Manipulator

Abstract

The utility model discloses a manipulator which comprises a palm support, a finger assembly and at least two traction assemblies, the finger assembly comprises at least two finger sections connected in sequence, and the finger section located at one end of the finger assembly is rotationally connected with the palm support; each group of traction assemblies are independently arranged and arranged on the palm support, each group of traction assemblies comprises a driver and a traction line, and the drivers are arranged on the palm support and respectively drive different finger sections to rotate through the traction ropes. The finger assembly is provided with a plurality of traction assemblies so as to control the corresponding finger sections. When the manipulator is used by a user, the movement of each finger section of the finger assembly can be flexibly controlled to simulate the action of the fingers of a human body, so that the manipulator can be flexibly suitable for various application environments.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators. Background Art

[0002] With the development of artificial intelligence, various intelligent devices have developed rapidly, especially intelligent robots, which have been widely developed in various fields. Among them, the finger assembly of the manipulator is a key component of the robot, and its design requirements are of utmost importance.

[0003] In the related art, each finger segment of the finger assembly is connected by a traction rope, and the driver drives the traction rope bidirectionally to realize the simultaneous driving of each finger segment of the finger assembly. However, with such a setting, each finger segment of the finger assembly is associated and driven simultaneously, and the control flexibility of each finger segment is poor. Summary of the Utility Model

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art. For this purpose, the utility model provides a manipulator to improve the dexterity of the manipulator.

[0005] An embodiment of the present application provides a manipulator, including:

[0006] A palm bracket;

[0007] A finger assembly, including at least two sequentially connected finger segments, and the finger segment at one end of the finger assembly is rotatably connected to the palm bracket;

[0008] At least two sets of traction assemblies, each set of the traction assemblies including a driver and a traction line, the driver is arranged on the palm bracket, and the driver drives different finger segments to rotate through the traction rope respectively.

[0009] According to some embodiments of the utility model, the finger assembly is provided with three finger segments, and the traction assembly is provided with three sets, and the three sets of the traction assemblies are respectively connected to the three finger segments for driving the three finger segments to rotate respectively.

[0010] According to some embodiments of the utility model, there are three finger segments, which are divided into a first finger segment, a second finger segment and a third finger segment. Among them, the first finger segment is rotatably connected to the palm bracket, the second finger segment is rotatably connected to the first finger segment, and the third finger segment is rotatably connected to the second finger segment;

[0011] The traction assembly is provided with two groups, namely a first traction assembly and a second traction assembly. The traction rope of the first traction assembly is transmission-connected with the first finger segment, and is used to pull the first finger segment to swing relative to the palm. The traction rope of the second traction assembly is transmission-connected with at least one of the second finger segment and the third finger segment, so that the second finger segment rotates relative to the first finger segment, and the third finger segment rotates relative to the second finger segment.

[0012] According to some embodiments of the present invention, the manipulator further comprises:

[0013] a connecting finger segment, one end of which is rotatably connected to the palm support around a first preset axis, and the other end of which is rotatably connected to the finger assembly around a second preset axis, wherein the two ends of the first preset axis are respectively arranged toward the facing directions of the finger web and the finger back of the connecting finger segment, and the two ends of the second preset axis are respectively arranged toward the facing directions of the two finger side surfaces of the connecting finger segment;

[0014] a first return spring connected to the palm support and the connecting finger segment, and configured to enable the connecting finger segment to correct its posture when the force is released;

[0015] The second rotary spring is connected to the connecting finger segment and the finger assembly, and is used to make the first finger segment be in an extended posture when the force is released.

[0016] Wherein, the first traction assembly is configured to drive the finger assembly to rotate around a first preset axis and a second preset axis respectively.

[0017] According to some embodiments of the present invention, the traction assembly is provided with two groups, and the traction ropes of the two groups of the traction assembly are respectively connected to the two edges of the finger pulp surface of the finger assembly;

[0018] When the two groups of traction assemblies pull the finger assembly respectively, the finger assembly swings in two directions around the first preset axis respectively; when the two groups of traction assemblies pull the finger assembly at the same time, the finger assembly rotates around the second preset axis.

[0019] According to some embodiments of the present invention, the elastic force of the second return spring is greater than the elastic force of the first return spring.

[0020] According to some embodiments of the present invention, the traction rope of the second traction assembly is transmission-connected to the second finger segment and the third finger segment, and is used to drive the second finger segment to rotate relative to the first finger segment, and to drive the third finger segment to rotate relative to the second finger segment.

[0021] According to some embodiments of the present utility model, the manipulator further includes a coupling muscle line, the coupling muscle line is disposed through the finger ventral side and the finger dorsal side of the second finger segment, one end of the coupling muscle line is connected to the finger dorsal side of the first finger segment, and the other end is connected to the finger ventral side of the third finger segment.

[0022] According to some embodiments of the present utility model, the manipulator further includes a third return spring, the third return spring is connected to the second finger segment and the third finger segment, and is used for rotating and resetting the third finger segment relative to the second finger segment when the second traction assembly does not act on the second finger segment.

[0023] As can be seen from the above technical solutions, the embodiments of the present application have the following advantages: The finger assembly is provided with multiple sets of traction assemblies to respectively control the corresponding finger segments. When the user uses the manipulator, the user can dexterously control the movement of each finger segment of the finger assembly to imitate the actions of the human fingers, so as to be flexibly applicable to various application environments. Description of the Drawings

[0024] Figure 1 It is a schematic diagram of the overall structure of the manipulator according to an embodiment of the present utility model;

[0025] Figure 2 It is a schematic diagram of the structure of the finger assembly according to an embodiment of the present utility model from an angle;

[0026] [[ID=X]] Figure 3 It is a schematic diagram of the structure of the finger assembly according to an embodiment of the present utility model from another angle;

[0027] Figure 4 It is a schematic cross-sectional structure diagram of the finger assembly according to an embodiment of the present utility model.

[0028] Among them, the meanings of the reference numerals are as follows:

[0029] 100, palm bracket; 110, connecting seat; 120, rib; 200, finger assembly; 210, first finger segment; 220, second finger segment; 230, third finger segment; 240, first return spring; 250, second return spring; 260, coupling muscle; 270, third return spring; 280, connecting finger segment; 281, first preset axis; 282, second preset axis; 300, first traction assembly; 310, first traction rope; 400, second traction assembly; 410, second traction rope; 500, manipulator. Detailed Embodiments

[0030] Embodiments of the present utility model will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present utility model, and should not be construed as a limitation of the present utility model.

[0031] In the description of the present utility model, it should be understood that with respect to the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, top, bottom, etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present utility model.

[0032] In the description of the present utility model, the meaning of "several" is more than one, the meaning of "multiple" is more than two, and understandings such as "greater than", "less than", "exceeding", etc. do not include the recited number, and understandings such as "above", "below", "within", etc. include the recited number. If there is a description of "first", "second", etc., it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0033] In the description of the present utility model, unless otherwise clearly defined, terms such as "set", "installed", "connected", etc. should be understood in a broad sense, and those skilled in the art to which the present utility model pertains can reasonably determine the specific meanings of the above terms in the present utility model in combination with the specific content of the technical solution.

[0034] In the description of the present utility model, the description referring to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0035] The present utility model will be further described in detail below with reference to the accompanying drawings.

[0036] Please refer to Figures 1 to 3, a mechanical hand 500 provided by an embodiment of the present utility model, includes a palm bracket 100, a finger assembly 200, and at least two sets of traction assemblies. Among them, the finger assembly 200 includes at least two sequentially connected finger segments, and the finger segment at one end of the finger assembly 200 is rotatably connected to the palm bracket 100; at least two sets of traction assemblies, each set of the traction assemblies is independently arranged and disposed on the palm bracket 100, and the traction ropes of each set of the traction assemblies are used to drive different finger segments to rotate respectively.

[0037] Among them, the traction assembly includes a driver and a traction rope. The driver drives the traction rope, and the traction rope pulls the finger segment to rotate. In addition, convex ribs 120 are provided on the surface of the palm bracket 100. One end of the convex ribs 120 is close to the bionic finger 200, and the other end is close to the tail of the palm bracket 100. A wire groove is formed inside the convex ribs 110, so that the traction rope can be neatly stored inside the palm bracket 100.

[0038] Among them, two or more sets of traction assemblies are provided, and each set of traction assemblies controls the corresponding finger segment respectively. Among them, each set of traction assemblies may control one finger segment or may control multiple finger segments, and the finger segments controlled by each traction assembly are different.

[0039] It can be understood that multiple sets of traction assemblies are provided on the finger assembly 200 to control the corresponding finger segments respectively. When the user uses the mechanical hand 500, the user can dexterously control the movement of each finger segment of the finger assembly 200 to imitate the actions of the human fingers, so that it can be flexibly applied to various application environments.

[0040] In addition, the circuits of the finger segments are separated. When there is a problem with the circuit of a certain finger segment, the staff can also perform maintenance conveniently, and moreover, the durability is also improved.

[0041] In a possible implementation, the finger assembly 200 is provided with three finger segments, and the traction assembly is provided with three sets. The three sets of traction assemblies are respectively connected to the three finger segments and are used to drive the three finger segments to rotate respectively (not shown in the figure). In application, the user can drive the three finger segments to rotate respectively by using the three traction assemblies according to the application requirements, so that the finger assembly 200 can be bent into the required posture to be flexibly applicable to various application environments.

[0042] In another possible embodiment, refer to Figure 2 and Figure 3The hand is provided with three finger segments, namely a first finger segment 210, a second finger segment 220, and a third finger segment 230. One end of the first finger segment 210 is rotatably connected to the connection base 110 of the palm support 100, one end of the second finger segment 220 is rotatably connected to the other end of the first finger segment 210, and one end of the third finger segment 230 is rotatably connected to the other end of the second finger segment 220. The rotation axes of the first finger segment 210, the second finger segment 220, and the third finger segment 230 are arranged parallel to each other. Furthermore, two traction assemblies are provided, namely a first traction assembly 300 and a second traction assembly 400. The traction rope of the first traction assembly 300 is in transmission connection with the first finger segment 210, for pulling the first finger segment 210 to rotate relative to the palm support 100. The traction rope of the second traction assembly 400 is in transmission connection with at least one of the second finger segment 220 and the third finger segment 230, for rotating the second finger segment 220 relative to the first finger segment 210 and the third finger segment 230 relative to the second finger segment 220.

[0043] In specific applications, the user pulls the first finger segment 210 toward the facing direction of the finger pulp surface through the first traction component 300, and the first traction component 300 pulls the second finger segment 220 and the third finger segment 230 toward the facing direction of the finger pulp surface. With this arrangement, the movement of the first finger segment 210 is separated from the movement of the third finger segment 230 and the fourth finger segment, and the movement of the third finger segment 230 is coupled with the movement of the fourth finger segment. The first finger segment 210 is equivalent to the proximal finger of the human finger, the third finger segment 230 is equivalent to the middle finger of the human finger, and the fourth finger segment is equivalent to the distal finger of the human finger. The third finger segment 230 and the fourth finger segment are both driven by the first traction component 300. With this arrangement, the first traction component 300 cooperates with the second traction component 400, so that the finger component 200 can truly imitate the movement of the finger.

[0044] In order to further enable the finger assembly 200 to imitate various actions, in some embodiments, reference Figure 2 and Figure 3 The finger assembly 200 further includes a connecting finger segment 280, a first return spring 240, and a second return spring 250. One end of the connecting finger segment 280 is rotatably connected to the connecting seat 110 at the edge of the palm support 100 about a first preset axis 281, and the other end is rotatably connected to the first finger segment 210 about a second preset axis 282. The two ends of the first preset axis 281 are respectively disposed toward the finger webs and backs of the connecting finger segment 280, while the two ends of the second preset axis 282 are respectively disposed toward the side faces of the two fingers of the connecting finger segment 280. Thus, the finger assembly 200 can swing toward the finger webs and the side faces of the two fingers through the configuration of the connecting finger segment 280. The side faces of the fingers refer to the surface between the finger webs and backs of the connecting finger segment 280.

[0045] It should be noted that a first traction assembly 300 is provided on the palm bracket 100. The first traction rope 310 of the first traction assembly 300 is connected to the first finger segment 210, so as to pull the first finger segment 210 to move towards the facing direction of its finger belly surface, thereby causing the finger assembly 200 to rotate towards the facing direction of its finger belly surface; at the same time, the first traction assembly 300 can also pull the first finger segment 210 to move towards the facing direction of its finger side surface, thereby causing the finger assembly 200 to rotate towards the facing direction of its finger side surface.

[0046] The first return spring 240 is connected to the connection seat 110 and the connecting finger segment 280, and is used to correct the posture of the connecting finger segment 280 when the acting force is removed. Specifically, the first return spring 240 can be a torsion spring. The first return spring 240 is sleeved on the rotating shaft of the connecting finger segment 280 and the connection seat 110, and is respectively connected to the connection seat 110 and the connecting finger segment 280. Thus, when the finger assembly 200 rotates towards the facing direction of the two finger side surfaces through the connecting finger segment 280, the first return spring 240 is compressed in the circumferential direction. When the restriction on the finger assembly 200 is removed, the first return spring 240 acts on the finger assembly 200 through the connecting finger segment 280, so that the finger assembly 200 returns to the non-swinging posture.

[0047] The second return spring 250 is connected to the connecting finger segment 280 and the first finger segment 210, and is used to make the first finger segment 210 in a straightened posture when the acting force is removed. Specifically, after the finger assembly 200 rotates towards the facing direction of the finger belly surface, the first traction assembly 300 stops acting on the finger assembly 200. The second return spring 250 is used to make the finger assembly 200 rotate towards the facing direction of its finger back surface. More precisely, the second return spring 250 resets the finger assembly 200 to a straightened posture. Of course, other drive modules can also be used to realize the reset of the finger assembly 200 towards the facing direction of the finger back surface. For example, another set of first traction assemblies 300 is provided in this application to pull the bionic hand to rotate towards the facing direction of the finger back surface.

[0048] In order to realize the first traction assembly 300 driving the finger assembly 200 to swing towards the facing direction of the two finger side surfaces and the facing direction of the finger belly surface, in a possible implementation manner, refer to Figure 2 And Figure 3, there are two sets of the first traction components 300. The traction rope of one set of the first traction components 300 is connected to the left edge of the finger pad surface of the first finger segment 210 close to the finger side, and the traction rope of the other set of the first traction components 300 is connected to the right edge of the finger pad surface of the first finger segment 210 close to the finger side. Thus, in the facing direction of the finger pad surface, the two sets of the first traction components 300 simultaneously pull the finger assembly 200, and the finger assembly 200 rotates in the facing direction of the finger pad surface under the action of the two sets of the first traction components 300, and the finger assembly 200 does not yaw in the facing direction of the finger side. For the convenience of description, the two sets of the first traction components 300 are divided into the left and right sets of the first traction components 300. When the left first traction component 300 pulls the finger assembly 200, the first traction component 300 provides a leftward traction force for the finger assembly 200, and the finger assembly 200 rotates leftward under the action of the left first traction component 300. When the right first traction component 300 pulls the finger assembly 200, the first traction component 300 provides a rightward traction force for the finger assembly 200, and the finger assembly 200 rotates rightward under the action of the right first traction component 300. It should be noted that when the two sets of the first traction components 300 respectively pull the finger assembly 200, although the first traction component 300 provides a force in the facing direction of the finger pad surface for the finger assembly 200, the provided force cannot overcome the elastic force of the second return spring 250. Therefore, when the finger assembly 200 is subjected to the pulling force of one set of the first traction components 300, the finger assembly 200 only swings to the left or right, and does not rotate in the facing direction of the finger pad surface.

[0049] It should be noted that through the arrangement of the two sets of the first traction components 300 in the present application, the two sets of the first traction components 300 cooperate with each other, so as to realize the swinging of the finger assembly 200 in the facing direction of the two finger sides and the swinging in the facing direction of the finger pad surface. With such an arrangement, it is not necessary to correspondingly set a driver for the swinging of the finger assembly 200 in each direction, which reduces the structural difficulty and control difficulty of the manipulator 500, makes the manipulator 500 more convenient to apply, and effectively reduces the manufacturing cost and weight.

[0050] Furthermore, the elastic force of the second return spring 250 is greater than the elastic force of the first return spring 240. It can be understood that when one set of the first traction components 300 of the two sets of the first traction components 300 uses the traction rope to pull the finger assembly 200 to rotate in the facing direction of the finger side, since the elastic force of the second return spring 250 is greater than the elastic force of the first return spring 240, the first traction component 300 preferentially overcomes the elastic force of the first return spring 240, so that the finger assembly 200 rotates in the facing direction of the finger side under the action of the first traction component 300.

[0051] To enable the second traction assembly 400 to drive the second finger segment 220 and the third finger segment 230 to move, in some embodiments, the traction rope of the second traction assembly 400 is in transmission connection with the second finger segment 220 and the third finger segment 230. With this arrangement, when the driver of the second traction assembly 400 pulls the traction rope, the traction rope simultaneously drives the second finger segment 220 to rotate relative to the first finger segment 210 and drives the third finger segment 230 to rotate relative to the second finger segment 220. This application will not elaborate on this.

[0052] To enable the second traction assembly 400 to drive the second finger segment 220 and the third finger segment 230 to move, in some embodiments, referring to Figure 2 and Figure 4 , the robotic hand 500 further includes a coupling muscle 260 line. The coupling muscle 260 line is disposed through the ventral side and the dorsal side of the second finger segment 220. One end of the coupling muscle 260 line is connected to the dorsal side of the first finger segment 210, and the other end is connected to the ventral side of the third finger segment 230.

[0053] Specifically, one end of the coupling muscle 260 is connected to the dorsal surface of the first finger segment 210, and the other end is connected to the ventral surface of the third finger segment 230. In application, when the second finger segment 220 rotates forward relative to the first finger segment 210, the ventral surface of the second finger segment 220 acts on the coupling muscle 260 in the forward direction. Correspondingly, the coupling muscle 260 also has a limiting effect on the forward rotation of the second finger segment 220, thereby ensuring that the first finger and the second finger segment 220 remain in a straight state when the second finger segment 220 is not acted upon. Also, because the coupling muscle 260 is disposed through the ventral surface and the dorsal surface of the second finger segment 220, one end of the coupling muscle 260 is connected to the dorsal surface of the first finger segment 210, and the other end is connected to the ventral surface of the third finger segment 230, when the ventral surface of the second finger segment 220 acts on the coupling muscle 260 in the forward direction, the coupling muscle 260 pulls the third finger segment 230 to rotate forward. Correspondingly, during the forward rotation of the second finger segment 220, the coupling muscle 260 releases the restriction on the second finger segment 220, so that both the first finger segment 210 and the second finger segment 220 rotate forward.

[0054] As can be seen from the above, the first finger segment 210, the second finger segment 220, and the third finger segment 230 are connected by the coupling muscle 260 having the above structural form. In application, the movement between the second finger segment 220 and the third finger segment 230 has better coupling. That is, when an external driving force drives the second finger segment 220 to rotate in a large arc relative to the first finger segment 210, the coupling muscle 260 is used to drive the third finger segment 230 to rotate in a small arc relative to the second finger segment 220, thereby better imitating the movement between the middle phalanx and the distal phalanx of the human finger. Even in the face of a relatively complex working environment, the finger assembly 200 has a better application effect.

[0055] Further, in order to realize the reverse rotation and reset of the third finger segment 230 relative to the second finger segment 220, in some embodiments, the finger assembly 200 further includes a third return spring 270. The third return spring 270 can be a tension spring or a torsion spring. If the third return spring 270 is a tension spring, one end of the third return spring 270 is located on the back of the second finger segment 220 and is hooked on the pin on the back of the second finger segment 220, and the other end of the third return spring 270 is located on the back of the third finger segment 230 and is hooked on the pin on the back of the third finger segment 230. When the second finger segment 220 is not acted upon, the third return spring 270 causes the third finger segment 230 to rotate reversely and reset relative to the second finger segment 220.

[0056] Specifically, when the third finger segment 230 rotates forward along with the second finger segment 220, the third return spring 270 is stretched. If the external driving force stops acting on the second finger segment 220, that is, the coupling muscle 260 releases the acting force on the third finger segment 230, the third finger segment 230 rotates reversely relative to the second finger segment 220 under the action of the third return spring 270. During the reverse rotation of the third finger segment 230, the coupling muscle 260 is pulled, and the coupling muscle 260 acts reversely on the ventral surface of the second finger segment 220. Under the reverse acting force of the coupling muscle 260, the second finger segment 220 rotates reversely relative to the first finger segment 210. It can be seen that both the second finger segment 220 and the third finger segment 230 rotate reversely, and the second finger segment 220 and the third finger segment 230 are restored from the bent state as a whole to the straight state as a whole.

[0057] As can be seen from the above, the coupling muscle 260 is used in cooperation with the third return spring 270. The coupling muscle 260 is not only used to realize the forward rotation of the third finger segment 230 along with the second finger segment 220; at the same time, under the action of the third return spring 270, the coupling muscle 260 is also used to realize the reverse rotation and reset of the second finger segment 220 along with the third finger segment 230. Thus, there is no need to provide a return spring between the first finger segment 210 and the second finger segment 220 to meet the reverse rotation and reset of the second finger segment 220 relative to the first finger segment 210. With such a setting, the overall structure of the finger assembly 200 is simpler.

[0058] The technical means disclosed in the solution of the present invention are not limited to the technical means disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present invention.

Claims

1. A manipulator, characterized in that, Comprising: Palm bracket; Finger assembly, including at least two sequentially connected finger segments, and the finger segment at one end of the finger assembly is rotatably connected to the palm bracket; At least two sets of traction assemblies, each set of the traction assemblies including a driver and a traction rope, the driver is arranged on the palm bracket, and the driver drives different finger segments to rotate through the traction rope respectively.

2. The manipulator according to claim 1, wherein, The finger assembly is provided with three finger segments, and the traction assembly is provided with three sets, and the three sets of the traction assemblies are respectively connected to the three finger segments for driving the three finger segments to rotate respectively.

3. The manipulator according to claim 1, characterized in that, There are three finger segments, which are divided into a first finger segment, a second finger segment and a third finger segment. Among them, the first finger segment is rotatably connected to the palm bracket, the second finger segment is rotatably connected to the first finger segment, and the third finger segment is rotatably connected to the second finger segment; The traction assembly is provided with two sets, which are divided into a first traction assembly and a second traction assembly. The traction rope of the first traction assembly is in transmission connection with the first finger segment for pulling the first finger segment to swing relative to the palm, and the traction rope of the second traction assembly is in transmission connection with at least one of the second finger segment and the third finger segment, so that the second finger segment rotates relative to the first finger segment, and the third finger segment rotates relative to the second finger segment.

4. The manipulator according to claim 3, wherein, The manipulator further includes: Connecting finger segment, one end of the connecting finger segment is rotatably connected to the palm bracket around a first preset axis, and the other end is rotatably connected to the finger assembly around a second preset axis. The two ends of the first preset axis are respectively arranged towards the facing directions of the finger belly surface and the finger back surface of the connecting finger segment, and the two ends of the second preset axis are respectively arranged towards the facing directions of the two finger side surfaces of the connecting finger segment; First return spring, connected to the palm bracket and the connecting finger segment, for correcting the posture of the connecting finger segment when the acting force is released; Second return spring, connected to the connecting finger segment and the finger assembly, for making the first finger segment in a straight posture when the acting force is released; Wherein, the first traction assembly is configured to drive the finger assembly to be able to rotate around the first preset axis and the second preset axis respectively.

5. The manipulator according to claim 4, characterized in that, The traction assembly is provided with two sets, and the traction ropes of the two sets of the traction assemblies are respectively connected to the two edges of the finger belly surface of the finger assembly; Wherein, when the two sets of the traction assemblies respectively pull the finger assembly, the finger assembly swings in two directions around the first preset axis; when the two sets of the traction assemblies pull the finger assembly simultaneously, the finger assembly rotates around the second preset axis.

6. The manipulator according to claim 5, characterized in that, The elastic force of the second return spring is greater than the elastic force of the first return spring.

7. The manipulator according to claim 3, characterized in that, The traction rope of the second traction assembly is in transmission connection with the second finger segment and the third finger segment for driving the second finger segment to rotate relative to the first finger segment and driving the third finger segment to rotate relative to the second finger segment.

8. The manipulator according to claim 3, wherein, The manipulator further includes a coupling muscle wire, the coupling muscle wire is disposed on the ventral side and the dorsal side of the second finger segment, one end of the coupling muscle wire is connected to the dorsal side of the first finger segment, and the other end is connected to the ventral side of the third finger segment.

9. The manipulator according to claim 7, characterized in that, The manipulator further includes a third return spring, the third return spring is connected to the second finger segment and the third finger segment, and is used to rotate and reset the third finger segment relative to the second finger segment when the second traction assembly does not act on the second finger segment.

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