipulator to move according to the instructions of the control system. When the manipulator reaches the target position, it performs operations according to the task requirements. However, when the weight of the object grasped by the bionic manipulator changes suddenly, or when it encounters different resistances during operation, the manipulator needs to adjust the output force to adapt to the new load conditions. If the adjustment is not timely or inaccurate, jitter may occur. For example, when suddenly switching from grasping a light object to grasping a heavy object, the manipulator may jitter due to insufficient power. Frequent jittering will cause additional stress on the joint connections of the manipulator, accelerating the loosening of screws and wear of joint bearings, thereby reducing the service life of the manipulator. At the same time, jittering will also cause the position control accuracy of the manipulator to decrease, making it difficult to accurately reach the target position for grasping or releasing operations. Summary of the invention

[0004] The purpose of the present invention is to provide a multi-degree-of-freedom bionic manipulator to solve the problem raised in the above background technology that the grasping force varies due to the different weights of objects, and that when grasping heavy objects, the centrifugal force or inertial force generated by the heavy objects may cause shaking.

[0005] A multi-freedom bionic manipulator, comprising a palm and fingers, and further comprising: A base, wherein the base is fixedly mounted on one end of the palm; A joint, said joint being located at the other end of the palm; An anti-shake mechanism, wherein the anti-shake mechanism is fixedly installed on both sides of the joint; Sliding parts, which are also fixedly mounted on both sides of the joint, and are located on both sides of the anti-shake mechanism; The anti-shake mechanism comprises a collar, a buffer column, a fixing sleeve and a stabilizing member, the collar is fixedly mounted on the top of the buffer column, the fixing sleeve is fixedly mounted on one end of the buffer column close to the collar, and the stabilizing members are respectively mounted on both sides of the fixing sleeve; The sliding member includes a connecting rod, a short plate, a lifting plate, a push rod and an inclined plate. One end of the short plate is fixedly connected to one end of the connecting rod by a first bolt, one end of the lifting plate is connected to the bottom end of the short plate by a second bolt, the push rod is fixedly installed on one side of the lifting plate by a fixing member, and one end of the push rod is overlapped on one end of the inclined plate.

[0006] Preferably, the number of fingers is set to five, and the five fingers are all installed on the top of the palm. The five fingers are respectively the thumb, index finger, middle finger, ring finger and little finger. The thumb includes two joints, and the index finger, middle finger, ring finger and little finger include three joints.

[0007] Preferably, the joint comprises a shell and a protective pad, the protective pad is fixedly mounted on one side of the shell, a frosted pad is laid on the surface of the protective pad, and damping is arranged between the joints.

[0008] Preferably, slide grooves are provided on both sides of the interior of the shell, and a breathable member is provided on the inner bottom wall of the shell.

[0009] Preferably, the air permeable member includes a filter plate, an extrusion plate and a telescopic elastic plate. The filter plate is fixedly mounted on the bottom surface of the shell by a clamp block. There are two extrusion plates and two telescopic elastic plates. The two extrusion plates are respectively fixedly mounted on both sides of the top of the filter plate. The two telescopic elastic plates are respectively mounted on one end of the two extrusion plates. A baffle is arranged between the two telescopic elastic plates, and the bottom surface of the baffle is connected to the top surface of the filter plate.

[0010] Preferably, the top of the buffer column is threadedly connected with a fixing cap, the bottom surface of the buffer column is fixedly connected with a base, both sides of the base are fixedly connected with a first spring, and the interior of the first spring is sleeved with a buffer telescopic column.

[0011] Preferably, one end of the first spring is fixedly connected to a limit plate, two groups of first springs and buffer telescopic columns are provided, the top of the limit plate is rotatably connected to a movable block, and a stabilizing seat is fixedly installed on one side of the movable block.

[0012] Preferably, both sides of the fixing sleeve are arc-shaped, and the fixing sleeve is movably connected to the stabilizing member, the stabilizing member includes a second spring and a hydraulic buffer rod, the second spring is sleeved on the outer surface of the hydraulic buffer rod, and one end of the hydraulic buffer rod is fixedly installed inside the stabilizing seat.

[0013] Preferably, the other end of the connecting rod is connected to the ring through a fixing plate, and a moving block is fixedly connected to the bottom of the connecting rod, and the moving block is adapted to the slide groove. The fixing part includes an extension plate, a fixing frame and an adjustment plate. One end of the extension plate is connected to one side of the bottom end of the lifting plate, and the other end of the extension plate is fixedly installed inside the fixing frame. The adjustment plate is fixedly connected to the bottom surface of the extension plate, and the back side of the adjustment plate is slidably connected to the surface of one side of the outer shell, and the push rod is fixedly installed on the bottom surface of the fixing frame.

[0014] Preferably, the top surface of one end of the adjustment plate is connected to the bottom surface of the inclined plate near one end of the push rod, a third spring is fixedly connected to one side of the adjustment plate, and one end of the third spring is connected to the limit plate.

[0015] Working principle and working process of the present invention: The anti-shake mechanism is fixedly installed on both sides of the joint, including a collar, a buffer column, a fixed sleeve and a stabilizer. The collar is fixedly installed on the top of the buffer column and connected to the connecting rod of the sliding member through a fixed sheet. The fixed sleeve is fixedly installed on one end of the buffer column close to the collar, and the stabilizers are respectively installed on both sides of the fixed sleeve. When the manipulator grabs heavy objects and generates centrifugal force or inertial force, causing shaking, the buffer column plays a major buffering role. The top of the buffer column is threadedly connected to the fixing cap, and the bottom is fixedly connected to the base. The two sides of the base are fixedly connected to the first spring, and the buffer telescopic column is sleeved inside the first spring. When shaking occurs, the buffer column is subjected to impact force, and the first springs and the buffer telescopic columns on both sides of the base are compressed to absorb and buffer the impact force. The stabilizing member is composed of a second spring and a hydraulic buffer rod. The second spring is sleeved on the outer surface of the hydraulic buffer rod. One end of the hydraulic buffer rod is fixedly installed inside the stabilizing seat. The stabilizing seat is rotatably connected to the limit plate through a movable block. When the buffer column is subjected to impact force, the second spring and the hydraulic buffer rod in the stabilizing member on both sides of the fixed sleeve also start to work, further absorbing and buffering the impact force generated by the shaking. When the joint shakes, the ring of the anti-shake mechanism moves with the movement of the joint, and the ring drives the connecting rod to move. The moving block at the bottom of the connecting rod slides in the slide groove, and the connecting rod drives the short plate to move, and the short plate then drives the lifting plate to move. The push rod on one side of the lifting plate pushes the inclined plate, and the movement of the inclined plate drives the adjustment plate to slide on the surface of one side of the outer shell. The inclined plate will drive the telescopic elastic plate to perform telescopic movement, so that external air can flow into the interior of the joint through the filter plate, forming air exchange. At the same time, the bottom surface of the adjustment plate is connected to the third spring, one end of the third spring is connected to the limit plate, and the third spring is stretched or compressed in this process to further buffer the shake.

[0016] Beneficial effects of the present invention: The present invention avoids the problem of weak grasping force of the manipulator and shaking when grasping and releasing objects by arranging an anti-shake mechanism and damping. The first spring is fixedly connected to both sides of the base, and the buffer telescopic column is sleeved inside the first spring. When shaking occurs, the buffer column is subjected to impact force, and the first spring and the buffer telescopic column on both sides of the base are compressed to absorb and buffer the impact force. The stabilizing member is composed of a second spring and a hydraulic buffer rod. The second spring is sleeved on the outer surface of the hydraulic buffer rod, and one end of the hydraulic buffer rod is fixedly installed inside the stabilizing seat. The stabilizing seat is rotatably connected to the limit plate through a movable block. When the buffer column is subjected to impact force, the first spring in the stabilizing member on both sides of the fixed sleeve is The second spring and hydraulic buffer rod also start working to further absorb and buffer the impact force caused by shaking. When grabbing heavy objects, the manipulator can ensure that it provides sufficiently stable grasping force to prevent objects from slipping due to insufficient grasping force, thereby improving the reliability in the task of grasping objects of different weights. When grabbing and releasing objects, the first spring and buffer telescopic column in the anti-shake mechanism work together with the second spring and hydraulic buffer rod in the stabilizer to quickly absorb and buffer the impact force caused by heavy objects, greatly reducing the occurrence of shaking, making the manipulator more stable during operation, and thus improving the precision and accuracy of the operation.

[0017] The present invention is provided with a sliding part. When the joint shakes, the ring of the anti-shake mechanism moves with the movement of the joint, and the ring drives the connecting rod to move. The moving block at the bottom of the connecting rod slides in the slide groove, and the connecting rod drives the short plate to move, and the short plate then drives the lifting plate to move. The push rod on one side of the lifting plate pushes the inclined plate. The movement of the inclined plate drives the adjusting plate to slide on the surface of one side of the shell, and the inclined plate drives the telescopic elastic plate to perform telescopic movement, so that external air can flow into the interior of the joint through the filter plate to form air exchange. When the joint shakes, the various components of the sliding part work together to play a role in buffering the shaking in the mechanical structure. At the same time, the inclined plate drives the telescopic elastic plate to move to realize air exchange. On the one hand, the air pressure inside the joint can be balanced and additional unstable factors that may be caused by changes in air pressure can be reduced. On the other hand, air exchange helps to dissipate the heat generated by the manipulator during work to prevent the performance and life of the manipulator from being affected by overheating. In addition, good ventilation can keep the inside of the joint dry and avoid corrosion and damage to components caused by moisture or other factors. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 A schematic diagram of a joint structure according to an embodiment of the present invention; Figure 3 A schematic diagram of a partial structure of an anti-shake mechanism according to an embodiment of the present invention; Figure 4 is a schematic cross-sectional structure diagram of an anti-shake mechanism and a sliding member according to an embodiment of the present invention; Figure 5 for Figure 4 Enlarged view of point B in the middle; Figure 6 A schematic diagram of the cooperation relationship between the sliding member and the anti-shake mechanism according to an embodiment of the present invention; Figure 7 A schematic diagram of a joint tangent according to an embodiment of the present invention; Figure 8 for Figure 7 Enlarged view of point A in the middle; Fig. 9 Schematic diagram of a finger and a damping structure according to an embodiment of the present invention.

[0019] In the figure: 1. palm; 2. finger; 3. base; 4. joint; 41. shell; 42. protective pad; 5. anti-shake mechanism; 51. ring; 52. buffer column; 521. fixing cap; 53. fixing sleeve; 54. stabilizing member; 541. second spring; 542. hydraulic buffer rod; 55. base; 551. first spring; 552. buffer telescopic column; 56. limit plate; 561. movable block; 6. sliding member; 61. connecting rod; 611. moving block; 62. short plate; 63. lifting plate; 64. push rod; 65. inclined plate; 66. fixing member; 661. extension plate; 662. fixing frame; 663. adjustment plate; 664. third spring; 7. damping; 8. breathable member; 81. filter plate; 82. extrusion plate; 83. telescopic elastic plate. DETAILED DESCRIPTION

[0020] See also Figures 1 to 9 Shown is an embodiment of the present invention.

[0021] A multi-degree-of-freedom bionic manipulator, comprising a palm 1 and fingers 2, and further comprising: A base 3, the base 3 is fixedly mounted on one end of the palm 1; Joint 4, which is located at the other end of palm 1; The anti-shake mechanism 5 is fixedly installed on both sides of the joint 4; Sliding member 6, the sliding member 6 is also fixedly mounted on both sides of the joint 4, and the sliding member 6 is located on both sides of the anti-shake mechanism 5; The anti-shake mechanism 5 includes a collar 51, a buffer column 52, a fixing sleeve 53 and a stabilizing member 54. The collar 51 is fixedly mounted on the top of the buffer column 52, the fixing sleeve 53 is fixedly mounted on one end of the buffer column 52 close to the collar 51, and the stabilizing member 54 is respectively mounted on both sides of the fixing sleeve 53. The sliding member 6 includes a connecting rod 61, a short plate 62, a lifting plate 63, a push rod 64 and an inclined plate 65. One end of the short plate 62 is fixedly connected to one end of the connecting rod 61 by a first bolt, one end of the lifting plate 63 is connected to the bottom end of the short plate 62 by a second bolt, the push rod 64 is fixedly installed on one side of the lifting plate 63 by a fixing member 66, and one end of the push rod 64 is overlapped on one end of the inclined plate 65.

[0022] The above scheme is adopted: the palm 1 serves as the main support structure of the manipulator, provides an installation base for the fingers 2, and cooperates with the base 3 and the joints 4 to realize the overall movement and operation of the manipulator. The five fingers 2 (thumb, index finger, middle finger, ring finger and little finger) simulate the structure of the human hand, and various grasping and operating actions are realized through different combinations of joints 4. Among them, the two joints 4 of the thumb and the three joints 4 of the other four fingers increase the flexibility and operability of the fingers 2, and can adapt to the grasping requirements of objects of different shapes and sizes. By setting the anti-shake mechanism 5 and the damping 7, the problem of weak grasping force of the manipulator and shaking when grasping and releasing objects is avoided. The first spring 551 is fixedly connected on both sides of the base 55, and the buffer telescopic column 552 is sleeved inside the first spring 551. When shaking occurs, the buffer column 52 is subjected to impact force, and the first spring 551 and the buffer telescopic column 552 on both sides of the base 55 are compressed to absorb and buffer the impact force. The stabilizing member 54 is composed of the second spring 541 and the hydraulic buffer rod 54 2, the second spring 541 is sleeved on the outer surface of the hydraulic buffer rod 542, one end of the hydraulic buffer rod 542 is fixedly installed inside the stabilizing seat, and the stabilizing seat is rotatably connected to the limit plate 56 through the movable block 561. When the buffer column 52 is subjected to impact force, the second spring 541 and the hydraulic buffer rod 542 in the stabilizing member 54 on both sides of the fixed sleeve 53 also start to work, further absorbing and buffering the impact force generated by the shaking. When grabbing heavy objects, the manipulator can ensure that a sufficiently stable grasping force is provided to prevent the objects from slipping due to insufficient grasping force, thereby improving the reliability in the task of grasping objects of different weights. When grasping and releasing objects, the first spring 551 and the buffer telescopic column 552 in the anti-shake mechanism 5 work together with the second spring 541 and the hydraulic buffer rod 542 in the stabilizing member 54, which can quickly absorb and buffer the impact force generated by the heavy objects, greatly reducing the occurrence of shaking, making the manipulator more stable during operation, thereby improving the precision and accuracy of the operation.

[0023] like Figures 1 to 9As shown, there are five fingers 2, which are all installed at the top of the palm 1. The five fingers 2 are respectively the thumb, the index finger, the middle finger, the ring finger and the little finger. The thumb includes two joints 4, and the index finger, the middle finger, the ring finger and the little finger include three joints 4. The joints 4 include a shell 41 and a protective pad 42. The protective pad 42 is fixedly installed on one side of the shell 41. The surface of the protective pad 42 is paved with a frosted pad. Dampers 7 are arranged between the joints 4. Slide grooves are provided on both sides of the shell 41. The shell 4 1 is provided with a breathable member 8, the breathable member 8 includes a filter plate 81, an extrusion plate 82 and a telescopic elastic plate 83, the filter plate 81 is fixedly mounted on the bottom surface of the housing 41 through a block, the extrusion plate 82 and the telescopic elastic plate 83 are both provided with two, the two extrusion plates 82 are respectively fixedly mounted on both sides of the top of the filter plate 81, the two telescopic elastic plates 83 are respectively mounted on one end of the two extrusion plates 82, a baffle is provided between the two telescopic elastic plates 83, and the bottom surface of the baffle is connected to the top surface of the filter plate 81.

[0024] The above scheme is adopted: the collar 51 is fixedly installed on the top of the buffer column 52, and is connected to the connecting rod 61 through a fixing plate, so as to transmit the movement of the joint 4 to the sliding member 6. At the same time, under the action of the buffer column 52, it plays a role of buffering and stabilization. The buffer column 52 is fixedly installed inside the joint 4 through the fixing cap 521 on the top and the base 55 on the bottom. When the manipulator is shaken, the buffer column 52 can absorb and buffer the impact force and reduce the influence of the shake on the manipulator. The first springs 551 on both sides of the base 55 and the buffer telescopic column 552 sleeved inside further enhance the buffering effect. The fixing sleeve 53 is fixedly installed on one end of the buffer column 52 close to the collar 51 to provide a mounting base for the stabilizing member 54. The stabilizing member 54 is composed of a second spring 541 and a hydraulic buffer rod 542. The second spring 541 sleeved on the outer surface of the hydraulic buffer rod 542 can absorb and buffer the impact force generated when the joint 4 moves. One end of the hydraulic buffer rod 542 is fixedly installed inside the stabilizing seat to provide stable support and buffering effect for the buffer column 52 through cooperation with the fixing sleeve 53. Through the setting of the sliding member 6, when the joint 4 shakes, the anti-shake mechanism 5 The collar 51 moves with the movement of the joint 4, and the collar 51 drives the connecting rod 61 to move. The moving block 611 at the bottom of the connecting rod 61 slides in the slide groove. The connecting rod 61 drives the short plate 62 to move, and the short plate 62 drives the lifting plate 63 to move. The push rod 64 on one side of the lifting plate 63 pushes the inclined plate 65. The movement of the inclined plate 65 drives the adjustment plate 663 to slide on the surface of one side of the shell 41. The inclined plate 65 will drive the telescopic elastic plate 83 to perform telescopic movement, so that the external air can flow into the inside of the joint 4 through the filter plate 81, forming air exchange. When the joint When the joint 4 shakes, the various components of the sliding member 6 work together to buffer the vibration in the mechanical structure. At the same time, the inclined plate 65 drives the telescopic elastic plate 83 to move to achieve air exchange. On the one hand, it can balance the air pressure inside the joint 4 and reduce additional unstable factors that may be caused by changes in air pressure. On the other hand, air exchange helps to dissipate the heat generated by the manipulator during operation to prevent overheating from affecting the performance and life of the manipulator. In addition, good ventilation can keep the inside of the joint 4 dry and avoid corrosion and damage to components caused by moisture or other factors.

[0025] like Figures 1 to 9As shown, the top of the buffer column 52 is threadedly connected with a fixing cap 521, the bottom surface of the buffer column 52 is fixedly connected with a base 55, both sides of the base 55 are fixedly connected with a first spring 551, the interior of the first spring 551 is sleeved with a buffer telescopic column 552, one end of the first spring 551 is fixedly connected to a limiting plate 56, the number of the first spring 551 and the buffer telescopic column 552 are both provided in two groups, the top of the limiting plate 56 is rotatably connected with a movable block 561, one side of the movable block 561 is fixedly installed with a stabilizing seat, both sides of the fixing sleeve 53 are arc-shaped, and the fixing sleeve 53 is movably connected to the stabilizing member 54, the stabilizing member 54 includes a second spring 541 and a hydraulic buffer rod 542, the second spring 541 is sleeved on the outer surface of the hydraulic buffer rod 542, and one end of the hydraulic buffer rod 542 is fixedly installed inside the stabilizing seat The other end of the connecting rod 61 is connected to the ring 51 through a fixing plate, and a moving block 611 is fixedly connected to the bottom of the connecting rod 61, and the moving block 611 is adapted to the slide groove. The fixing member 66 includes an extension plate 661, a fixing frame 662 and an adjusting plate 663. One end of the extension plate 661 is connected to one side of the bottom end of the lifting plate 63, and the other end of the extension plate 661 is fixedly installed inside the fixing frame 662. The adjusting plate 663 is fixedly connected to the bottom surface of the extension plate 661, and the back surface of the adjusting plate 663 is slidably connected to the surface of one side of the shell 41. The push rod 64 is fixedly installed on the bottom surface of the fixing frame 662, and the top surface of one end of the adjusting plate 663 is connected to the bottom surface of the inclined plate 65 near one end of the push rod 64. A third spring 664 is fixedly connected to one side of the adjusting plate 663, and one end of the third spring 664 is connected to the limit plate 56.

[0026] The above scheme is adopted: one end of the connecting rod 61 is connected to the ring 51 through a fixing plate, and the moving block 611 at the bottom is adapted to the slide grooves on both sides of the inner side of the joint 4 housing 41. When the joint 4 moves, the connecting rod 61 slides in the slide groove along with the movement of the ring 51, driving the short plate 62, the lifting plate 63 and other components to move. The short plate 62 is connected to the connecting rod 61 by a first bolt, which plays a role in connecting and transmitting movement. One end of the lifting plate 63 is connected to the short plate 62 by a second bolt, and moves up and down under the drive of the connecting rod 61. The push rod 64 on one side of the lifting plate 63 pushes the inclined plate 65 to realize the movement adjustment of the sliding member 6.

[0027] The working principle and working process of this embodiment: The anti-shake mechanism 5 is fixedly installed on both sides of the joint 4, and includes a collar 51, a buffer column 52, a fixing sleeve 53 and a stabilizing member 54. The collar 51 is fixedly installed on the top of the buffer column 52 and connected to the connecting rod 61 of the sliding member 6 through a fixing sheet. The fixing sleeve 53 is fixedly installed on one end of the buffer column 52 close to the collar 51, and the stabilizing member 54 is respectively installed on both sides of the fixing sleeve 53. When the manipulator grabs a heavy object and generates centrifugal force or inertial force, causing shaking, the buffer column 52 plays a major buffering role. The top of the buffer column 52 is threadedly connected to the fixing cap 521, and the bottom is fixedly connected to the base 55. The two sides of the base 55 are fixedly connected to the first spring 551, and the buffer telescopic column 552 is sleeved inside the first spring 551. When shaking occurs, the buffer column 52 is subjected to impact force, and the first spring 551 and the buffer telescopic column 552 on both sides of the base 55 are compressed to absorb and buffer the impact force. The stabilizing member 54 is composed of a second spring 541 and a hydraulic buffer rod 542. The second spring 541 is sleeved on the outer surface of the hydraulic buffer rod 542. One end of the hydraulic buffer rod 542 is fixedly installed inside the stabilizing seat. The stabilizing seat is rotatably connected to the limit plate 56 through the movable block 561. When the buffer column 52 is subjected to impact force, the second spring 541 and the hydraulic buffer rod 542 in the stabilizing member 54 on both sides of the fixed sleeve 53 also start to work, further absorbing and buffering the impact force generated by the shaking. When the joint 4 shakes, the ring 51 of the anti-shake mechanism 5 moves with the movement of the joint 4, and the ring 51 drives the connecting rod 61 to move. The moving block 611 at the bottom of the connecting rod 61 slides in the slide groove, and the connecting rod 61 drives the short plate 62 to move, and the short plate 62 then drives the lifting plate 63 to move. The push rod 64 on one side of the lifting plate 63 pushes the inclined plate 65. The movement of the inclined plate 65 drives the adjustment plate 663 to slide on the surface of one side of the shell 41. The inclined plate 65 will drive the telescopic elastic plate 83 to perform telescopic movement, so that the external air can flow into the interior of the joint 4 through the filter plate 81, forming air exchange. At the same time, the bottom surface of the adjustment plate 663 is connected to the third spring 664, and one end of the third spring 664 is connected to the limit plate 56. The third spring 664 is stretched or compressed in this process to further buffer the shaking.

Claims

1. A multi-degree-of-freedom bionic manipulator, comprising a palm (1) and fingers (2), characterized in that: Also includes: A base (3), wherein the base (3) is fixedly mounted on one end of the palm (1); A joint (4), wherein the joint (4) is located at the other end of the palm (1); An anti-shake mechanism (5), wherein the anti-shake mechanism (5) is fixedly mounted on both sides of the inside of the joint (4); A sliding member (6), wherein the sliding member (6) is also fixedly mounted on both sides of the inside of the joint (4), and the sliding member (6) is located on both sides of the anti-shake mechanism (5); The anti-shake mechanism (5) comprises a collar (51), a buffer column (52), a fixing sleeve (53) and a stabilizing member (54); the collar (51) is fixedly mounted on the top of the buffer column (52); the fixing sleeve (53) is fixedly mounted on one end of the buffer column (52) close to the collar (51); and the stabilizing member (54) is respectively mounted on both sides of the fixing sleeve (53); The sliding member (6) comprises a connecting rod (61), a short plate (62), a lifting plate (63), a push rod (64) and an inclined plate (65); one end of the short plate (62) is fixedly connected to one end of the connecting rod (61) by a first bolt; one end of the lifting plate (63) is connected to the bottom end of the short plate (62) by a second bolt; the push rod (64) is fixedly mounted on one side of the lifting plate (63) by a fixing member (66); and one end of the push rod (64) is overlapped with one end of the inclined plate (65).

2. A multi-degree-of-freedom bionic manipulator according to claim 1, characterized in that: The number of fingers (2) is set to be five, and the five fingers (2) are all installed on the top of the palm (1). The five fingers (2) are respectively a thumb, an index finger, a middle finger, a ring finger and a little finger. The thumb includes two joints (4), and the index finger, middle finger, ring finger and little finger include three joints (4).

3. The multi-degree-of-freedom bionic manipulator according to claim 1, characterized in that: The joint (4) comprises a shell (41) and a protective pad (42), the protective pad (42) being fixedly mounted on one side of the shell (41), a frosted pad being laid on the surface of the protective pad (42), and a damper (7) being arranged between the joints (4).

4. A multi-degree-of-freedom bionic manipulator according to claim 3, characterized in that: Slide grooves are provided on both sides of the interior of the outer shell (41), and a breathable member (8) is provided on the inner bottom wall of the outer shell (41).

5. The multi-degree-of-freedom bionic manipulator according to claim 4, characterized in that: The air permeable member (8) comprises a filter plate (81), an extrusion plate (82) and a telescopic elastic plate (83); the filter plate (81) is fixedly mounted on the bottom surface of the housing (41) via a clamping block; the number of the extrusion plates (82) and the number of the telescopic elastic plates (83) are both two; the two extrusion plates (82) are respectively fixedly mounted on both sides of the top of the filter plate (81); the two telescopic elastic plates (83) are respectively mounted on one end of the two extrusion plates (82); a baffle is provided between the two telescopic elastic plates (83), and the bottom surface of the baffle is connected to the top surface of the filter plate (81).

6. The multi-degree-of-freedom bionic manipulator according to claim 1, characterized in that: The top of the buffer column (52) is threadedly connected to a fixing cap (521), the bottom surface of the buffer column (52) is fixedly connected to a base (55), both sides of the base (55) are fixedly connected to a first spring (551), and the interior of the first spring (551) is sleeved with a buffer telescopic column (552).

7. The multi-degree-of-freedom bionic manipulator according to claim 6, characterized in that: One end of the first spring (551) is fixedly connected to the limit plate (56), two groups of the first spring (551) and the buffer telescopic column (552) are provided, the top of the limit plate (56) is rotatably connected to a movable block (561), and a stabilizing seat is fixedly installed on one side of the movable block (561).

8. The multi-degree-of-freedom bionic manipulator according to claim 1, characterized in that: Both sides of the fixing sleeve (53) are in an arc shape, and the fixing sleeve (53) is movably connected to the stabilizing member (54). The stabilizing member (54) comprises a second spring (541) and a hydraulic buffer rod (542). The second spring (541) is sleeved on the outer surface of the hydraulic buffer rod (542), and one end of the hydraulic buffer rod (542) is fixedly installed inside the stabilizing seat.

9. The multi-degree-of-freedom bionic manipulator according to claim 1, characterized in that: The other end of the connecting rod (61) is connected to the collar (51) via a fixing plate. A moving block (611) is fixedly connected to the bottom of the connecting rod (61). The moving block (611) is adapted to the slide groove. The fixing member (66) comprises an extension plate (661), a fixing frame (662) and an adjustment plate (663). One end of the extension plate (661) is connected to one side of the bottom end of the lifting plate (63). The other end of the extension plate (661) is fixedly installed inside the fixing frame (662). The adjustment plate (663) is fixedly connected to the bottom surface of the extension plate (661). The back surface of the adjustment plate (663) is slidably connected to the surface of one side of the housing (41). The push rod (64) is fixedly installed on the bottom surface of the fixing frame (662).

10. The multi-degree-of-freedom bionic manipulator according to claim 9, characterized in that: The top surface of one end of the adjustment plate (663) is connected to the bottom surface of one end of the inclined plate (65) close to the push rod (64), and a third spring (664) is fixedly connected to one side of the adjustment plate (663), and one end of the third spring (664) is connected to the limit plate (56).

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