A teleoperation dual rocker underactuated end-effector and robot

Abstract

The application belongs to the technical field of mechanical hands, and particularly relates to a long-distance double-rocker underactuated end effector and robot. The long-distance double-rocker underactuated end effector comprises a base module, a palm module, a finger module and a driving module; the palm module is partially fixed on the base module, a plurality of finger units of the finger module are pivotally arranged on the palm module, and the driving module is provided with a plurality of driving units to respectively drive the plurality of finger units to rotate around pivots; wherein the palm module is formed by a base connecting rod, a first plane assembly and a second plane assembly, the first plane assembly has a plurality of structures capable of moving in a first plane, and the second plane assembly comprises a rotating variable structure member with pivots on the first plane; part of the finger units of the finger module are pivotally arranged on the rotating variable structure member, and part of the finger units are pivotally arranged on the first plane assembly.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, specifically relating to an end effector applied to a robot, and more particularly to a long-range dual-rocker underactuated end effector and robot. Background Technology

[0002] Assembly robots play a crucial role in the construction of lunar research stations, and reconfigurable end effectors are the core components of these robots. The diverse types and specifications (sizes and shapes) of cables in the nuclear reactors or solar power plants of these research stations present challenges to existing end effectors in terms of gripping, plugging, and unplugging assembly tasks.

[0003] Existing end effectors and dexterous hands are subject to constraints on degrees of freedom, making their control complex. When the input torque is small, the output contact force is insufficient to meet the operational requirements on the lunar surface. Furthermore, considering the varying cable sizes and diverse interface types encountered in lunar operations, improvements are needed to the mechanism configuration and dimensional design methods of end effectors.

[0004] In existing research on reconfigurable end effectors, most focus on increasing the number of controllable hands and degrees of freedom. However, the complex structure resulting from this design has certain shortcomings in terms of control difficulty and service life, making it unsuitable for unmanned conditions on the lunar surface. Summary of the Invention

[0005] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a remote dual-joystick underactuated end effector and robot, so as to provide an underactuated grasping method with greater fingertip contact force that can be used in special environments.

[0006] To achieve the above objectives, in a first aspect, the present invention provides a long-range dual-rocker underactuated end effector, comprising a base module, a palm module, a finger module, and a drive module; the palm module is partially fixed on the base module, and a plurality of finger units of the finger module are pivotally mounted on the palm module; the drive module is provided with a plurality of drive units to drive the plurality of finger units to rotate about a pivot; wherein the palm module is formed by a base connecting rod, a first planar component, and a second planar component, the first planar component being movable within a first plane, and the second planar component including a rotatable member pivotally mounted on the first plane; some finger units of the finger module are pivotally mounted on the rotatable member, and some finger units are pivotally mounted on the first planar component.

[0007] In one embodiment of the present invention, the first planar component includes a palm active rod and a palm first connecting rod disposed in a first plane; one end of the palm active rod is rotatably connected to the base connecting rod, and the other end is rotatably connected to the palm first connecting rod; the other end of the palm first connecting rod is rotatably connected to the second planar component.

[0008] In one embodiment of the present invention, the first planar assembly further includes a crank drive member disposed in the first plane, the crank drive member having a structure capable of adjusting the rotation angle of the palm drive rod and the base connecting rod to drive the palm first connecting rod to move in the first plane; and / or, the size of the palm drive rod is smaller than the size of the palm first connecting rod.

[0009] In one embodiment of the present invention, the finger module includes a first finger unit and a third finger unit; the first connecting rod of the palm and the rotating variable component are respectively provided with a first finger connector and a third finger connector capable of pivotally connecting the first finger unit and the third finger unit.

[0010] In one embodiment of the present invention, the drive module includes a first linkage drive unit and a third planetary gear drive unit that can drive the first finger unit and the third finger unit to rotate around a pivot, respectively; wherein the first linkage drive unit is fixed on the base module and the third planetary gear drive unit is fixed on the rotating variable member.

[0011] In one embodiment of the present invention, the first linkage drive unit includes a first universal joint, a first ball joint, and a first drive rail; one end of the first universal joint is connected to the first finger unit via a universal joint, and the other end is connected to one end of the first ball joint via a ball joint; the other end of the first ball joint is mounted on a moving platform of the first drive rail; and / or, the third planetary gear drive unit includes a root rocker arm, a planetary connecting rod, and a planetary gear assembly disposed on the rotary variable component, one end of the planetary connecting rod being rotatably connected to the planetary gear ring of the planetary gear assembly, and the other end being rotatably connected to the root rocker arm; wherein, the root rocker arm is fixedly connected to the third finger unit, or, the root rocker arm is part of the third finger unit.

[0012] In one embodiment of the present invention, the first finger unit includes a first root joint, a first middle joint, a first fingertip joint, a first finger proximal member, a first middle crank, a first root connecting rod, a first root central shaft, a first middle connecting rod, and a first middle central shaft; one end of the first middle joint is rotatably connected to the first root joint via the first middle central shaft, and the other end is rotatably connected to the first fingertip joint; the first middle crank is sleeved on the first middle central shaft and rotatably connected to one end of the first root connecting rod and one end of the first middle connecting rod respectively; the other end of the first middle connecting rod is rotatably connected to the first fingertip joint; the other end of the first root connecting rod is rotatably connected to the first finger proximal member sleeved on the first root connecting rod.

[0013] In one embodiment of the present invention, the first fingertip member is configured to be connectable to the first linkage drive unit; the first root link is pivotally mounted on the side of the first root joint away from the first middle joint, and the first finger connector of the palm module is sleeved on the first root link; and / or, the second planar assembly includes a rotation drive member having a structure capable of adjusting the rotation angle of the rotational variable member and the base link to drive the rotational variable member to rotate about a pivot located in the first plane.

[0014] In one embodiment of the present invention, the finger module further includes a second finger unit, and the driving module includes a second linkage driving unit for driving the second finger unit; the first finger unit, the second finger unit and the third finger unit have the same structure; the first linkage driving unit and the second linkage driving unit have the same structure.

[0015] In one embodiment of the present invention, the rotating component of the third finger connector is configured such that when the rotation angle between the rotating component and the base connecting rod is at a set angle, the third finger unit and the second finger unit are in the same plane, or the third finger unit and the first finger unit are in the same plane.

[0016] In one embodiment of the present invention, the second finger unit is disposed on the palm active rod; or on the palm first connecting rod; or on the palm second connecting rod with the same structure as the palm first connecting rod, the palm second connecting rod being located in the first plane, one end of the palm second connecting rod being rotatably connected to the palm first connecting rod, and the other end being rotatably connected to the second planar assembly; and / or, at least one of the first finger unit, the second finger unit, the third finger unit, the base connecting rod, the first planar assembly, and the second planar assembly has a rubber pad on the side facing the target object, the target object being an object held by the remote dual-rocker underactuated end effector.

[0017] In one embodiment of the present invention, the second planar assembly includes a rotary drive member having a structure capable of adjusting the rotation angle of the rotary variable member and the base connecting rod to drive the rotary variable member to rotate about a pivot located in a first plane; and / or, the second planar assembly includes an upgraded connector having a structure rotatably connected to the first planar assembly and the rotary variable member respectively.

[0018] In one embodiment of the present invention, the base module includes a base, a ramp, and a mounting portion. The ramp is fixedly mounted on the base and fixedly connected to the mounting portion. The mounting portion has a structure that is fixed to the base connecting rod of the palm module. The ramp is parallel to the first plane. The ramp is inclined relative to the base, and the angle of inclination between the ramp and the base is 10-70°. And / or, a monitoring device for detecting the operating status of the palm module or finger module is provided on the ramp.

[0019] A second aspect of the present invention provides a robot, including a body, a control unit connected in communication with the remote dual-rocker underactuated end effector described in the first aspect of the present invention, wherein the end of the body is connected to the remote dual-rocker underactuated end effector, and the control unit controls the hand module and the drive module based on operational requirements.

[0020] A third aspect of the present invention provides a long-range dual-rocker underactuated end effector, comprising: a base module; a hand module, including a base connecting rod fixedly connected to the base module by bolts, and a hand active rod, a first hand connecting rod, a second hand connecting rod, an ascending connector, and a rotating variable component connected sequentially end-to-end by bearings, and a first finger connector, a second finger connector, and a third finger connector respectively bolted to the first hand connecting rod, the second hand connecting rod, and the rotating variable component; a first finger unit, including a first root joint, a first middle joint, and a first fingertip joint connected in series, to... The system includes a first root central shaft, a first middle central shaft, a first finger-shaped rod, a first middle crank, a first root connecting rod, and a first middle connecting rod; a first connecting rod drive unit, including a first universal joint, a first universal rod, a first ball joint, a first drive guide rail, a first coupling, and a first motor; a third planetary gear drive unit, including a root rocker, a planetary connecting rod, a planetary ring gear, a first planetary gear, a second planetary gear, a third planetary gear, a sun gear, a third coupling, and a third motor; a second connecting rod drive unit with a structure similar to the first connecting rod drive unit; and a second finger unit and a third finger unit with structures similar to the first finger unit.

[0021] In one embodiment of the present invention, the palm active rod, the first palm connecting rod, and the second palm connecting rod of the palm module are rotatably connected in pairs to form a planar crank-rocker mechanism. The rotation of the palm active rod causes changes in the position and angle of the first palm connecting rod. The palm module has two degrees of freedom: the palm active rod can rotate freely with its connection point with the base connecting rod as the center, and the rotating variable component can rotate freely with its own axis as the rotation axis. The drive motors of the rotating variable component are all mounted on the base module. And / or, the stepped connecting member and the base connecting rod are arranged parallel to each other, and the rotating variable component and the base connecting rod are arranged perpendicularly. The palm active rod, the first palm connecting rod, and the second palm connecting rod all move in the same plane. The rotation axis of the rotating variable component belongs to the same plane mentioned above. The first finger connecting member is fixedly connected to the first palm connecting rod, the second finger connecting member is fixedly connected to the second palm connecting rod, and the third finger connecting member is fixedly connected to the rotating variable component.

[0022] In one embodiment of the present invention, the first finger unit is connected to the first link of the palm via a first finger connector. The first root central axis of the first finger unit is connected through a hole in the first finger connector, and the first root central axis can rotate freely through the hole in the first finger connector. The first root joint of the first finger unit and the first finger proximal member are connected through the first root central axis, and both the first root joint and the first finger proximal member can rotate around the axis of the first root central axis.

[0023] In one embodiment of the present invention, the first linkage drive unit is a spatial linkage mechanism. The first universal joint is connected to the first finger prong member of the first finger unit through the first universal joint, forming a universal joint together. The first universal joint is connected to the first ball joint through a ball joint, and the ball joint has three rotational degrees of freedom. The other end of the first ball joint is fixed on the first drive rail, and the first drive rail is fixedly connected to the base. The first coupling is connected to the first motor to control the first ball joint to move parallel to the guide rail axis.

[0024] In one embodiment of the present invention, the third planetary gear drive unit is driven by a servo motor fixed on a rotating component, which is directly connected to the central shaft of the sun gear for drive; the sun gear is connected to the first planetary gear, the second planetary gear, and the third planetary gear through gear meshing; the first planetary gear, the second planetary gear, and the third planetary gear are connected to the planetary gear ring through gear meshing; one end of the planetary connecting rod is connected to the planetary gear ring through a revolute joint, and the other end is connected to the root rocker through a revolute joint.

[0025] In one embodiment of the present invention, the second link drive unit has the same structure as the first link drive unit and the same connection method as the second finger unit and the base; the connecting component between the third finger unit and the third planetary gear drive unit is the root rocker, and the rotating pairs formed therein each have only one degree of rotational freedom.

[0026] In one embodiment of the present invention, the underactuated implementation of the first finger unit is such that the first root joint and the first middle crank are connected by an elastic element, and the first middle joint and the fingertip of the first fingertip joint are connected by an elastic element.

[0027] In one embodiment of the present invention, the drive motors of the first finger unit, the second finger unit, the palm active lever, and the rotary variable component of the remote dual-rocker underactuated end effector are all mounted on the base module, while only the drive motor of the third finger unit is mounted on the rotary variable component of the palm module. This greatly reduces the motion load on the palm module, enhances the gripping stability of the remote dual-rocker underactuated end effector, and extends the service life of the entire mechanism in a spatial environment.

[0028] In one embodiment of the present invention, the first linkage drive unit is a spatial linkage mechanism, which can still provide drive to the first finger unit when the palm module undergoes a configuration change.

[0029] In summary, compared with the prior art, the present invention can provide a three-finger end effector that can achieve both variable configuration and remote rigid drive, and requires a less complex control system, making it particularly suitable for unmanned operation scenarios in space environments. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the overall structure of a three-finger reconfigurable end effector with a remote-driven dual-rocker type underactuated finger provided by the present invention.

[0032] Figure 2 This is a schematic diagram of the hand module provided by the present invention;

[0033] Figure 3 This is a color structural schematic diagram of the palm module provided by the present invention;

[0034] Figure 4 This is a schematic diagram of the connection between the palm active rod and the base connecting rod provided by the present invention;

[0035] Figure 5 This is a schematic diagram of the structure of the first finger unit provided by the present invention;

[0036] Figure 6 This is a schematic diagram of the structure of the first linkage drive unit provided by the present invention;

[0037] Figure 7 This is a schematic diagram of the structure of the third planetary gear drive unit provided by the present invention.

[0038] Explanation of reference numerals in the attached figures:

[0039] 1000, Base module; 110, Mounting section; 120, Inclined platform; 130, Base;

[0040] 2000, Hand module; 2001, First planar component; 2002, Second planar component; 210, Hand drive rod; 211, Crank body; 213, Crank protrusion; 212, Crank drive component; 220, Hand first connecting rod; 221, First connecting rod rubber pad; 230, Hand second connecting rod; 231, Second connecting rod rubber pad; 240, Step-up connector; 250, Rotary variable component; 251, Rotary rod rubber pad; 260, Base connecting rod; 261, Base rod rubber pad; 262, Base connecting hole; 270, First finger connector; 280, Second finger connector; 290, Third finger connector;

[0041] 3000, finger module;

[0042] 300, First finger unit; 310, First root joint; 311, First root rubber pad; 320, First middle joint; 321, First middle rubber pad; 330, First fingertip joint; 331, First fingertip rubber pad; 340, First finger proximal member; 350, First middle crank; 360, First root connecting rod; 361, First root central shaft; 370, First middle connecting rod; 371, First middle central shaft;

[0043] 600, Second finger unit; 610, Second root joint; 620, Second middle joint; 630, Second fingertip joint; 640, Second finger proximal member; 650, Second middle crank; 660, Second root link; 670, Second middle link; 700, Third finger unit; 710, Third root joint; 720, Third middle joint; 730, Third fingertip joint; 740, Third finger proximal member; 750, Third middle crank; 760, Third root link; 770, Third middle link;

[0044] 4000, Driver Module;

[0045] 400, First linkage drive unit; 410, First universal joint; 420, First universal rod; 430, First ball joint; 440, First drive guide rail; 450, First coupling; 460, First motor;

[0046] 500, Third planetary gear drive unit; 510, Root rocker arm; 520, Planetary connecting rod; 501, Planetary gear assembly; 530, Planetary ring gear; 540, First planetary gear; 550, Second planetary gear; 560, Third planetary gear; 570, Sun gear;

[0047] 800, Second linkage drive unit; 810, Second universal joint; 820, Second universal rod; 830, Second ball joint. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] It should be understood that the specific embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the scope of the invention.

[0050] Please see Figures 1 to 5 The figure shows a remote dual-rocker underactuated end effector, which can also be a three-finger reconfigurable end effector with remotely actuated dual-rocker underactuated fingers. It includes a base module 1000, a palm module 2000, a finger module 3000, and a drive module 4000. The finger module 3000 has multiple finger units, which are pivotally mounted on the palm module 2000. The drive module 4000 has multiple drive units to drive the multiple finger units to rotate about a pivot axis corresponding to their pivot points.

[0051] A palm module 2000 is fixed on a base module 1000, a finger module 3000 is disposed on the palm module 2000, and a drive module 4000 is fixed on the base module 1000 and connected to the finger module 3000 to drive at least one finger unit of the finger module 3000 to perform operations such as clamping and twisting on a target object, wherein the target object is the object clamped by the remote dual-rocker underactuated end effector. Preferably, the finger module 3000 has three finger units, including a first finger unit 300, a second finger unit 600, and a third finger unit 700.

[0052] The following is a further explanation.

[0053] The palm module 2000 includes base connecting rods 260 connected end-to-end, a first planar assembly 2001, and a second planar assembly 2002. The first planar assembly 2001 includes multiple connecting rods movable within a first plane. The second planar assembly 2002 includes a rotary variable member 250 pivotally mounted on the first plane. The first planar assembly 2001 includes a palm drive rod 210, a first palm connecting rod 220, and a second palm connecting rod 230 connected in sequence via bearings. The second planar assembly 2002 includes an upgraded connector 240 and a rotary variable member 250. Figure 2 In this embodiment, the palm module 2000 includes a palm active rod 210, a first palm connecting rod 220, a second palm connecting rod 230, an upgraded connector 240, and a rotary variable component 250, which are connected end-to-end to the base connecting rod 260 via bearings. The first palm connecting rod 220, the second palm connecting rod 230, and the rotary variable component 250 are respectively connected to the finger module 3000.

[0054] In a preferred embodiment, the palm module 2000 further includes a first finger connector 270, a second finger connector 280, and a third finger connector 290, which are bolted to the first palm link 220, the second palm link 230, and the rotary variable component 250, respectively.

[0055] The palm-operated lever 210 includes a crank drive component 212, a fixedly mounted crank body 211, and crank protrusions 213 at both ends of the crank body. These crank protrusions 213 are rotatably connected to the palm-operated first connecting rod 220 and the base connecting rod 260, respectively, with their pivots parallel to each other. In another preferred embodiment, the crank body 211 of the palm-operated lever 210 has a hollow structure to further reduce the weight of the palm-operated lever 210. The crank drive component 212 can be, for example, a motor or other drive component. Figure 4 In this specific embodiment, the crank protrusions 213 are provided at both ends of the crank body 211 along its length. The two crank protrusions 213 extend along opposite sides. The thickness of the crank protrusions 213 is preferably half that of the crank body 211, so that when the crank protrusions 213 are rotatably connected to the first connecting rod 220 of the hand and the base connecting rod 260, they are on the same horizontal plane.

[0056] The crank drive 212 has a structure capable of adjusting the rotation angle of the palm drive rod 210 and the base connecting rod 260. The output shaft of the crank drive 212 is located at the connection between the crank protrusion 213 and the palm first connecting rod 220, and the output shaft of the crank drive 212 is coaxially arranged with the pivot of the crank protrusion 213 and the palm first connecting rod 220, thereby allowing the rotation angle of the crank protrusion 213 and the palm first connecting rod 220 to be controlled by controlling the rotation of the output shaft of the crank drive 212.

[0057] The two ends of the first palm link 220 are rotatably connected to the palm drive link 210 and the second palm link 230, respectively, and their pivots are parallel to each other. A first link rubber pad 221 is provided on the side of the first palm link 220 closest to the target object to facilitate increased friction when in contact with the target object. A first finger connector 270 for connecting to the first finger unit 300 of the finger module 300 is fixedly provided on the outer side of the first palm link 220, that is, on the side wall away from the axis of the palm module 2000.

[0058] The two ends of the second link 230 are rotatably connected to the first link 220 and the stepped connector 240, respectively, and their pivots are parallel to each other. The structure of the second link 230 is the same as that of the first link 220. A rubber pad 231 for the second link is provided on the side closer to the target object to increase friction when releasing from the target object. A second finger connector 280 for connecting to the second finger unit 600 of the finger module 3000 is fixedly provided on the outer side of the second link 230, i.e., the side away from the axis of the hand module 2000.

[0059] The upgraded connector 240 has a structure that is rotatably connected to both the first planar assembly and the rotary variable member. Figure 3 , Figure 4 In this embodiment, the stepped connector 240 is rotatably connected to the second link 230 of the palm and the rotary variable member 250, respectively, and their pivots are parallel to each other. Specifically, the stepped connector 240 has an "L"-shaped structure, and the pivots of the stepped connector 240 and the rotary variable member 250 are perpendicular to the pivots of the stepped connector 240 and the second link 230 of the palm, thereby enabling the second link 230 of the palm and the rotary variable member 250 to rotate in different directions relative to the stepped connector 240.

[0060] The two ends of the rotary variable component 250 are rotatably connected to the stepped connector 240 and the base connecting rod 260, respectively. Similarly, the rotary variable component 250 has a rotating rod rubber pad 251 on the side closer to the target object to facilitate increased friction when in contact with the target object. A third finger connector 290 for connecting to the third finger unit 700 of the finger module 3000 is fixedly provided on the outer side wall of the rotary variable component 250, i.e., the side away from the axis of the palm module 2000.

[0061] Similar to the structure of the crank drive component 212, the rotary variable component 250 is provided with a rotary drive component (not shown in the figure). The rotary drive component has a structure that can adjust the rotation angle of the rotary variable component 250 and the base connecting rod 260 to drive the rotary variable component 250 to rotate about a pivot located in the first plane. Specifically, the rotary drive component can be, for example, a motor. The output shaft of the motor can be located at the connection between the rotary variable component 250 and the stepped connector 240, or at the connection between the rotary variable component 250 and the base connecting rod 260, to adjust the rotation angle of the rotary variable component 250 and the base connecting rod 260.

[0062] The base connecting rod 260 is rotatably connected to the rotary variable component 250 and the palm active rod 210, respectively, and their pivots are perpendicular to each other. The pivots of the base connecting rod 260 and the rotary variable component 250 are perpendicular to the pivots of the base connecting rod 260 and the palm active rod 210, thereby allowing the rotary variable component 250 and the palm active rod 210 to rotate in different directions relative to the base connecting rod 260. The base connecting rod 260 is also provided with a base connecting hole 262, thereby allowing the base connecting rod 260 to be relatively fixedly connected to the base module 1000. That is, the base connecting rod 260 and the base module 1000 remain relatively stationary, and there is no relative displacement or rotation between them.

[0063] Furthermore, by sequentially rotating and connecting the palm active rod 210, the palm first connecting rod 220, the palm second connecting rod 230, the step-up connector 240, the rotary variable component 250, and the base connecting rod 260, a palm module 2000 can be formed. The palm active rod 210 is parallel to the pivots of the palm first connecting rod 220 and the base connecting rod 260, and the palm second connecting rod 230 is parallel to the pivots of the palm first connecting rod 220 and the step-up connector 240, respectively, and the rotary variable component 250 is perpendicular to the pivots of the step-up connector 240 and the base connecting rod 260, respectively.

[0064] It is understandable that the palm module 2000 has two degrees of freedom: one planar degree of freedom, where the palm active rod 210 can rotate freely around its connection point with the base connecting rod 260, forming a movement within the first plane; and another degree of freedom, where the rotary variable component 250 rotates freely around its own axis. The palm active rod 210, the first palm connecting rod 220, and the second palm connecting rod 230 all move within the first plane. The palm active rod 210, the first palm connecting rod 220, and the second palm connecting rod 230 of the palm module 2000 are rotatably connected in pairs, and their rotation axes are parallel to each other, forming a planar crank-rocker mechanism. The rotation of the palm active rod 210 causes changes in the position and angle of the first palm connecting rod 220 and the second palm connecting rod 230. The upgraded connector 240 and the base connecting rod 260 are positioned opposite each other at both ends of the rotary variable component 250. The rotating variable component 250 is pivotally connected to the stepped connector 240 and the base connecting rod 260, respectively. The rotation axis of the rotating variable component 250 is in the same plane as the first palm connecting rod 220 and the second palm connecting rod 230. Since the first finger connector 270 is fixedly connected to the first palm connecting rod 220, the second finger connector 280 is fixedly connected to the second palm connecting rod 230, and the third finger connector 290 is fixedly connected to the rotating variable component 250, the three connectors will change their position as the palm active rod 210 and the rotating variable component 250 of the palm module 2000 rotate.

[0065] The purpose of this arrangement is that, by adjusting the rotation angle between the palm drive lever 210 and the base connecting rod 260 via the crank drive component 212, the relative positions of the palm drive lever 210, the first palm connecting rod 220, and the second palm connecting rod 230 relative to the base connecting rod 260 can be adjusted. This allows for adjustment of the relative positions of the first finger unit 300 and the second finger unit 600 located on the first palm connecting rod 220 and the second palm connecting rod 230. At this time, since the pivot of the rotational variable component 250, the stepped connecting component 240, and the base connecting rod 260 is perpendicular to the output shaft of the crank drive component 212, the third finger unit 700 located on the rotational variable component 250 can remain relatively stationary relative to the base connecting rod 260, thus allowing a certain positional change in the first finger unit 300 and the second finger unit 600 relative to the third finger unit 700.

[0066] In a preferred embodiment, the first palm link 220 and the second palm link 230 have the same structure. The length of the palm drive link 210 is much smaller than the lengths of the first palm link 220 and the second palm link 230. The purpose of this arrangement is that after adjusting the rotation angle of the palm drive link 210 and the base link 260, the swing amplitude of the first palm link 220 and the second palm link 230 can be minimized. The relative position change requirements between the first finger unit 300 and the second finger unit 600 can be met with a small angle, avoiding component interference and simplifying control.

[0067] In another preferred embodiment, the rotational variable member 250 is a polygonal structure. Figure 2 The middle part is a trapezoidal quadrilateral structure. The rotation variable component 250 is designed so that the third finger unit 700 on the third finger connector 290, the second finger unit 600 on the second finger connector 280, and the first finger unit 300 on the first finger connector 270 are not in the same plane, thereby enabling the three finger units to better achieve clamping operation.

[0068] More preferably, the pivot angle between the third finger unit 700, which is pivotally mounted on the rotating member 250, and the pivot angle between the rotating member 250 and the base connecting rod 260 is 30°. This ensures that the edge of the rotating member 250, to which the third finger connector 290 is fixed, is positioned such that, after the rotating member 250 rotates a certain angle relative to the base connecting rod 260, the second finger unit 600 and the third finger unit 700 are in the same plane, thus achieving two-finger gripping. Specifically, when the palm active rod 210 is parallel to or on the same straight line as the base connecting rod 260, by adjusting the angle between the rotating member 250 and the base connecting rod 260, the pivot of the third finger unit 700 relative to the rotating member 250 can be set to be perpendicular to the second palm connecting rod 230, thereby ensuring that the second finger unit 600 and the third finger unit 700 are in the same plane.

[0069] The finger module 3000 is described below.

[0070] The finger module 3000 may include multiple finger units, which are pivotally mounted on the palm module 2000. Some finger units of the finger module 3000 are pivotally mounted on the rotary variable member 250, and some finger units are pivotally mounted on the first planar assembly 2001. It is naturally understood that the present invention also allows for some finger units to be pivotally mounted on the base connecting rod 260, or pivotally mounted on other components of the second planar assembly 2002 besides the rotary variable member 250. Of course, it is also possible for the finger units to be pivotally mounted only on the rotary variable member 250 and the first planar assembly; the present invention does not limit this.

[0071] Preferably, the finger module 3000 includes a first finger unit 300, a second finger unit 600, and a third finger unit 700. To improve manufacturing efficiency and reduce production costs, preferably, the first finger unit 300, the second finger unit 600, and the third finger unit 700 have the same structure.

[0072] The first finger unit 300 includes a first root joint 310, a first middle joint 320 and a first fingertip joint 330 connected in series, as well as a first root central axis 361, a first middle central axis 371, a first finger proximal member 340, a first middle crank 350, a first root connecting rod 360 and a first middle connecting rod 370.

[0073] The first fingertip joint 330 is a triangular prism structure, and the connection positions of the first fingertip joint 330, the first middle connecting rod 370, and the first middle joint 320 are located on the same parallel plane. Figure 5 In this specific embodiment, there is one connection point between the first fingertip joint 330 and the first middle connecting rod 370, and two connection points between the first middle joint 320 and the first fingertip joint 330. The connection points are distributed in a triangular shape to increase the stability of the connection.

[0074] The first central crank 350 is a crank structure with three connection points. The first central crank 350 is pivotally mounted on the first central shaft 371 through one connection point, and is rotatably connected to the first root connecting rod 360 and the first central connecting rod 370 through the remaining two connection points, respectively. The distance from the connection point between the first central crank 350 and the first root connecting rod 360 and the first central connecting rod 370 to the connection point between the first central crank 350 and the first central shaft 371 is approximately the same.

[0075] The first root joint 310, the first middle joint 320, and the first fingertip joint 330 of the first finger unit 300 are sequentially rotatably connected. The first root joint 310 and the first middle joint 320 are connected via a first middle central axis 371, allowing free rotation. The first middle joint 320 and the first fingertip joint 330 are connected by a pin, also allowing free rotation. A first middle crank 350 is fitted onto the first middle central axis 371, allowing free rotation relative to the axis. A first middle connecting rod 370 is rotatably connected to both the first fingertip joint 330 and the first middle crank 350, forming a near-parallelogram structure. Preferably, an elastic connection is formed between the first fingertip joint 330 and the first middle joint 320. The purpose of this connection is to provide a preload force to the joint so that there is no relative rotation between the first fingertip joint 330 and the first middle joint 320 before the first middle joint 320 contacts the target object.

[0076] Similarly, the first finger-pointing rod 340 is sleeved on the first root central shaft 361, allowing both the first finger-pointing rod 340 and the first root central shaft 361 to rotate freely. The first root connecting rod 360 is rotatably connected to the first central crank 350 and the first finger-pointing rod 340, forming a near-planar quadrilateral structure with the first root connecting rod 360, the first central crank 350, the first finger-pointing rod 340, and the first root joint 310. Preferably, an elastic connection is formed between the first central crank 350 and the first root joint 310 to provide a preload force to the joint, ensuring that there is no relative rotation between the first central crank 350 and the first root joint 310 before the first root joint 310 contacts the target object.

[0077] The purpose of this design is that by simply adjusting the angle of rotation of the first fingertip joint 340 relative to the first root joint 310, and with the linkage of the two planar quadrilateral structures, the positional movement of the first fingertip joint 330 and the first middle joint 320 relative to the first root joint 310 can be achieved, thus realizing a movement similar to human "finger movements".

[0078] Furthermore, a first root rubber pad 311, a first middle rubber pad 321, and a first fingertip rubber pad 331 are provided on the inner side of the first root joint 310, the first middle joint 320, and the first fingertip joint 330, that is, on the side closer to the axis of the palm module 2000, in order to increase the friction when in contact with the target object.

[0079] As previously described, a first finger connector 270, which is connected to the first finger unit 300, is fixed on the first link 220 of the palm module 2000. The first finger connector 270, the second finger connector 280, and the third finger connector 290 have the same structure. The first finger connector 270 is a U-shaped groove structure, and through holes are provided on both sides of the groove structure to allow the first root central axis 361 to pass through. The groove width of the first finger connector 270 is smaller than the width of the first root joint 310 and larger than the size of the first finger proximal member 340, so that the first finger connector 270 can be placed in the first root joint 310 and pass through the first finger proximal member 340, the first finger connector 270, and the first root joint 310 through the first root central axis 361, so that the first root joint 310 is rotatably connected to the first finger proximal member 340 and the first finger connector 270 respectively.

[0080] That is, the first finger unit 300 is connected to the first link 220 of the palm via a first finger connector 270. The first finger connector 270 is sleeved on the first root central axis 361 of the first finger unit 300, allowing the first finger connector 270 to rotate freely relative to the first root central axis 361. This allows the first root joint 310 of the first finger unit 300 and the first finger proximal member 340 to be connected by the first root central axis 361, thereby enabling both the first root joint 310 and the first finger proximal member 340 to rotate around the axis of the first root central axis 361.

[0081] Similarly, since the second finger unit 600 has the same structure as the first finger unit 300, the second finger unit 600 also includes a second root joint 610, a second middle joint 620, and a second fingertip joint 630 connected in series, as well as a second root central axis (not shown in the figure), a second middle central axis (not shown in the figure), a second finger proximal member 640, a second middle crank 650, a second root connecting rod 660, and a second middle connecting rod 670. The structure, connection method, and shape of each component of the second finger unit 600 can be referred to that of the first finger unit 300, and will not be described in detail here.

[0082] Similarly, the third finger unit 700 also includes a third root joint 710, a third middle joint 720, and a third fingertip joint 730 connected in series, as well as a third root central axis (not shown in the figure), a third middle central axis (not shown in the figure), a third finger proximal member 740, a third middle crank 750, a third root connecting rod 760, and a third middle connecting rod 770. Since the structures of the third finger unit 700 and the first finger unit 300 are identical except for slight differences in the structures of the third finger proximal member 740 and the first finger proximal member 340, the structure, connection method, and shape of each component of the third finger unit 700 can be referenced from those of the first finger unit 300, and will not be elaborated further.

[0083] The main difference between the third finger unit 700 and the first finger unit 300 lies in the structural difference at the connection point with the drive module 4000, which will be explained in detail later.

[0084] It is understandable that, since the second finger unit 600, the third finger unit 700 and the first finger unit 300 have the same structure, and the first finger connector 270, the second finger connector 280 and the third finger connector 290 have the same structure, the connection method between the second finger unit 600 and the second finger connector 280, and the connection method between the third finger unit 700 and the third finger connector 290 will not be described again.

[0085] The structure of the drive module 4000 will be further described below. The drive module 4000 is provided with multiple drive units to drive the multiple finger units to rotate around the pivot.

[0086] The drive module 4000 is used to drive the movement of the finger module 3000, and includes a first linkage drive unit 400, a second linkage drive unit 800, and a third planetary gear drive unit 500 for independently driving the first finger unit 300, the second finger unit 600, and the third finger unit 700 to move respectively. The first linkage drive unit 400 and the second linkage drive unit 800 have the same structure.

[0087] Please see Figure 6 The first linkage drive unit 400 includes a first universal joint 410, a first universal rod 420, a first ball joint 430, a first drive guide rail 440, a first coupling 450, and a first motor 460. The first universal joint 410 is fixedly disposed between the first finger prong member 340 and the first universal rod 420 of the first finger unit 300. That is, one end of the first universal rod 420 and the first finger prong member 340 are connected by the first universal joint 410, which is a Hooke's joint. As shown in the figure, it includes two forks fixed to one end of the first universal rod 420 and the first finger prong member 340 respectively, and a cross shaft connecting the two forks. Many solutions exist in the prior art, which will not be elaborated further. The other end of the first universal rod 420 is connected to one end of the first ball joint 430 via a ball joint. The other end of the first ball joint 430 is fixed to the moving platform (not shown in the figure) of the first drive guide rail 440, which is fixedly connected to the base module 1000. The first coupling 450 is connected to the first motor 460, thereby controlling the movement of the moving platform through the first motor 460 to make one end of the first ball joint 430 move linearly along the first drive guide rail 440. The first drive guide rail 440 can be, for example, a ball screw or other structure capable of linear movement, which will not be described in detail here.

[0088] That is, the first linkage drive unit 400 is a spatial linkage mechanism. The first universal joint 420 is connected to the first finger proximal member 340 of the first finger unit 300 through the first universal joint 410, forming a universal joint. The first universal joint 420 is connected to the first ball joint 430 through a ball joint, and this revolute joint has three rotational degrees of freedom. The other end of the first ball joint 430 is fixed to the moving platform of the first drive guide rail 440, and the first motor 460 controls the parallel movement of one end of the first ball joint 430 along the guide rail axis. This allows the first finger unit 300 to rotate in a plane around the connection point of the first root central axis 361 and the first finger proximal member 340, and to achieve the "bending" of the first root joint 310, the first fingertip joint 330, and the first middle joint 320.

[0089] The first drive rail 440 is relatively fixed on the base module 1000, and the first motor 460 realizes remote control of the first finger unit 300, that is, realizes the "underdrive" of the first finger unit. It is understandable that the purpose of connecting one end of the first universal joint 420 to the first finger proximal member 340 through the first universal joint 410, and the other end to the first ball joint 430 through a ball joint, is that since the connection point between the first root central axis 361 and the first finger proximal member 340 belongs to the first root central axis 361, and the first root central axis 361 passes through the first finger connector 270, the first finger proximal member 340 and the first root joint 310 to connect them together, the "position change" of the first finger unit 300 can be achieved by adjusting the position of the first palm link 220. However, since the first drive guide rail 440 is relatively fixed on the base module 1000, its position has not changed. Therefore, it is necessary to use the universal joint and ball joint to adapt to the position change of the first finger unit 300 driven by the change of the first palm link 220.

[0090] It should be noted that during the "bending" process of the finger unit, one point within the finger unit remains relatively stationary. For example, during the bending process of the first finger unit 300, the connection point between the first root central axis 361 and the first finger proximal member 340 remains stationary. This process is mainly achieved by the drive module 4000. In contrast, the "position transformation" of the finger unit means that all points within the finger unit undergo positional changes. This process is primarily achieved by the shape adjustment of the palm module 2000.

[0091] The second linkage drive unit 800 has the same structure as the first linkage drive unit 400, and the connection method with the second finger unit 600 and the base module 1000 is the same. It also includes components such as the second universal joint 810, the second universal rod 820, and the second ball joint rod 830, which will not be described in detail here.

[0092] Please continue reading. Figure 7 The third planetary gear drive unit 500 is connected to the third finger unit 700 to drive the "bending" of the third root joint 710, the third middle joint 720, and the third fingertip joint 730 of the third finger unit 700. The third planetary gear drive unit 500 includes a root rocker arm 510, a planetary link 520, a planetary ring gear 530, a first planetary gear 540, a second planetary gear 550, a third planetary gear 560, a sun gear 570, and a third motor (not shown in the figure).

[0093] The output end of the third motor is fixedly connected to the sun gear 570. First planetary gears 540, second planetary gears 550, and third planetary gears 560, of identical shape, are evenly arranged near the sun gear 570 and mesh with it. A planetary ring gear 530 is disposed outside the first planetary gears 540, second planetary gears 550, and third planetary gears 560 and meshes with them respectively, thus forming a planetary gear assembly 501. That is, in the planetary gear assembly 501, the sun gear 570 is connected to the first planetary gears 540, second planetary gears 550, and third planetary gears 560 through tooth meshing and is equidistant from each other; the first planetary gears 540, second planetary gears 550, and third planetary gears 560 are connected to the planetary ring gear 530 through tooth meshing.

[0094] One end of the planetary link 520 is rotatably connected to the planetary gear ring 530, and the other end is rotatably connected to the root rocker arm 510. The revolute pairs formed by the two ends of the planetary link 520 each have only one degree of rotational freedom. The root rocker arm 510 is fixedly connected to the third finger proximal member 740, preferably as an integral part. The rotation of the planetary gear ring 530 drives the third finger proximal member 740 to make an eccentric movement relative to the planetary gear ring 530, thereby achieving the "bending" of the third root joint 710, the third middle joint 720, and the third fingertip joint 730 of the third finger unit 700.

[0095] It is understandable that since the third finger unit 700 is mounted on the rotating member 250 via the third finger connector 290 of the palm module 2000, and since the rotating member 250 can rotate relative to the base connecting rod which is fixed relative to the base module 1000, the "position change" of the third finger unit 700 can be achieved by adjusting the rotation angle of the rotating member 250 relative to the base module 1000.

[0096] The base module 1000 will be described below.

[0097] The base module 1000 is fixed on a designated platform / position for mounting the control system and wiring. The base module 1000 includes a fixed base 130, a ramp 120, and a mounting portion 110. The base 130 is fixedly connected to the designated platform / position. The ramp 120 is fixedly mounted on the base 130 and inclined at a certain angle relative to the base 130, preferably 20-70 degrees. The mounting portion 110 is fixedly mounted on the ramp 120 for fixed connection with the base connecting rod 260 of the palm module 2000. The platform of the ramp 120 is parallel to and at a certain distance from the working plane of the crank-rocker mechanism of the palm module 2000, which consists of the palm drive rod 210, the first palm connecting rod 220, and the second palm connecting rod 230, facilitating the finger module's operation on the target object. Preferably, a monitoring device is provided on the platform of the ramp 120 to detect the working status of the finger module 3000 and the palm module 2000. Preferably, the base module 1000 is a hollow structure to reduce weight.

[0098] It should be noted that the purpose of tilting the ramp 120 relative to the base 130 at a certain angle is to address the issue that, during the installation of the target object onto a specific component, if the target object is long or carries long attachments such as cables, making the ramp 120 perpendicular to the base 130 would easily cause interference. This would result in the mounting point of the finger module 3000 being positioned too high during installation, significantly reducing the installation error tolerance. By tilting the ramp 120 relative to the base 130, the interference between the ramp and the target object can be effectively reduced, improving the installation error tolerance.

[0099] It should also be noted that the foregoing only provides a three-finger remote dual-rocker underactuated end effector, but it does not mean that the present invention can only be three-finger; it can also be two-finger, four-finger, or other specific numbers of fingers greater than one. It is naturally understood that when there are only two fingers, components such as the second palm link 230, the second finger unit 600, and the second link drive unit 800, which are used for the third finger unit, may not be present; in other words, they are not necessary.

[0100] Meanwhile, the installation position of the second finger unit 600 can be installed on the second link 230 of the palm for easier operation, or on the active link 210 of the palm, or on the first link 220 of the palm, as long as the multiple finger units do not interfere with each other. The present invention does not limit this.

[0101] When multiple fingers are present, the multiple fingers can be installed on the palm active rod 210, or on the palm first link 220, or on the palm second link 230. Of course, they can also be set on the palm third link, which is the same as the palm first link 220. In this case, one end of the palm third link is rotatably connected to the palm second link 230, and the other end is rotatably connected to the second planar component 2002.

[0102] The present invention also provides a mobile robot for performing other construction tasks on the lunar surface or in space, or other space missions, wherein the robot's end effector is provided with a remote dual-joystick underactuated end effector provided by the present invention.

[0103] The above provides a detailed description of the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

[0104] Throughout this specification, the terms "an embodiment," "embodiment," or "specific embodiment" refer to a particular feature, structure, or characteristic described in connection with an embodiment that is included in at least one embodiment of the invention, but not necessarily in all embodiments. Therefore, the various representations of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout the specification do not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic of any specific embodiment of the invention can be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the invention described and illustrated herein may be based on the teachings herein and will be considered part of the spirit and scope of the invention.

[0105] It should also be understood that one or more of the elements shown in the figures may be implemented in a more separate or more integrated manner, or may even be removed because they are inoperable in certain circumstances or provided because they may be useful for a particular application.

[0106] Furthermore, unless otherwise expressly stated, any arrows in the accompanying drawings should be considered illustrative only and not limiting. Additionally, unless otherwise stated, the term "or" as used herein is generally intended to mean "and / or". Where a term is anticipated to provide a separation or combination capability that is unclear, a combination of components or steps will also be considered as indicated.

Claims

1. A long-range dual-rocker underactuated end effector, characterized in that, It includes a base module, a palm module, a finger module, and a drive module; the palm module is partially fixed on the base module, multiple finger units of the finger module are pivotally mounted on the palm module, and the drive module is provided with multiple drive units to drive the multiple finger units to rotate around a pivot. in The palm module is formed by a base link, a first planar component and a second planar component. The first planar component includes a palm first link that can move within a first plane, and the second planar component includes a rotatable member that is pivotally mounted on the first plane. Some finger units of the finger module are pivotally mounted on the rotary variable component, and some finger units are pivotally mounted on the first palm link of the first planar component. The finger module includes a first finger unit and a third finger unit. The first link of the palm and the rotating component are respectively provided with a first finger connector and a third finger connector that can pivotally connect the first finger unit and the third finger unit. The drive module includes a first linkage drive unit and a third planetary gear drive unit, which are respectively capable of driving the first finger unit and the third finger unit to rotate around a pivot; wherein The first linkage drive unit includes a first universal joint, a first ball joint, and a first drive rail; one end of the first universal joint is connected to the first finger unit via a universal joint, and the other end is connected to one end of the first ball joint via a ball joint; the other end of the first ball joint is fixed to the moving platform of the first drive rail. The third planetary gear drive unit includes a root rocker arm, a planetary connecting rod, and a planetary gear assembly disposed on the rotary variable component. One end of the planetary connecting rod is rotatably connected to the planetary gear ring of the planetary gear assembly, and the other end is rotatably connected to the root rocker arm. The root rocker arm is fixedly connected to the third finger unit, or the root rocker arm is part of the third finger unit. The first finger unit includes a first root joint, a first middle joint, a first fingertip joint, a first finger proximal member, a first middle crank, a first root connecting rod, a first root central shaft, a first middle connecting rod, and a first middle central shaft; one end of the first middle joint is rotatably connected to the first root joint via the first middle central shaft, and the other end is rotatably connected to the first fingertip joint; the first middle crank is sleeved on the first middle central shaft and is rotatably connected to one end of the first root connecting rod and one end of the first middle connecting rod respectively; the other end of the first middle connecting rod is rotatably connected to the first fingertip joint; the other end of the first root connecting rod is rotatably connected to the first finger proximal member sleeved on the first root connecting rod; The first finger-front member is configured to be connected to the first linkage drive unit; the first finger-front member is pivotally mounted on the side of the first root joint away from the first middle joint, and the first finger connector of the palm module is sleeved on the first root central axis.

2. The long-range dual-rocker underactuated end effector according to claim 1, characterized in that, The first planar component includes a palm active rod and a palm first connecting rod disposed in a first plane; one end of the palm active rod is rotatably connected to the base connecting rod, and the other end is rotatably connected to the palm first connecting rod; the other end of the palm first connecting rod is rotatably connected to the second planar component.

3. The long-range dual-rocker underactuated end effector according to claim 2, characterized in that, The first planar assembly further includes a crank drive member disposed in the first plane, the crank drive member having a structure capable of adjusting the rotation angle of the palm drive rod and the base connecting rod to drive the palm first connecting rod to move in the first plane; and / or, the size of the palm drive rod is smaller than the size of the palm first connecting rod.

4. The long-range dual-rocker underactuated end effector according to claim 1, characterized in that, The first link drive unit is fixed on the base module, and the third planetary gear drive unit is fixed on the rotary variable component.

5. The long-range dual-rocker underactuated end effector according to claim 1, characterized in that, The second planar component includes a rotary drive member having a structure capable of adjusting the rotation angle of the rotary variable member and the base link, so as to drive the rotary variable member to rotate about a pivot located in the first plane.

6. The long-range dual-rocker underactuated end effector according to claim 2, characterized in that, The finger module further includes a second finger unit, and the driving module includes a second linkage driving unit that drives the second finger unit; the first finger unit, the second finger unit, and the third finger unit have the same structure; the first linkage driving unit and the second linkage driving unit have the same structure.

7. The long-range dual-rocker underactuated end effector according to claim 6, characterized in that, The rotating component of the fixed third finger connector is configured such that when the rotation angle between the rotating component and the base connecting rod is at a set angle, the third finger unit and the second finger unit are in the same plane, or the third finger unit and the first finger unit are in the same plane.

8. The long-range dual-rocker underactuated end effector according to claim 7, characterized in that, The second finger unit is disposed on the palm active rod; or on the palm first connecting rod; or on the palm second connecting rod with the same structure as the palm first connecting rod. The palm second connecting rod is located in the first plane. One end of the palm second connecting rod is rotatably connected to the palm first connecting rod, and the other end is rotatably connected to the second planar component. And / or, at least one of the first finger unit, the second finger unit, the third finger unit, the base link, the first planar assembly, and the second planar assembly has a rubber pad on the side facing the target object, which is an object held by the remote dual-rocker underactuated end effector.

9. The remote dual-rocker underactuated end effector according to any one of claims 1-8, characterized in that, The second planar component includes a rotary drive member having a structure capable of adjusting the rotation angle of the rotary variable member and the base connecting rod, so as to drive the rotary variable member to rotate about a pivot located in the first plane; And / or, the second planar component includes an augmented connector having a structure that is rotatably connected to the first planar component and the rotary variable component, respectively.

10. The remote dual-rocker underactuated end effector according to any one of claims 1-8, characterized in that, The base module includes a base, a ramp, and a mounting part. The ramp is fixedly mounted on the base and fixedly connected to the mounting part. The mounting part has a structure that is fixed to the base connecting rod of the palm module. in The inclined surface of the ramp is parallel to the first plane; the inclined surface is inclined relative to the base, and the angle of inclination between the inclined surface and the base is 10-70°; and / or, the inclined surface of the ramp is provided with a monitoring device for detecting the operating status of the palm module or finger module.

11. A robot, characterized in that, The device includes a body, a control unit connected in communication, and a remote dual-joystick underactuated end effector as described in any one of claims 1-8. The end of the body is connected to the remote dual-joystick underactuated end effector, and the control unit controls the hand module and the drive module based on operational requirements.

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