Multi-degree-of-freedom manipulator

Abstract

The embodiment of the invention provides a multi-degree-of-freedom manipulator. The multi-degree-of-freedom manipulator comprises a palm part, a thumb part and at least one finger part, the thumb part comprises a thumb proximal section, a thumb middle section and a thumb distal section which are connected in sequence, and the thumb part can realize four-degree-of-freedom actions; the finger component comprises a finger proximal joint, a finger middle joint and a finger distal joint which are connected in sequence, and the finger component can achieve three-degree-of-freedom actions. According to the multi-degree-of-freedom manipulator disclosed by the embodiment of the invention, more multi-degree-of-freedom actions can be realized, and the multi-degree-of-freedom manipulator is more flexible and intelligent and can be suitable for wider application working conditions; the structure is simple and reliable, and production efficiency can be improved.

Description

Technical Field

[0001] The embodiments disclosed herein belong to the field of robotic arm technology, specifically relating to a multi-degree-of-freedom robotic arm. Background Technology

[0002] Currently, most robotic hands in related technologies connect the proximal, middle, and distal phalanges of the fingers via linkages, with each finger controlled by a single motor to achieve underactuated flexion movements. Existing robotic hands mainly suffer from the following problems: 1. Insufficient finger dexterity, significantly lagging behind the dexterity of human hands. 2. Inability to stably grasp objects with highly complex shapes or small sizes. Summary of the Invention

[0003] The embodiments disclosed herein are intended to at least address one of the technical problems existing in the prior art, and to provide a multi-degree-of-freedom manipulator.

[0004] Embodiments of this disclosure provide a multi-degree-of-freedom manipulator, which includes a palm component with a receiving cavity, a thumb component and at least one finger component respectively connected to the palm component;

[0005] The thumb component includes a proximal thumb segment, a middle thumb segment, and a distal thumb segment connected in sequence. A thumb linear actuator, with its first end connected to the middle thumb segment and used to drive the middle thumb segment to bend and straighten, and to coordinate with the under-driven bending and straightening of the distal thumb segment, is housed within the receiving cavity. Furthermore, a first drive assembly connected to the second end of the thumb linear actuator and used to drive the proximal thumb segment to bend and straighten, and a second drive assembly and a third drive assembly respectively connected to the proximal thumb segment and used to drive the thumb component to flip and twist relative to the palm component, are placed within the receiving cavity.

[0006] The finger component includes a proximal phalanx, a middle phalanx, and a distal phalanx connected in sequence. The receiving cavity also contains a fourth driving component connected to the proximal phalanx and used to drive the proximal phalanx to bend and straighten, and to drive the finger component to swing relative to the palm component. It also contains a fifth driving component connected to the middle phalanx and used to drive the middle phalanx to bend and straighten, and to coordinate with the under-driven bending and straightening of the distal phalanx.

[0007] Optionally, the first drive assembly includes a first driver, a drive gear that is drively connected to the output end of the first driver, a spur rack that meshes with the drive gear, and a driven gear that meshes with the spur rack and is fixed to the second end of the thumb linear driver.

[0008] Optionally, the columnar rack includes a cylindrical body and a plurality of mating teeth arranged circumferentially and spaced apart from each other along the cylindrical body;

[0009] The second drive assembly includes a second linear driver and a fixed seat that is hinged to the output end of the second linear driver via a connecting rod and fixed to the proximal phalanx of the thumb. One end of the fixed seat is open to receive the first end of the columnar rack along its axial direction.

[0010] Optionally, the third drive assembly includes a third linear actuator and a slide that is hinged to and fixed to the proximal phalanx of the thumb via a connecting rod, with one end of the slide being open to receive the second end of the columnar rack along its axial direction.

[0011] The multi-degree-of-freedom manipulator further includes a partition assembly disposed within the receiving cavity, separating the first drive assembly, the second drive assembly, the third drive assembly, the fifth drive assembly, and the fourth drive assembly to two sides; the partition assembly includes a first partition plate, support blocks and connecting shafts extending from the first partition plate towards the side near the first drive assembly and spaced apart from each other, and a connecting plate with a clearance through hole and overlapping the side of the first partition plate facing the first drive assembly; wherein...

[0012] The support block is used to support the third drive assembly. The connecting shaft is sleeved and connected to the inner ring of the ball bearing. The clearance through hole is sleeved and connected to the outer ring of the ball bearing. The side edge of the connecting plate extends outward to abut against the extension of the support block. The connecting plate is connected to the slide.

[0013] Optionally, the thumb component further includes a first thumb link, a second thumb link, and a third thumb link;

[0014] The first end and the second end of the first thumb link are respectively hinged to the first end of the thumb linear actuator and the first end of the middle segment of the thumb; the first end of the second thumb link is simultaneously hinged to the second end of the middle segment of the thumb and the distal segment of the thumb; the first end of the third thumb link is simultaneously connected to the second end of the first thumb link and the first end of the middle segment of the thumb; the second end of the third thumb link is connected to the second end of the second thumb link.

[0015] Optionally, the fourth drive assembly includes a fourth linear actuator, a fourth sub-linear actuator, a first linkage group, a second linkage group, and a T-shaped connecting shaft; the finger proximal phalanx includes a finger proximal phalanx body, a first connecting portion, and a second connecting portion extending outward from both sides of the finger proximal phalanx body, respectively;

[0016] The output end of the fourth linear actuator is hinged to the first connecting part through the first linkage group, and the output end of the fourth sub-linear actuator is hinged to the second connecting part through the second linkage group; and the two ends of the horizontal axis of the T-shaped connecting shaft are rotatably connected to the opposite sides of the first connecting part and the second connecting part, respectively.

[0017] Optionally, the fifth drive assembly includes a fifth linear actuator, the output end of which is hinged to the middle phalanx of the finger via a link; the finger component further includes a first finger link, a second finger link, a third finger link, and a fourth finger link;

[0018] The first finger link is fixedly connected to and disposed at opposite ends of the middle segment of the finger near the distal segment of the finger. The second finger link is fixedly connected to and disposed at opposite ends of the distal segment of the finger near the middle segment of the finger, and the corresponding first finger link and second finger link are hinged to each other. The first end of the third finger link is hinged to the distal segment of the finger, and its second end is fixedly connected to the first finger link. The third finger link is fixedly connected to the first end of the fourth finger link, and the second end of the fourth finger link is rotatably mounted on the horizontal axis of the T-shaped connecting shaft.

[0019] Optionally, the finger component further includes a support base mounted on the fourth sub-linear actuator and the fifth linear actuator, a connecting base snapped onto the bottom of the support base and used to connect the opposite sides of the vertical shaft of the T-shaped connecting shaft, and a connecting plate respectively clamped between the first connecting part and the top of the support base, and between the second connecting part and the top of the support part, wherein the first end of the connecting plate is hinged to the middle segment of the finger, and the second end of the connecting plate is hinged to the second end of the fourth finger link.

[0020] Optionally, the first virtual axes of the first drive component, the second drive component, and the third drive component are parallel to each other, the second virtual axes of the fourth drive component and the fifth drive component are parallel to each other, and the first virtual axis is perpendicular to the second virtual axis.

[0021] Optionally, the multi-degree-of-freedom manipulator includes a four-finger component.

[0022] The multi-degree-of-freedom manipulator of the present disclosure can achieve more degrees of freedom of movement, is more flexible and intelligent, and can be applied to a wider range of working conditions; it has a simple and reliable structure and can improve production efficiency. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of a multi-degree-of-freedom manipulator according to an embodiment of the present disclosure;

[0024] Figure 2 This is a schematic diagram of the mating structure of the thumb component and the finger component;

[0025] Figure 3 A structural breakdown diagram of the thumb component;

[0026] Figure 4 for Figure 3 A schematic diagram of the side structure of the middle thumb component;

[0027] Figure 5 for Figure 3 A schematic diagram of the front structure of the middle thumb component;

[0028] Figure 6 This is a cross-sectional schematic diagram of the driving gear-cylindrical rack-driven gear section;

[0029] Figure 7 A structural breakdown diagram of the finger component;

[0030] Figure 8 for Figure 7 A side view of the middle finger component;

[0031] Figure 9 for Figure 7 A schematic diagram of the front structure of the middle finger component. Detailed Implementation

[0032] To enable those skilled in the art to better understand the technical solutions of this disclosure, the disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] like Figures 1 to 9 As shown, a multi-degree-of-freedom manipulator 100 includes a palm component 110 having a receiving cavity 200, a thumb component 120 and at least one finger component 130 respectively connected to the palm component 110.

[0034] The thumb component 120 includes a proximal thumb phalanx 121, a middle thumb phalanx 122, and a distal thumb phalanx 123 connected in sequence. A thumb linear actuator 1211, with its first end connected to the middle thumb phalanx 122 and used to drive the middle thumb phalanx 122 to bend and straighten, and to drive the distal thumb phalanx 123 to under-drive bending and straightening, is housed within the receiving cavity 200. A first drive assembly 124, connected to the second end of the thumb linear actuator 1211 and used to drive the proximal thumb phalanx 121 to bend and straighten, and a second drive assembly 125 and a third drive assembly 126, respectively connected to the proximal thumb phalanx 121 and used to drive the thumb component 120 to rotate and twist relative to the palm component 110, are also placed within the cavity.

[0035] The finger component 130 includes a proximal phalanx 131, a middle phalanx 132, and a distal phalanx 133 connected in sequence. The receiving cavity 200 also contains a fourth driving component 134 connected to the proximal phalanx 131 and used to drive the proximal phalanx 131 to bend and straighten and to drive the finger component 130 to swing relative to the palm component 110, and a fifth driving component 135 connected to the middle phalanx 132 and used to drive the middle phalanx 132 to bend and straighten and to coordinate with the under-driven bending and straightening of the distal phalanx 133.

[0036] Specifically, such as Figures 1 to 9 As shown, as a specific example, the multi-degree-of-freedom manipulator 100 includes four finger components 130. Of course, different numbers of finger components, such as only one finger component 130, two finger components 130, three finger components 130, and five finger components 130, can be set as needed. The embodiments of this disclosure do not impose an upper limit on the number of finger components.

[0037] like Figure 1 and Figure 2 As shown, when four finger components 130 are provided, the grasping methods can be configured as follows, including thumb component 120 plus one finger component 130, thumb component 120 plus two finger components 130, thumb component 120 plus three finger components 130, and thumb component 120 plus four finger components 130, depending on the target volume. For example, for small objects, thumb component 120 and one finger component 130 can be used together for grasping. For medium-sized objects, thumb component 120 plus two finger components 130, or thumb component 120 plus three finger components 130, can be used together for grasping. For larger objects, thumb component 120 and four finger components 130 can be used together for grasping.

[0038] The thumb linear actuator 1211 drives the middle phalanx 122 of the thumb to bend and extend, and coordinates with the distal phalanx 123 to under-actuately bend and extend. The first drive assembly 124 drives the proximal phalanx 121 of the thumb to bend and extend. The second drive assembly 125 and the third drive assembly 126 drive the thumb component 120 to rotate and twist relative to the palm component 110, respectively. The fourth drive assembly 134 drives the proximal phalanx 131 of the finger to bend and extend, and drives the finger component 130 to swing relative to the palm component 110. The fifth drive assembly 135 drives the middle phalanx 132 of the finger to bend and extend, and coordinates with the distal phalanx 133 to under-actuately bend and extend. Therefore, the thumb component can achieve four degrees of freedom: bending, extending, rotating, and twisting. The finger component can achieve three degrees of freedom: bending, extending, and swinging.

[0039] It should be noted that, as Figures 1 to 5As shown, a finger sleeve 112 with friction teeth 111 arranged in an array on the surface can be fitted onto the top of the thumb component 120 to increase the friction when grasping an object. Of course, a finger sleeve 112 can also be provided on the top of the thumb component 130.

[0040] For example, such as Figures 1 to 6 As shown, the first drive assembly 124 includes a first driver 1241, a drive gear 1242 that is drively connected to the output end of the first driver 1241, a columnar rack 1243 that meshes with the drive gear 1242, and a driven gear 1244 that meshes with the columnar rack 1243 and is fixed to the second end of the thumb linear driver 1211.

[0041] The driving gear 1242 is connected to the first driver 1241. The driving gear 1242 simultaneously meshes with the rack 1243, and the rack 1243 simultaneously meshes with the driven gear 1244. The first driver 1241 is configured as a rotary geared motor. The rotational motion of the rotary geared motor is converted into the axial movement of the rack 1243, and then into the rotational motion of the driven gear 1244. The driven gear 1244 is fixed to the proximal phalanx of the thumb 121 via a thumb linear driver 1211. The rotational motion of the driven gear 1244 realizes the bending and straightening movements of the proximal phalanx of the thumb 121.

[0042] The second drive assembly 125 includes a second linear driver 1251 and a fixing seat 1252 that is hinged to the output end of the second linear driver 1251 via a connecting rod 300 and fixed to the proximal phalanx of the thumb 121. One end of the fixing seat 1252 is open to receive the first end of the columnar rack 1243 along its axial direction.

[0043] The second linear actuator 1251 is hinged to the fixed base 1252. The axial extension and retraction of the second linear actuator 1251 is converted into the rotational motion of the fixed base 1252 along line AA. The fixed base 1252 is fixed to the proximal phalanx of the thumb 121. Therefore, the rotation of the fixed base 1252 realizes the rotational motion of the thumb part, which is manifested as the thumb part flipping along line AA. Thus, the thumb part can be flush with the palm part 110 or at a certain angle, realizing the flipping action of the thumb part.

[0044] Since the driven gear 1244 is fixed to the proximal phalanx of the thumb 121, the flipping motion of the thumb will cause the driven gear 1244 to flip along line AA. Therefore, in order to achieve mechanical coupling, the cylindrical rack 1243 includes a cylindrical body 1245 and a plurality of mating teeth 1246 arranged circumferentially around and spaced apart from the cylindrical body 1245. Both the driving gear 1242 and the driven gear 1244 mesh with the mating teeth 1246. With this configuration, the driven gear 1244 can maintain meshing with the cylindrical rack 1243 no matter what angle it rotates to. Therefore, through the coupling of the driving gear 1242, the cylindrical rack 1243, and the driven gear 1244, the bending and flipping motions of the thumb can be achieved independently without interference.

[0045] For example, such as Figures 1 to 6 As shown, the third drive assembly 126 includes a third linear actuator 1261 and a slide 1262 that is hinged to the output end of the third linear actuator 1261 via a connecting rod 300 and fixed to the proximal phalanx of the thumb 121. One end of the slide 1262 is open to receive the second end of the columnar rack 1243 along its axial direction.

[0046] The multi-degree-of-freedom manipulator 100 further includes a partition component 400 disposed within the receiving cavity 200, separating the first drive assembly 124, the second drive assembly 125, the third drive assembly 126, the fifth drive assembly 135, and the fourth drive assembly 134 to two sides. The partition component 400 includes a first partition plate 410, support blocks 411 and connecting shafts 412 extending from the first partition plate 410 towards the side near the first drive assembly 124 and spaced apart from each other, and a connecting plate 420 with a clearance through hole 421 that overlaps the side of the first partition plate 410 facing the first drive assembly 124.

[0047] The support block 411 is used to support the third drive assembly 126. The connecting shaft 412 is sleeved and connected to the inner ring of the ball bearing 4121. The clearance through hole 421 is sleeved and connected to the outer ring of the ball bearing 4121. The side edge of the connecting plate 420 extends outward to have an extension portion 422 that abuts against the support block 411. The connecting plate 420 is connected to the slide block 1262.

[0048] The third linear actuator 1261 is connected to the slide 1262 via the connecting rod 300. The telescopic motion of the third linear actuator 1261 can be converted into the rotational motion of the slide 1262 along the axis of the ball bearing 4121. The rotation of the slide 1262 drives the rotation of the thumb part, thereby realizing the twisting action of the thumb part.

[0049] Furthermore, the thumb component 120 also includes a first thumb link 127, a second thumb link 128, and a third thumb link 129. The first and second ends of the first thumb link 127 are respectively hinged to the first end of the thumb linear actuator 1211 and the first end of the thumb middle segment 122. The first end of the second thumb link 128 is simultaneously hinged to the second end of the thumb middle segment 122 and the thumb distal segment 123. The first end of the third thumb link 129 is simultaneously connected to the second end of the first thumb link 127 and the first end of the thumb middle segment 122, and the second end of the third thumb link 129 is connected to the second end of the second thumb link 128. This configuration enables active flexion and extension of the thumb middle segment 122, and under-actuated flexion and extension of the thumb distal segment 123.

[0050] For example, such as Figure 1 , Figure 2 , Figures 7 to 9 As shown, the fourth drive assembly 134 includes a fourth linear actuator 1341, a fourth sub-linear actuator 1342, a first linkage group 1343, a second linkage group 1344, and a T-shaped connecting shaft 1345. The finger proximal phalanx 131 includes a finger proximal phalanx body 1311, a first connecting portion 1312, and a second connecting portion 1313 extending outwards from both sides of the finger proximal phalanx body 1311. The output end of the fourth linear actuator 1341 is hinged to the first connecting portion 1312 via the first linkage group 1343, and the output end of the fourth sub-linear actuator 1342 is hinged to the second connecting portion 1313 via the second linkage group 1344. Furthermore, the two ends of the transverse axis of the T-shaped connecting shaft 1345 are rotatably connected to the opposite sides of the first connecting portion 1312 and the second connecting portion 1313.

[0051] Specifically, such as Figures 7 to 9 As shown, the fourth linear actuator 1341 and the fourth sub-linear actuator 1342 are connected to the two ends of the horizontal axis of the T-shaped connecting shaft 1345 via the first link group 1343 and the second link group 1344, respectively. When the linear motion directions of the fourth linear actuator 1341 and the fourth sub-linear actuator 1342 are the same and their displacement velocities are the same, the proximal phalanx of the finger 131 performs bending and straightening movements. When the linear motion directions of the fourth linear actuator 1341 and the fourth sub-linear actuator 1342 are opposite and their displacement velocities are the same, the proximal phalanx of the finger 131 performs a swinging movement, and the proximal phalanx of the finger 131 drives the finger part to achieve the swinging movement.

[0052] For example, such as Figure 1 , Figure 2 , Figures 7 to 9As shown, the fifth drive assembly 135 includes a fifth linear actuator 1351, the output end of which is hinged to the middle phalanx 132 of the finger via a link 300. The finger component 130 also includes a first finger link 136, a second finger link 137, a third finger link 138, and a fourth finger link 139.

[0053] The first finger link 136 is fixedly connected to and disposed at opposite ends of the middle phalanx 132 of the finger near the distal phalanx 133. The second finger link 137 is fixedly connected to and disposed at opposite ends of the distal phalanx 133 of the finger near the middle phalanx 132. The corresponding first finger link 136 and second finger link 137 are hinged to each other. The first end of the third finger link 138 is hinged to the distal phalanx 133 of the finger, and its second end is fixedly connected to the first finger link 136. The third finger link 138 is fixedly connected to the first end of the fourth finger link 139, and the second end of the fourth finger link 139 is rotatably mounted on the transverse axis of the T-shaped connecting shaft 1345.

[0054] The finger component 130 further includes a support base 510 mounted on the fourth sub-linear actuator 1342 and the fifth linear actuator 1351, a connecting base 520 snapped into the bottom of the support base 510 and used to connect the opposite sides of the vertical axis of the T-shaped connecting shaft 1345, and a connecting plate 530 respectively clamped between the first connecting part 1312 and the top of the support base 510, and between the second connecting part 1313 and the top of the support part 510. The first end of the connecting plate 530 is hinged to the middle segment 132 of the finger, and the second end of the connecting plate 530 is hinged to the second end of the fourth finger link 139.

[0055] Specifically, such as Figures 7 to 9 As shown, the fifth linear actuator 1351 is connected to the connecting plate 530 via the connecting rod 300, and realizes the active bending and straightening of the middle segment 132 of the finger and the under-driven bending and straightening of the distal segment 133 of the finger through the first finger connecting rod 136, the second finger connecting rod 137, the third finger connecting rod 138 and the fourth finger connecting rod 139.

[0056] Further reference Figure 2The separator assembly 400 also includes a second separator plate 430, which specifically separates the fifth linear actuator 1351 and the fourth sub-linear actuator 1342. The first separator plate 410 specifically separates the first actuator 1241, the second linear actuator 1251, the third linear actuator 1261, and the fourth linear actuator 1341. The fifth linear actuator 1351, the first actuator 1241, the second linear actuator 1251, and the third linear actuator 1261 are located on the first side of the separator assembly 400, while the fourth sub-linear actuator 1342 and the fourth linear actuator 1341 are located on the second side of the separator assembly. The distal phalanx of the thumb 123 and the distal phalanx of the finger 133 can also be configured as having two or three fingertips, or other different numbers of segments, as needed.

[0057] For example, such as Figure 2 , Figure 3 and Figure 7 As shown, the first virtual axes of the first drive assembly 124, the second drive assembly 125, and the third drive assembly 126 are parallel to each other, just as the first virtual axes of the first driver 1241, the second linear driver 1251, and the third linear driver 1261 are parallel to each other. The second virtual axes of the fourth drive assembly 134 and the fifth drive assembly 135 are parallel to each other, just as the second virtual axes of the fourth linear driver 1341, the fourth sub-linear driver 1342, and the fifth linear driver 1351 are parallel to each other. Furthermore, the first virtual axis is perpendicular to the second virtual axis.

[0058] The multi-degree-of-freedom manipulator disclosed herein can achieve more degrees of freedom in its movements, is more flexible and intelligent, and is applicable to a wider range of working conditions. It has a simple and reliable structure and can effectively improve production efficiency.

[0059] It is understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of this disclosure, and this disclosure is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and substance of this disclosure, and these modifications and improvements are also considered to be within the scope of protection of this disclosure.

Claims

1. A multi-degree-of-freedom robotic arm, characterized in that, The multi-degree-of-freedom manipulator includes a palm component with a receiving cavity, a thumb component connected to the palm component, and at least one finger component; The thumb component includes a proximal thumb segment, a middle thumb segment, and a distal thumb segment connected in sequence. A thumb linear actuator, with its first end connected to the middle thumb segment and used to drive the middle thumb segment to bend and straighten, and to coordinate with the under-driven bending and straightening of the distal thumb segment, is housed within the receiving cavity. Furthermore, a first drive assembly connected to the second end of the thumb linear actuator and used to drive the proximal thumb segment to bend and straighten, and a second drive assembly and a third drive assembly respectively connected to the proximal thumb segment and used to drive the thumb component to flip and twist relative to the palm component, are placed within the receiving cavity. The finger component includes a proximal phalanx, a middle phalanx, and a distal phalanx connected in sequence. The receiving cavity also contains a fourth driving component connected to the proximal phalanx and used to drive the proximal phalanx to bend and straighten, and to drive the finger component to swing relative to the palm component. It also contains a fifth driving component connected to the middle phalanx and used to drive the middle phalanx to bend and straighten, and to coordinate with the under-driven bending and straightening of the distal phalanx.

2. The multi-degree-of-freedom manipulator according to claim 1, characterized in that, The first drive assembly includes a first driver, a drive gear that is drively connected to the output end of the first driver, a spur rack that meshes with the drive gear, and a driven gear that meshes with the spur rack and is fixed to the second end of the thumb linear driver.

3. The multi-degree-of-freedom manipulator according to claim 2, characterized in that, The columnar rack includes a cylindrical body and a plurality of mating teeth arranged circumferentially and spaced apart from each other along the cylindrical body. The second drive assembly includes a second linear driver and a fixed seat that is hinged to the output end of the second linear driver via a connecting rod and fixed to the proximal phalanx of the thumb. One end of the fixed seat is open to receive the first end of the columnar rack along its axial direction.

4. The multi-degree-of-freedom manipulator according to claim 3, characterized in that, The third drive assembly includes a third linear actuator and a slide that is hinged to the output end of the third linear actuator via a connecting rod and fixed to the proximal phalanx of the thumb. One end of the slide is open to accommodate the second end of the columnar rack along its axial direction. The multi-degree-of-freedom manipulator further includes a partition assembly disposed within the receiving cavity, separating the first drive assembly, the second drive assembly, the third drive assembly, the fifth drive assembly, and the fourth drive assembly to two sides; the partition assembly includes a first partition plate, support blocks and connecting shafts extending from the first partition plate towards the side near the first drive assembly and spaced apart from each other, and a connecting plate with a clearance through hole and overlapping the side of the first partition plate facing the first drive assembly; wherein... The support block is used to support the third drive assembly. The connecting shaft is sleeved and connected to the inner ring of the ball bearing. The clearance through hole is sleeved and connected to the outer ring of the ball bearing. The side edge of the connecting plate extends outward to abut against the extension of the support block. The connecting plate is connected to the slide.

5. The multi-degree-of-freedom manipulator according to any one of claims 1 to 4, characterized in that, The thumb component also includes a first thumb link, a second thumb link, and a third thumb link; The first end and the second end of the first thumb link are respectively hinged to the first end of the thumb linear actuator and the first end of the middle segment of the thumb; the first end of the second thumb link is simultaneously hinged to the second end of the middle segment of the thumb and the distal segment of the thumb; the first end of the third thumb link is simultaneously connected to the second end of the first thumb link and the first end of the middle segment of the thumb; the second end of the third thumb link is connected to the second end of the second thumb link.

6. The multi-degree-of-freedom manipulator according to any one of claims 1 to 4, characterized in that, The fourth drive assembly includes a fourth linear actuator, a fourth sub-linear actuator, a first linkage group, a second linkage group, and a T-shaped connecting shaft; the proximal phalanx of the finger includes a proximal phalanx body, a first connecting portion, and a second connecting portion extending outward from both sides of the proximal phalanx body, respectively. The output end of the fourth linear actuator is hinged to the first connecting part through the first linkage group, and the output end of the fourth sub-linear actuator is hinged to the second connecting part through the second linkage group; and the two ends of the horizontal axis of the T-shaped connecting shaft are rotatably connected to the opposite sides of the first connecting part and the second connecting part, respectively.

7. The multi-degree-of-freedom manipulator according to claim 6, characterized in that, The fifth drive assembly includes a fifth linear actuator, the output end of which is hinged to the middle phalanx of the finger via a link; the finger component also includes a first finger link, a second finger link, a third finger link, and a fourth finger link; The first finger link is fixedly connected to and disposed at opposite ends of the middle segment of the finger near the distal segment of the finger. The second finger link is fixedly connected to and disposed at opposite ends of the distal segment of the finger near the middle segment of the finger, and the corresponding first finger link and second finger link are hinged to each other. The first end of the third finger link is hinged to the distal segment of the finger, and its second end is fixedly connected to the first finger link. The third finger link is fixedly connected to the first end of the fourth finger link, and the second end of the fourth finger link is rotatably mounted on the horizontal axis of the T-shaped connecting shaft.

8. The multi-degree-of-freedom manipulator according to claim 7, characterized in that, The finger component also includes a support base mounted on the fourth sub-linear actuator and the fifth linear actuator, a connecting base snapped into the bottom of the support base and used to connect the opposite sides of the vertical shaft of the T-shaped connecting shaft, and a connecting plate respectively clamped between the first connecting part and the top of the support base, and between the second connecting part and the top of the support part. The first end of the connecting plate is hinged to the middle segment of the finger, and the second end of the connecting plate is hinged to the second end of the fourth finger link.

9. The multi-degree-of-freedom manipulator according to any one of claims 1 to 4, characterized in that, The first virtual axes of the first drive component, the second drive component, and the third drive component are parallel to each other; the second virtual axes of the fourth drive component and the fifth drive component are parallel to each other; and the first virtual axis is perpendicular to the second virtual axis.

10. The multi-degree-of-freedom manipulator according to any one of claims 1 to 4, characterized in that, The multi-degree-of-freedom manipulator includes four finger components.

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