High-precision robot intelligent bionic manipulator

Abstract

The invention discloses a high-precision robot intelligent bionic manipulator, and relates to the technical field of bionic manipulators. A high-precision robot intelligent bionic manipulator comprises two fixing seats, four-finger connecting rod assemblies are arranged on the top faces of the fixing seats, and the four-finger connecting rod assemblies and a thumb connecting rod assembly are used in cooperation, so that in the aspects of load resistance and transmission performance, the four-finger connecting rod assemblies are connected through a multi-rod linkage structure; the pushing block is driven by the servo electric cylinder, then force is stably transmitted to the knuckles through the transmission rod, all the joints are evenly stressed, the grabbing stress is effectively dispersed, the load resistance is greatly improved, the transmission shell and the pushing block are in surface contact design, friction loss is greatly reduced, efficient power transmission is ensured, and it is guaranteed that the grabbing force is strong and stable; the thumb connecting rod assembly directly drives a linkage block by means of a servo electric cylinder, multi-angle flexible rotation of the finger shell can be achieved in cooperation with cooperative movement of a movable rod and a connecting rod, and heavy-load operation can be easily handled.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of bionic manipulators, and particularly relates to a high-precision robot intelligent bionic manipulator. BACKGROUND

[0002] With the in-depth application of robot technology in the fields of precision manufacturing, medical surgery and special operation, higher requirements are put forward for the bionic performance and operation precision of the manipulator, and the high-precision bionic manipulator needs to meet the motion flexibility and structural stability at the same time, the core of which lies in realizing the precise grabbing and stable operation of the object by optimizing the mechanical transmission design.

[0003] In the prior art, the traditional manipulator adopts a single driving structure, and it is difficult to accurately simulate the complex action of the human finger, especially when the multi-joint linkage grabbing is involved, the action is often stiff, the grabbing force is insufficient, and the like, the motion trajectory of the finger of part of the bionic manipulator is single, the effective contact between the fingertip and the palm center is difficult to realize, the grabbing posture is limited, and it is difficult to adapt to irregular objects, meanwhile, the energy loss in the transmission chain is large, the power of the servo drive cannot be efficiently transmitted to the fingertip, the grabbing force is insufficient, the load resistance is weak, and the shaking or falling phenomenon is prone to occur when heavy objects are grabbed or precise assembly is performed. SUMMARY

[0004] The application aims to provide a high-precision robot intelligent bionic manipulator to solve the problems in the background art.

[0005] To achieve the above object, the application provides the following technical scheme: a high-precision robot intelligent bionic manipulator, comprising two fixed seats, the top surface of the fixed seat is provided with a four-finger linkage assembly, and the side wall of the fixed seat is provided with a thumb linkage assembly. The four-finger linkage assembly comprises a palm center seat, the palm center seat is fixedly connected to the top surface of the fixed seat, a plurality of root seats are fixedly connected to the inner wall of the palm center seat, a first fixed column is fixedly connected to the inner wall of the root seat, a pushing block is rotatably connected to the surface of the first fixed column, a plurality of first servo cylinders are fixedly connected to the inner wall of the palm center seat, a connecting column is rotatably connected to the inner wall of the pushing block, the connecting column is fixedly connected with the telescopic shaft of the first servo cylinder, a transmission housing is fixedly connected to the surface of the first fixed column, the top surface of the pushing block is in abutment with the bottom surface of the transmission housing, an installation column is rotatably connected to the inner wall of the transmission housing, and a transmission rod is rotatably connected to the surface of the installation column.

[0006] Preferably, the thumb connecting rod assembly comprises a second positioning column fixedly connected to the inner wall of the fixed seat, a connecting seat rotatably connected to the surface of the second positioning column, a thumb shell fixedly connected to the side wall of the connecting seat, a first rotating column fixedly connected to the inner wall of the thumb shell, a linkage block fixedly connected to the surface of the first rotating column, a limiting column fixedly connected to the inner wall of the thumb shell, a second knuckle shell rotatably connected to the surface of the limiting column, a second rotating column rotatably connected to the inner wall of the second knuckle shell, and a movable rod rotatably connected to the surface of the second rotating column, wherein the inner wall of the movable rod is fixedly connected with a finger shell.

[0007] Preferably, the inner wall of the thumb shell is fixedly connected with a first linkage column, the inner wall of the movable rod is fixedly connected with a second linkage column, and the surface of the second linkage column is sleeved with a second connecting rod fixedly connected with the inner wall of the first linkage column.

[0008] Preferably, the inner wall of the second fixed column of the root seat is rotatably connected with a first connecting rod, and the inner wall of the transmission rod is rotatably connected with a pushing column rotatably connected with the inner wall of the first connecting rod.

[0009] Preferably, the inner wall of the thumb shell is fixedly connected with a third servo cylinder, the inner wall of the linkage block is rotatably connected with a movable column, and the telescopic shaft of the third servo cylinder is fixedly connected with the movable column.

[0010] Preferably, the side wall of the fixed seat is fixedly connected with a second servo cylinder, and the telescopic shaft of the second servo cylinder is rotatably connected with the inner wall of the connecting seat.

[0011] Preferably, the surface of the mounting column is fixedly connected with a first knuckle shell fixedly connected with the inner wall of the transmission rod.

[0012] Preferably, the side wall of the palm seat is fixedly connected with a dorsal base plate, the inner wall of the dorsal base plate is fixedly connected with a plurality of fixed blocks, and the side wall of the fixed block is fixedly connected with the side wall of the first servo cylinder.

[0013] Preferably, the inner wall of the palm seat is provided with a plurality of limiting grooves, the bottom surface of the first servo cylinder is fixedly connected with a limiting bead fixedly connected with the inner wall of the limiting groove.

[0014] Preferably, the inner wall of the palm seat is fixedly connected with a wrist inner shell, and the surface of the wrist inner shell is provided with a plurality of connecting holes.

[0015] Compared with the prior art, the present application has the following advantages: Through the cooperation of the four-finger linkage assembly and the thumb linkage assembly, the four-finger linkage assembly can effectively disperse the stress during grabbing through the multi-linkage structure, the servo electric cylinder driving the pushing block, and the stable transmission of the force to the knuckles through the transmission rod, so that the stress of each joint is uniform, the load capacity is greatly improved, the transmission shell and the pushing block adopt face contact design, the friction loss is greatly reduced, the power is efficiently transmitted, the grabbing force is strong and stable, the thumb linkage assembly is directly driven by the servo electric cylinder, and the linkage block is cooperated with the cooperative movement of the movable rod and the linkage rod, so that the finger shell can be flexibly rotated at multiple angles, and the heavy load operation can be easily coped with. In terms of grabbing flexibility, the four-finger linkage assembly is designed to be connected with the linkage through the transmission rod, so that the finger bending trajectory is highly consistent with the palm contour. When the servo electric cylinder operates, the pushing block drives the knuckles to bend inward, and the fingertips can accurately touch the palm, so that stable grabbing of small-size objects is realized. The thumb linkage assembly is controlled by the servo electric cylinder to swing the connecting seat, and the linkage block and the movable rod are cooperated to move, so that the thumb can be flexibly matched with the other four fingers to form a ring-shaped grabbing posture, and a variety of sizes of objects can be adapted, and the grabbing range and accuracy are greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a three-dimensional structure schematic diagram of the application; Figure 2 It is a structure schematic diagram of the palm seat in the application; Figure 3 It is a structure schematic diagram of the transmission shell in the application; Figure 4 It is a structure schematic diagram of the four-finger linkage assembly in the application; Figure 5 It is a sectional structure schematic diagram of the four-finger linkage assembly in the application; Figure 6 It is a sectional structure schematic diagram of the thumb linkage assembly in the application.

[0017] In the figure: 1, fixed seat; 2, four-finger linkage assembly; 201, palm seat; 202, root seat; 203, first fixed column; 204, push block; 205, first servo cylinder; 206, connecting column; 207, second fixed column; 208, transmission housing; 209, mounting column; 210, transmission rod; 211, first knuckle shell; 212, first connecting rod; 213, push column; 214, dorsal base plate; 215, fixed block; 216, wrist inner shell; 217, connecting hole; 218, limiting groove; 219, limiting bead; 3, thumb linkage assembly; 301, second positioning column; 302, connecting seat; 303, second servo cylinder; 304, thumb shell; 305, first rotating column; 306, linkage block; 307, movable column; 308, limiting column; 309, second knuckle shell; 310, second rotating column; 311, movable rod; 312, finger shell; 313, first linkage column; 314, second linkage column; 315, second connecting rod; 316, third servo cylinder. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0019] Please refer to Figures 1-6The present invention provides a technical solution for a high-precision robot intelligent bionic manipulator: a high-precision robot intelligent bionic manipulator, comprising two fixed seats 1, a four-finger connecting rod assembly 2 is provided on the top surface of the fixed seat 1, a thumb connecting rod assembly 3 is provided on the side wall of the fixed seat 1, the four-finger connecting rod assembly 2 comprises a palm seat 201, the palm seat 201 is fixedly connected to the top surface of the fixed seat 1, a plurality of rooting seats 202 are fixedly connected to the inner wall of the palm seat 201, a first fixed column 203 is fixedly connected to the inner wall of the rooting seat 202, a push block 204 is rotatably connected to the surface of the first fixed column 203, a plurality of first servo electric cylinders 205 are fixedly connected to the inner wall of the push block 204, a connecting column 206 is rotatably connected to the inner wall of the push block 204, the connecting column 206 is fixedly connected to the telescopic shaft of the first servo electric cylinder 205, a transmission shell 208 is fixedly connected to the surface of the first fixed column 203, and the top surface of the push block 204 is connected to the transmission shell 2 08 is offset, and the inner wall of the transmission housing 208 is rotatably connected to the mounting column 209, and the surface of the mounting column 209 is rotatably connected to the transmission rod 210. The telescopic shaft of the first servo electric cylinder 205 drives the connecting column 206 to move, thereby causing the pushing block 204 to rotate around the first fixed column 203, and the top surface of the pushing block 204 is offset from the bottom surface of the transmission housing 208. Its rotation will push the transmission housing 208, so that the mounting column 209 rotates on the inner wall of the transmission housing 208, thereby driving the transmission rod 210 to move, realizing the movement of the four-finger link assembly 2, and the thumb link assembly 3 is arranged on the side wall of the fixed seat 1, and cooperates with the four-finger link assembly 2 to jointly complete bionic grasping and other actions. Through the cooperation of the first servo electric cylinder with 205 and the connecting rod assembly, high-precision motion control is achieved, and various grasping and other operations can be accurately completed, providing strong support for the intelligent operation of the robot and improving the working ability and practicality of the robot.

[0020] See also Figure 4 and Figure 5Further, the thumb linkage assembly 3 comprises a second positioning column 301 fixedly connected to the inner wall of the fixed seat 1, the surface of the second positioning column 301 is rotationally connected with a connecting seat 302, the side wall of the connecting seat 302 is fixedly connected with a thumb shell 304, the inner wall of the thumb shell 304 is fixedly connected with a first rotating column 305, the surface of the first rotating column 305 is fixedly connected with a linkage block 306, the inner wall of the thumb shell 304 is fixedly connected with a limiting column 308, the surface of the limiting column 308 is rotationally connected with a second knuckle shell 309, the inner wall of the second knuckle shell 309 is rotationally connected with a second rotating column 310, the surface of the second rotating column 310 is rotationally connected with a movable rod 311, the circumferential side of the movable rod 311 is fixedly connected with a finger shell 312, flexible movement is realized through linkage between the components, the second positioning column 301 is fixed in the inner wall of the fixed seat 1, providing a rotating fulcrum for the connecting seat 302, when the connecting seat 302 is driven to rotate around the second positioning column 301 by an external power source, the thumb shell 304 fixedly connected to the side wall of the connecting seat 302 is driven to move, in the thumb shell 304, the first rotating column 305 cooperates with the linkage block 306 to further transmit the movement, the limiting column 308 limits the rotation range of the second knuckle shell 309, ensuring the accuracy of movement, the second knuckle shell 309 is connected with the movable rod 311 through the second rotating column 310, the rotation of the movable rod 311 finally drives the finger shell 312 to complete flexion, gripping and other actions, the components work cooperatively to simulate the fine actions of human thumb, cooperate with the four-finger linkage assembly 2 to realize complex gripping operation, the thumb shell 304, the limiting column 308 and the limiting column 308 are used in cooperation, making the thumb movement flexible and accurate, and being able to adapt to the gripping needs of objects of different shapes and sizes, greatly improving the operation accuracy and versatility of the mechanical hand.

[0021] Please refer to Figure 6Further, the inner wall of the thumb shell 304 is fixedly connected with a first linkage column 313, the inner wall of the movable rod 311 is fixedly connected with a second linkage column 314, the surface of the second linkage column 314 is sleeved with a second connecting rod 315, and the second connecting rod 315 is fixedly connected with the inner wall of the first linkage column 313. The connection seat 302, the first linkage column 313 and the second linkage column 314 are used in cooperation, so that the connection seat 302 drives the thumb shell 304 to rotate, the first linkage column 313 fixedly connected with the inner wall moves, the first linkage column 313 is fixedly connected with the second connecting rod 315 sleeved on the second linkage column 314, the movement of the thumb shell 304 is converted into the push-pull action of the second connecting rod 315, the action of the second connecting rod 315 is transmitted to the movable rod 311 through the second linkage column 314, and the movable rod 311 is driven to rotate around the second rotating column 310, so that the finger shell 312 is driven to complete the gripping, stretching and other actions. Through the cooperation of the double linkage columns and the connecting rod, a stable transmission link is formed, the movement is efficiently and accurately transmitted from the thumb shell 304 to the finger shell 312, complex and delicate operations are realized, meanwhile, the connection of the second connecting rod 315 and the double linkage columns builds a stable mechanical transmission system, the force transmission efficiency between components is enhanced, the movement loss is reduced, the action of the finger shell 312 is more powerful and stable, heavy objects can be reliably gripped or delicate operations can be completed.

[0022] Please refer to Figure 5 Further, the inner wall of the second fixed column 207 is rotatably connected with the second fixed column 207, the surface of the second fixed column 207 is rotatably connected with the first connecting rod 212, and the inner wall of the transmission rod 210 is rotatably connected with the pushing column 213. The first connecting rod 212, the second fixed column 207 and the pushing column 213 are used in cooperation, so that when the first servo cylinder 205 drives the pushing block 204 to rotate, the transmission shell 208 moves, the transmission rod 210 swings around the mounting column 209, at this time, the pushing column 213 in the inner wall of the transmission rod 210 drives the first connecting rod 212, the first connecting rod 212 is sleeved on the second fixed column 207, and the second fixed column 207 rotates in the inner wall of the second fixed column 207. The connection of the pushing column 213 and the first connecting rod 212 and the rotation cooperation of the first connecting rod 212 and the second fixed column 207 form an active transmission link, the swing of the transmission rod 210 is transmitted to the first connecting rod 212 through the pushing column 213, the first connecting rod 212 is driven to rotate around the second fixed column 207, and then the components connected with the first connecting rod 212 are driven, the flexion and extension action of the fingers is realized, the operation of gripping and releasing of the human hand is accurately simulated, the combination of the second fixed column 207, the first connecting rod 212 and the pushing column 213 forms a stable transmission structure, the shaking and error in the movement process are reduced, and the accuracy and reliability of the action are improved.

[0023] Please refer to Figure 6Further, the inner wall of the thumb shell 304 is fixedly connected with a third servo cylinder 316, the inner wall of the linkage block 306 is rotatably connected with a movable column 307, the telescopic shaft of the third servo cylinder 316 is fixedly connected with the movable column 307, the movable column 307 and the movable column 307 are used in cooperation, when the third servo cylinder 316 is started, the telescopic shaft drives the movable column 307 to move, the linear motion of the telescopic shaft is converted into the rotation of the linkage block 306, and the flexion and extension movement of the thumb is driven, the design can meet the precise grasping demand, the servo cylinder is stable and reliable in driving, fast in response, can effectively improve the grasping force and operation stability, and the modular structure is convenient for later maintenance, and the practicality and applicability of the mechanical hand are enhanced.

[0024] Please refer to Figure 6 Further, the side wall of the fixed seat 1 is fixedly connected with a second servo cylinder 303, the telescopic shaft of the second servo cylinder 303 is rotatably connected with the inner wall of the connecting seat 302, the second servo cylinder 303 and the connecting seat 302 are used in cooperation, when the telescopic shaft of the second servo cylinder 303 moves, the connecting seat 302 rotatably connected with the second servo cylinder 303 rotates around the second positioning column 301, the whole thumb shell 304 swings, and the azimuth angle of the thumb is adjusted, the flexible swing of the thumb is realized through the servo cylinder, the spatial operation range and adaptability of the mechanical hand are improved, the complex grasping movement can be better completed in cooperation with the four fingers, the operation stability and efficiency are enhanced.

[0025] Please refer to Figure 5 Further, the surface of the mounting column 209 is fixedly connected with a first phalange shell 211, the first phalange shell 211 is fixedly connected with the inner wall of the transmission rod 210, the first phalange shell 211 and the transmission rod 210 are used in cooperation, when the mounting column 209 rotates, the first phalange shell 211 fixedly connected with the surface of the mounting column 209 moves, the transmission rod 210 is fixedly connected with the inner wall of the first phalange shell 211, the swing of the transmission rod 210 synchronously drives the first phalange shell 211, the flexion and extension of the phalange is realized, the movement continuity is guaranteed, the phalange structure stability is enhanced, and the mechanical hand grasping is more accurate and reliable.

[0026] Please refer to Figure 5Further, the side wall of the palm seat 201 is fixedly connected with a dorsal base plate 214, the inner wall of the dorsal base plate 214 is fixedly connected with a plurality of fixing blocks 215, the side wall of the fixing block 215 is fixedly connected with the side wall of the first servo cylinder 205, the dorsal base plate 214 and the fixing block 215 are used in cooperation, so that the first servo cylinder 205 is fixed through the fixing block 215, thereby avoiding movement of the first servo cylinder 205 during use, and improving the stability of the first servo cylinder 205 during use.

[0027] Please refer to Figure 5 Further, the inner wall of the palm seat 201 is provided with a plurality of limiting grooves 218, the bottom surface of the first servo cylinder 205 is fixedly connected with a limiting bead 219, the limiting bead 219 is fixedly connected with the inner wall of the limiting groove 218, the limiting groove 218 and the limiting bead 219 are used in cooperation, so that the first servo cylinder 205 is limited, and the stability of the first servo cylinder 205 during use is further improved.

[0028] Please refer to Figure 4 Further, the inner wall of the palm seat 201 is fixedly connected with a wrist inner shell 216, the surface of the wrist inner shell 216 is provided with a plurality of connecting holes 217, the wrist inner shell 216 and the plurality of connecting holes 217 are used in cooperation, so that the wrist inner shell 216 is connected and fixed through the plurality of connecting holes 217.

[0029] Working principle: in use, the connecting column 206 is driven by the first servo cylinder 205 to make the pushing block 204 rotate around the first fixed column 203, the transmission housing 208 is pushed, the mounting column 209 and the transmission rod 210 are driven, the second fixed column 207 in the root seat 202, the first connecting rod 212 and the pushing column 213 constitute a transmission link, and the flexion and extension of the four-finger connecting rod assembly 2 are realized.

[0030] The thumb part is driven by the second servo cylinder 303 to drive the connecting seat 302 to rotate around the second positioning column 301 to adjust the orientation, the third servo cylinder 316 drives the linkage block 306 to rotate through the movable column 307, cooperates with the first linkage column 313, the second linkage column 314 and the second connecting rod 315 to transmit motion, drives the finger shell 312 to act, and each component is connected through rotation and fixation, converts linear motion of the cylinder into joint rotation, and simulates human hand action.

[0031] Through the cooperation of multi-servo cylinder and connecting rod, high-precision control is realized to meet the needs of precise operation. The limiting groove 218 and the limiting bead 219, the dorsal base plate 214 and the fixed block 215 ensure the stability of the cylinder and reduce the movement shaking. The linkage of the thumb and the four fingers can adapt to the grabbing of different objects. The modular design facilitates maintenance and replacement. The connecting hole 217 of the wrist inner shell 216 facilitates connection with the mechanical arm, expanding the application in the fields of industry, medicine, etc., and improving the practicality and work efficiency of the robot.

Claims

1. A high-precision robot intelligent bionic manipulator, comprising two fixed seats (1), characterized in that: A four-finger connecting rod assembly (2) is provided on the top surface of the fixing seat (1), and a thumb connecting rod assembly (3) is provided on the side wall of the fixing seat (1); The four-finger connecting rod assembly (2) includes a palm seat (201), the palm seat (201) is fixedly connected to the top surface of the fixed seat (1), the inner wall of the palm seat (201) is fixedly connected to a plurality of rooting seats (202), the inner wall of the rooting seat (202) is fixedly connected to a first fixed column (203), the surface of the first fixed column (203) is rotatably connected to a pushing block (204), the inner wall of the palm seat (201) is fixedly connected to a plurality of first servo electric cylinders (205), the pushing block (204) is rotatably connected to the surface of the first fixed column (203 ... The inner wall of the moving block (204) is rotatably connected to a connecting column (206), the connecting column (206) is fixedly connected to the telescopic shaft of the first servo electric cylinder (205), the surface of the first fixed column (203) is fixedly connected to a transmission housing (208), the top surface of the pushing block (204) is in contact with the bottom surface of the transmission housing (208), the inner wall of the transmission housing (208) is rotatably connected to a mounting column (209), and the surface of the mounting column (209) is rotatably connected to a transmission rod (210).

2. The high-precision robot intelligent bionic manipulator according to claim 1, characterized in that: The thumb link assembly (3) comprises a second positioning column (301), the second positioning column (301) is fixedly connected to the inner wall of the fixing seat (1), the surface of the second positioning column (301) is rotatably connected to the connecting seat (302), the side wall of the connecting seat (302) is fixedly connected to the thumb shell (304), the inner wall of the thumb shell (304) is fixedly connected to the first rotating column (305), the surface of the first rotating column (305) is fixedly connected to the linkage block (306), the inner wall of the thumb shell (304) is fixedly connected to the limiting column (308), the surface of the limiting column (308) is rotatably connected to the second knuckle shell (309), the inner wall of the second knuckle shell (309) is rotatably connected to the second rotating column (310), the surface of the second rotating column (310) is rotatably connected to the movable rod (311), and the peripheral side of the movable rod (311) is fixedly connected to the finger shell (312).

3. The high-precision robot intelligent bionic manipulator according to claim 2, characterized in that: The inner wall of the thumb housing (304) is fixedly connected to a first linkage column (313), the inner wall of the movable rod (311) is fixedly connected to a second linkage column (314), a second connecting rod (315) is sleeved on the surface of the second linkage column (314), and the second connecting rod (315) is fixedly connected to the inner wall of the first linkage column (313).

4. The high-precision robot intelligent bionic manipulator according to claim 1, characterized in that: The inner wall of the rooting seat (202) is rotatably connected to a second fixing column (207), the surface of the second fixing column (207) is rotatably connected to a first connecting rod (212), the inner wall of the transmission rod (210) is rotatably connected to a pushing column (213), and the pushing column (213) is rotatably connected to the inner wall of the first connecting rod (212).

5. The high-precision robot intelligent bionic manipulator according to claim 2, characterized in that: The inner wall of the thumb housing (304) is fixedly connected to a third servo electric cylinder (316), the inner wall of the linkage block (306) is rotatably connected to a movable column (307), and the telescopic shaft of the third servo electric cylinder (316) is fixedly connected to the movable column (307).

6. The high-precision robot intelligent bionic manipulator according to claim 2, characterized in that: A second servo electric cylinder (303) is fixedly connected to the side wall of the fixing seat (1), and a telescopic shaft of the second servo electric cylinder (303) is rotatably connected to the inner wall of the connecting seat (302).

7. The high-precision robot intelligent bionic manipulator according to claim 1, characterized in that: A first knuckle shell (211) is fixedly connected to the surface of the mounting column (209), and the first knuckle shell (211) is fixedly connected to the inner wall of the transmission rod (210).

8. The high-precision intelligent bionic manipulator according to claim 1, characterized in that: The side wall of the palm seat (201) is fixedly connected to a palm back base plate (214), the inner wall of the palm back base plate (214) is fixedly connected to a plurality of fixing blocks (215), and the side walls of the fixing blocks (215) are fixedly connected to the side walls of the first servo electric cylinder (205).

9. The high-precision robot intelligent bionic manipulator according to claim 1, characterized in that: The inner wall of the palm seat (201) is provided with a plurality of limiting grooves (218), the bottom surface of the first servo electric cylinder (205) is fixedly connected to a limiting bead (219), and the limiting bead (219) is fixedly connected to the inner wall of the limiting groove (218).

10. The high-precision intelligent bionic manipulator according to claim 1, characterized in that: The inner wall of the palm seat (201) is fixedly connected to a wrist inner shell (216), and a plurality of connection holes (217) are provided on the surface of the wrist inner shell (216).

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