Octopus sucker smart manipulator

Abstract

The octopus suction cup dexterous manipulator comprises a palm base body and five fingers connected with the palm base body, the five fingers sequentially comprise a little finger, a ring finger, a middle finger, an index finger and a thumb, the little finger, the ring finger, the middle finger, the index finger and the thumb each comprise a first knuckle, a second knuckle, a fingertip and a transmission rope, and the first knuckles, the second knuckles and the fingertips are sequentially hinged; the tail end of the first knuckle is further hinged to the palm base body, one end of the transmission rope is connected with the tail end of the fingertip, and the other end of the transmission rope penetrates through the second knuckle and the first knuckle and then is connected with the driving end of a linear stroke mechanism arranged in the palm base body. Reset mechanisms are arranged at the hinged positions of the first knuckles and the palm base body, the hinged positions of the second knuckles and the first knuckles and the hinged positions of the fingertips and the second knuckles, and suction cups are arranged on the faces, facing the palm center, of the second knuckles. The octopus suction cup flexible manipulator is simple in structure, easy to control and stable in grabbing.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to an octopus-shaped suction cup dexterous robotic hand. Background Technology

[0002] As the core execution component of a robot system, the performance of the robotic arm directly determines the robot's operational capabilities. With the development of industrial automation and service robot technology, higher demands are being placed on the dexterity, stability, and cost control of robotic arms. Currently, the mainstream robotic arms mainly include two categories: humanoid five-fingered dexterous hands and two- or three-fingered robotic arms.

[0003] Humanoid five-fingered dexterous hands, exemplified by patent application publication number CN120773072A, employ multi-link mechanisms to drive finger flexion and extension, with the thumb equipped with multiple drive mechanisms to achieve multi-degree-of-freedom movement, capable of simulating various complex human hand movements. However, such robotic hands have significant drawbacks: firstly, they are bulky, with the linkage movement trajectory occupying a large space, resulting in a large overall size and weight; secondly, control is complex, requiring coordinated control of multiple drive mechanisms, which is technically challenging; and thirdly, manufacturing costs are high, as the linkage mechanism requires high machining precision, and ordinary materials are difficult to meet strength requirements within a limited space, often necessitating the use of high-cost special materials.

[0004] Two-finger / three-finger robotic hands and traditional five-finger robotic hands generally use rigid gripping structures made of metal. When grasping objects, they form point contact with the object's surface, making it difficult to achieve large-area contact and increase frictional resistance. This makes such robotic hands prone to unstable gripping, slippage, or even object drop when grasping spheres, glass, metal, or other hard, smooth surfaces, severely limiting their application scenarios.

[0005] Therefore, there is an urgent need to develop a dexterous robotic arm that is simple in structure, easy to control, and provides stable gripping. Summary of the Invention

[0006] In response to the problems of bulky, complex, and costly humanoid dexterous hand structures in existing technologies, as well as the unstable gripping of spheres and hard, smooth objects by traditional robotic hands, this invention provides an octopus suction cup dexterous robotic hand. Through a technical solution that combines the coordinated driving of steel wire ropes and torsion springs with suction cup adsorption, a balance between dexterity and stability is achieved.

[0007] The technical solution of this invention is as follows: An octopus-shaped suction cup dexterous manipulator includes a palm base and five fingers connected to the palm base. The five fingers are, in order, a little finger, a ring finger, a middle finger, an index finger, and a thumb. Each of the little finger, ring finger, middle finger, index finger, and thumb includes a first joint, a second joint, a fingertip, and a drive rope. The first joint, the second joint, and the fingertip are hinged sequentially. The tail end of the first joint is also hinged to the palm base. One end of the drive rope is connected to the tail end of the fingertip, and the other end of the drive rope passes through the second joint and the first joint and is connected to the drive end of a linear travel mechanism disposed in the palm base. Reset mechanisms are provided at the hinge points of the first joint and the palm base, the second joint and the first joint, and the fingertip and the second joint. A suction cup is provided on the side of the second joint facing the palm.

[0008] In a preferred embodiment of the present invention, a first hinge seat is provided at each of the five finger joints of the palm base. A first hinge pin is provided at the tail end of the first finger joint and hinged to the first hinge seat. A second hinge seat is provided at the tail end of the second finger joint. A second hinge pin is provided at the head end of the first finger joint and hinged to the second hinge seat. A third hinge seat is provided at the tail end of the fingertip. A third hinge pin is provided at the head end of the second finger joint and hinged to the third hinge seat.

[0009] In a preferred embodiment of the present invention, a first torsion spring is sleeved on the first hinge pin, and the first torsion spring is laterally limited within the first hinge seat, with its two ends abutting against the head end of the palm base and the tail end of the first phalanx, respectively; a second torsion spring is sleeved on the second hinge pin, and the second torsion spring is laterally limited within the second hinge seat, with its two ends abutting against the head end of the first phalanx and the tail end of the second phalanx, respectively; a third torsion spring is sleeved on the third hinge pin, and the third torsion spring is laterally limited within the third hinge seat, with its two ends abutting against the head end of the second phalanx and the tail end of the fingertip, respectively.

[0010] As a preferred embodiment of the present invention, five linear stroke mechanisms are provided, and the driving ends of the five linear stroke mechanisms are respectively connected to the transmission ropes of the little finger, the ring finger, the middle finger, the index finger and the thumb.

[0011] In a preferred embodiment of the present invention, the linear travel mechanism includes a fixed bracket, a motor, a worm gear, and a drive slider. The bottom of the fixed bracket is fixed to the inner wall of the palm base. A front limit baffle and a rear limit baffle are respectively provided at the front and rear ends of the fixed bracket. The motor is horizontally fixed to the rear side of the rear limit baffle. One end of the worm gear is rotatably connected to the middle of the front limit baffle. The other end of the worm gear passes through the rear limit baffle and is connected to the rotating end of the motor. The drive slider is threaded onto the outside of the worm gear, and its bottom is in limiting contact with the bottom plate of the fixed bracket. The drive slider is also connected to the transmission rope.

[0012] As a preferred embodiment of the present invention, the transmission rope is a steel wire rope or a fishing line.

[0013] As a preferred embodiment of the present invention, the wire rope is made of multiple strands of 304 stainless steel wire wound together.

[0014] As a preferred embodiment of the present invention, the first finger joint has a first channel provided inside along its length for the transmission rope to pass through and guide, and the second finger joint has a second channel provided inside along its length for the transmission rope to pass through and guide.

[0015] As a preferred embodiment of the present invention, the suction cup is a soft rubber suction cup.

[0016] As a preferred embodiment of the present invention, the side of the fingertip facing the palm is provided with anti-slip stripes.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: The octopus suction cup dexterous manipulator provided by this invention adopts a combination mechanism of transmission rope and torsion spring, which makes the five-finger structure design simpler and more dexterous; the torsion spring provides a restoring force for each finger joint to open, which can reduce the dependence on the drive mechanism of linear stroke; by setting suction cups at the second joint of the five fingers, the advantages of octopus claws are learned, which can effectively improve the grasping and adsorption force on spheres and smooth surface objects, and firmly grasp the objects. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the 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.

[0019] Figure 1 This is a schematic diagram of the octopus suction cup dexterous manipulator in one embodiment of the present invention; Figure 2This is a schematic diagram of the structure of the octopus suction cup dexterous robotic hand hidden in the palm base in one embodiment of the present invention; Figure 3 This is a schematic diagram of the connection between the little finger and the linear stroke mechanism in one embodiment of the present invention; Figure 4 This is an exploded view of the little finger in one embodiment of the present invention; Figure 5 This is a schematic diagram of the linear stroke mechanism in one embodiment of the present invention.

[0020] In the diagram, 1. Hand base; 2. Five fingers; 21. Little finger; 211. First knuckle; 2111. First hinge pin; 2112. Second hinge pin; 2113. First channel; 212. Second knuckle; 2121. Suction cup; 2122. Second hinge seat; 2123. Third hinge pin; 2124. Second channel; 213. Fingertip; 2131. Third hinge seat; 2132. Anti-slip stripes; 214. Transmission rope; 215. First torsion spring; 216. Second torsion spring; 217. Third torsion spring; 22. Ring finger; 23. Middle finger; 24. Index finger; 25. Thumb; 3. Linear stroke mechanism; 31. Fixed bracket; 311. Front limit baffle; 312. Rear limit baffle; 32. Motor; 33. Worm gear; 34. Drive slider. Detailed Implementation

[0021] To make the technical problems, technical solutions, and beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be noted that similar reference numerals and letters in the following drawings indicate similar items; therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. It is also stated that the embodiments described below are for illustrative purposes only and are not intended to limit the invention.

[0022] It should be noted that the terms "installation," "setting," "connection," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly defined. Indications of orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. The terms "first," "second," and "third" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features.

[0023] Please see Figures 1 to 3 This embodiment provides an octopus suction cup dexterous robotic hand, including a palm base 1 and five fingers 2 connected to the palm base 1. The five fingers 2 include a little finger 21, a ring finger 22, a middle finger 23, an index finger 24 and a thumb 25, which are consistent with the distribution of human hand fingers to ensure operational flexibility. The little finger 21, ring finger 22, middle finger 23, index finger 24, and thumb 25 have the same structure, each including a first phalanx 211, a second phalanx 212, a fingertip 213, and a transmission rope 214. The first phalanx 211, the second phalanx 212, and the fingertip 213 are hinged in sequence. The tail end of the first phalanx 211 is also hinged to the palm base 1. One end of the transmission rope 214 is connected to the tail end of the fingertip 213. The other end of the transmission rope 214 passes through the second phalanx 212 and the first phalanx 211 and is connected to the drive end of the linear stroke mechanism 3 set in the palm base 1. The hinge points of the first phalanx 211 and the palm base 1, the hinge points of the second phalanx 212 and the first phalanx 211, and the hinge points of the fingertip 213 and the second phalanx 212 are all provided with a reset mechanism, which is a torsion spring. When the drive end of the linear stroke mechanism 3 moves away from the fingertip 213, the traction transmission rope 214 pulls each finger joint to flex, realizing actions such as clenching a fist and grasping; when the drive end of the linear stroke mechanism 3 moves closer to the fingertip 213, the transmission rope 214 relaxes, and the self-restoring force of the reset mechanism drives each finger joint to open and reset.

[0024] To enhance the gripping and adsorption force on spheres and smooth surfaces, a suction cup 2121 is provided on the palm-facing side of the second knuckle 212. The suction cup 2121 is preferably made of soft rubber, possessing excellent flexibility and sealing properties. It enhances the adhesion to the object's surface through negative pressure adsorption and achieves large-area adhesion through the deformation of the soft rubber material, allowing the five fingers 2 to better grip spheres and hard, smooth objects. The suction cup 2121 is fixed to the palm-facing side of the second knuckle 212 via threaded connection or high-strength adhesive bonding, facilitating replacement and maintenance.

[0025] The octopus suction cup dexterous manipulator provided in this embodiment adopts a combination mechanism of transmission rope 214 and torsion spring, which makes the structure of the five fingers 2 more concise and dexterous. The torsion spring provides the opening and restoring force for each finger joint, which can reduce the dependence on the drive of the linear stroke mechanism 3. By setting suction cup 2121 at the second finger joint 212 of the five fingers 2, the advantages of octopus claws are learned, which can effectively improve the grasping and adsorption force on spheres and smooth surface objects, and firmly grasp the clamped objects.

[0026] Please see Figure 4 In a preferred embodiment, a first hinge seat is provided at the connection point of each of the five fingers 2 on the palm base 1. The tail end of the first phalanx 211 is provided with a first hinge pin 2111 that is hinged to the first hinge seat, forming a flexible first joint structure. The tail end of the second phalanx 212 is provided with a second hinge seat 2122, and the head end of the first phalanx 211 is provided with a second hinge pin 2112 that is hinged to the second hinge seat 2122, forming a flexible second joint structure. The tail end of the fingertip 213 is provided with a third hinge seat 2131, and the head end of the second phalanx 212 is provided with a third hinge pin 2123 that is hinged to the third hinge seat 2131, forming a flexible third joint structure. The aforementioned hinge pin joints enable the formation of multiple flexible joints between the phalanges and between the phalanges and the palm base 1, simulating the joint movements of the human hand. This greatly improves the flexibility of the five fingers 2, allowing the robotic hand to perform various complex and precise movements and better adapt to the grasping needs of objects of different shapes and sizes.

[0027] Please see Figure 4In a preferred embodiment, a first torsion spring 215 is sleeved on the first hinge pin 2111, and the first torsion spring 215 is laterally limited within the first hinge seat. The two ends of the first torsion spring 215 abut against the head end of the palm base 1 and the tail end of the first phalanx 211, respectively. A second torsion spring 216 is sleeved on the second hinge pin 2112, and the second torsion spring 216 is laterally limited within the second hinge seat 2122. The two ends of the second torsion spring 216 abut against the head end of the first phalanx 211 and the tail end of the second phalanx 212, respectively. A third torsion spring 217 is sleeved on the third hinge pin 2123, and the third torsion spring 217 is laterally limited within the third hinge seat 2131. The two ends of the third torsion spring 217 abut against the head end of the second phalanx 212 and the tail end of the fingertip 213, respectively. The aforementioned torsion springs provide an independent opening and restoring force for each finger joint. When the driving end of the linear stroke mechanism 3 moves away from the fingertip 213, pulling the transmission rope 214 to flex each finger joint, and then moves towards the fingertip 213 to loosen the wire rope, each torsion spring can drive the corresponding finger joint to automatically open and reset using its own elastic force. This reduces the dependence on the linear stroke mechanism 3, simplifies the control process, and ensures the stability and reliability of finger joint opening, thereby improving the flexibility and efficiency of the robot operation.

[0028] Please see Figure 2 In a preferred embodiment, five linear travel mechanisms 3 are provided, and the drive ends of the five linear travel mechanisms 3 are respectively connected to the transmission ropes 214 of the little finger 21, ring finger 22, middle finger 23, index finger 24, and thumb 25. By designing independent drives for the five fingers 2, each finger can independently perform flexion and extension movements according to the actual shape, size, and posture of the object being grasped, achieving more flexible and precise grasping operations. For example, when grasping irregularly shaped objects, different fingers can independently adjust their movements according to the contact between the object surface and the fingers, improving the stability and adaptability of the grasping and enhancing the robotic arm's ability to cope with different complex scenarios.

[0029] Please see Figure 5In a preferred embodiment, the linear stroke mechanism 3 includes a fixed bracket 31, a motor 32, a worm gear 33, and a drive slider 34. The bottom of the fixed bracket 31 is fixed to the inner wall of the palm base 1. A front limit baffle 311 and a rear limit baffle 312 are respectively provided at the front and rear ends of the fixed bracket 31. The motor 32 is horizontally fixed to the rear side of the rear limit baffle 312. One end of the worm gear 33 is rotatably connected to the middle of the front limit baffle 311, and the other end of the worm gear 33 passes through the rear limit baffle 312 and is connected to the rotating end of the motor 32. The drive slider 34 is threaded onto the outside of the worm gear 33, and its bottom is in limiting contact with the bottom plate of the fixed bracket 31. The drive slider 34 is also connected to the transmission rope 214. The linear stroke mechanism 3 uses the motor 32 to drive the worm gear 33 to rotate. The worm gear 33 and the drive slider 34 are connected by a threaded engagement to convert the rotational motion into linear reciprocating motion, thereby driving the drive slider 34 to perform linear reciprocating motion, realizing the traction and slack control of the transmission rope 214. The worm gear 33 transmission has self-locking properties, which can maintain a stable position when the drive slider 34 stops moving, preventing accidental movement of the knuckles due to external forces, and improving the stability and reliability of the robot hand when grasping objects. At the same time, the linear stroke mechanism 3 has a compact structure, which can make reasonable use of the internal space of the palm base 1, making the overall structure of the robot hand more compact and small, and easy to install and use.

[0030] In a preferred embodiment, the transmission rope 214 is a steel wire rope. The steel wire rope is made of multiple strands of 304 stainless steel wire, featuring high strength, good flexibility, and wear resistance. It offers high utilization within limited space, and its breaking strength can reach hundreds of Newtons, far exceeding the load-bearing capacity of ordinary aluminum alloy connecting rods. This allows the transmission rope 214 to withstand greater tension without breaking when the robotic arm grasps heavier objects, ensuring the reliability and stability of the robotic arm's grasping operation. It is suitable for more scenarios requiring high grasping force, such as grasping heavy industrial parts. The good flexibility allows the steel wire rope to bend smoothly when passing through the bending parts of each joint, preventing jamming or damage due to excessive bending, ensuring smooth transmission.

[0031] In a secondary embodiment, the transmission rope 214 can also be fishing line. Fishing line is less expensive than steel wire rope. In applications where cost is a primary concern and gripping force and durability requirements are not particularly high, choosing fishing line as the transmission rope 214 can effectively reduce the manufacturing cost of the robotic arm and improve the product's cost-effectiveness.

[0032] Please see Figure 4In a preferred embodiment, the first finger joint 211 has a first channel 2113 along its length for the transmission rope 214 to pass through and be guided, and the second finger joint 212 has a second channel 2124 along its length for the transmission rope 214 to pass through and be guided. During the movement of the robotic arm, the transmission rope 214 can move stably along the first channel 2113 of the first finger joint 211 and the second channel 2124 of the second finger joint 212 without deviation or entanglement, ensuring accurate transmission of force and improving the precision and reliability of the robotic arm's movements.

[0033] Please see Figure 4 , Figure 5 In a preferred embodiment, the side of the fingertip 213 facing the palm is provided with anti-slip stripes 2132. The anti-slip stripes 2132 increase the friction between the fingertip 213 and the surface of the object being grasped, allowing the robotic arm to grip the object more firmly and reducing the possibility of slipping. The effect of the anti-slip stripes 2132 is particularly pronounced when grasping objects on smooth surfaces, significantly improving the success rate and stability of the grasp.

[0034] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

[0035] The present invention has been described above with reference to the accompanying drawings. Obviously, the implementation of the present invention is not limited to the above-described manner. Any improvements made using the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other situations without modification, are all within the protection scope of the present invention.

Claims

1. An octopus-shaped suction cup dexterous robotic hand, comprising a palm base and five fingers connected to the palm base, wherein the five fingers are, in order, a little finger, a ring finger, a middle finger, an index finger, and a thumb, characterized in that, The little finger, ring finger, middle finger, index finger, and thumb each include a first phalanx, a second phalanx, a fingertip, and a transmission cord. The first phalanx, second phalanx, and fingertip are hinged sequentially. The tail end of the first phalanx is also hinged to the palm base. One end of the transmission cord is connected to the tail end of the fingertip, and the other end of the transmission cord passes through the second phalanx and the first phalanx and is connected to the drive end of a linear travel mechanism disposed in the palm base. Reset mechanisms are provided at the hinge points of the first phalanx and the palm base, the second phalanx and the first phalanx, and the fingertip and the second phalanx. A suction cup is provided on the side of the second phalanx facing the palm.

2. The octopus suction cup dexterous robotic hand according to claim 1, characterized in that, The palm base is provided with a first hinge seat at each of the five finger joints. The tail end of the first finger joint is provided with a first hinge pin that is hinged to the first hinge seat. The tail end of the second finger joint is provided with a second hinge seat. The head end of the first finger joint is provided with a second hinge pin that is hinged to the second hinge seat. The tail end of the fingertip is provided with a third hinge seat. The head end of the second finger joint is provided with a third hinge pin that is hinged to the third hinge seat.

3. The octopus suction cup dexterous robotic hand according to claim 2, characterized in that, A first torsion spring is fitted onto the first hinge pin, and the first torsion spring is laterally limited within the first hinge seat. The two ends of the first torsion spring abut against the head end of the palm base and the tail end of the first phalanx, respectively. A second torsion spring is fitted onto the second hinge pin, and the second torsion spring is laterally limited within the second hinge seat. The two ends of the second torsion spring abut against the head end of the first phalanx and the tail end of the second phalanx, respectively. A third torsion spring is fitted onto the third hinge pin, and the third torsion spring is laterally limited within the third hinge seat. The two ends of the third torsion spring abut against the head end of the second phalanx and the tail end of the fingertip, respectively.

4. The octopus suction cup dexterous robotic hand according to claim 1, characterized in that, The linear travel mechanism is provided in five parts, and the drive ends of the five linear travel mechanisms are respectively connected to the transmission ropes of the little finger, the ring finger, the middle finger, the index finger and the thumb.

5. The octopus suction cup dexterous robotic hand according to claim 1, characterized in that, The linear travel mechanism includes a fixed bracket, a motor, a worm gear, and a drive slider. The bottom of the fixed bracket is fixed to the inner wall of the palm base. A front limit baffle and a rear limit baffle are respectively provided at the front and rear ends of the fixed bracket. The motor is horizontally fixed to the rear side of the rear limit baffle. One end of the worm gear is rotatably connected to the middle of the front limit baffle. The other end of the worm gear passes through the rear limit baffle and is connected to the rotating end of the motor. The drive slider is threaded onto the outside of the worm gear, and its bottom is in limiting contact with the bottom plate of the fixed bracket. The drive slider is also connected to the transmission rope.

6. The octopus suction cup dexterous robotic hand according to claim 1, characterized in that, The transmission rope is a steel wire rope or a fishing line.

7. The octopus suction cup dexterous robotic hand according to claim 6, characterized in that, The steel wire rope is made of multiple strands of 304 stainless steel wire wound together.

8. The octopus suction cup dexterous robotic hand according to claim 1, characterized in that, The first finger joint has a first channel along its length for the transmission rope to pass through and be guided, and the second finger joint has a second channel along its length for the transmission rope to pass through and be guided.

9. The octopus suction cup dexterous robotic hand according to claim 1, characterized in that, The suction cup is a soft rubber suction cup.

10. The octopus suction cup dexterous manipulator according to claim 1, characterized in that, The side of the fingertip facing the palm has anti-slip stripes.

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