Multi-degree-of-freedom simulation manipulator structure

Abstract

This utility model discloses a multi-degree-of-freedom simulated manipulator structure, relating to the fields of robotics and automation control technology. It includes a base, a drive assembly, and a joint module, as well as a support frame fixedly connected to the base. A rotatable turntable is located at the top of the support frame, connected to the center of the top of the support frame via bearings and driven to rotate by a servo motor installed inside the support frame. Multiple grooves are evenly distributed along the outer edge of the turntable. This utility model provides a multi-degree-of-freedom simulated manipulator structure that achieves grasping and releasing through electromagnets and tension springs, and precisely controls the gripping force using a pressure sensor. A vision module provides image information of the target object, improving operational accuracy. A protective cover protects the internal components and facilitates observation. This application enables multi-degree-of-freedom motion, improving flexibility, accuracy, and intelligence, and is suitable for complex task scenarios.

Description

Technical Field

[0001] This utility model relates to the fields of robotics and automation control technology, specifically to a multi-degree-of-freedom simulation manipulator structure. Background Technology

[0002] Robotic arms are commonly used in various fields such as industry, medicine, and education, primarily to simulate human hands in performing complex tasks. With technological advancements, higher demands are being placed on their multi-degree-of-freedom motion, flexibility, and precision, especially in complex scenarios where efficient and accurate operation is required.

[0003] The existing simulated robotic hand design (publication number CN112659165B) achieves finger bending and straightening movements through multiple drive structures, simulating various actions of the human hand. However, the drive structure of this design is relatively complex, and the overall size is large, making it difficult to adapt to applications requiring compact spaces. Furthermore, while it offers strong control over the movement of individual fingers, it has limited support for multi-degree-of-freedom coordinated movements, resulting in insufficient multi-joint linkage capabilities in complex tasks.

[0004] Furthermore, the simulated robotic arm design with publication number CN113459136B achieves internal gripping operations through adjusting the gripping device, demonstrating a certain degree of practicality and flexibility. However, its adjustable gripping function relies on a fixed structure for distance adjustment, offering limited support for multi-degree-of-freedom motion and making it difficult to meet the demands of complex three-dimensional spatial operations. Simultaneously, its single drive method restricts further improvements in high precision and real-time response capabilities.

[0005] The aforementioned problems indicate that existing simulated manipulators still suffer from limitations in handling complex working conditions, including insufficient support for multi-degree-of-freedom motion, limited flexibility, and a lack of high-precision control capabilities. Therefore, a novel multi-degree-of-freedom simulated manipulator structure is urgently needed to provide a more intelligent and efficient solution. Utility Model Content

[0006] This invention provides a multi-degree-of-freedom simulated manipulator structure, aiming to address the shortcomings of existing simulated manipulators in terms of multi-degree-of-freedom motion, flexibility, and precision, especially the difficulty in achieving efficient and accurate operation in complex task scenarios. The specific solution is as follows:

[0007] A multi-degree-of-freedom simulated manipulator structure includes a base, a drive assembly, and a joint module, and further includes a support frame fixedly connected to the base. The top of the support frame has a rotatable turntable, which is connected to the center of the top of the support frame via a bearing and is driven to rotate by a servo motor installed inside the support frame. Multiple grooves are evenly distributed along the outer edge of the turntable, and a slider is embedded in each groove, sliding along the length of the groove. The bottom of each slider is hinged to a joint arm via a connecting rod, and a gripping unit is installed at the end of the joint arm. The gripping unit is used to perform grasping and releasing actions on a target object.

[0008] As a preferred embodiment of the multi-degree-of-freedom simulation manipulator structure of this utility model, the top of the support frame is further provided with multiple guide posts, which are evenly distributed along the circumference of the support frame, and the top of the guide posts are in contact with the bottom surface of the turntable; a compression spring is sleeved on the outside of the guide post, one end of the compression spring is fixedly connected to the top surface of the support frame, and the other end is fixedly connected to the bottom surface of the turntable; the guide posts are used to limit the axial displacement of the turntable, while the compression spring provides a rebound force for the turntable to reduce the vibration generated by the turntable when rotating at high speed.

[0009] As a preferred embodiment of the multi-degree-of-freedom simulation manipulator structure of this utility model, the slider has a threaded hole at its top, which penetrates the slider and is parallel to the bottom surface of the slide groove; a stepper motor is installed at the top of the slide groove, and the output shaft of the stepper motor is connected to a lead screw through a coupling, with the other end of the lead screw rotatably connected to the bottom surface of the slide groove; the lead screw passes through the threaded hole at the top of the slider, and when the stepper motor drives the lead screw to rotate, the slider moves along the length direction of the slide groove.

[0010] As a preferred embodiment of the multi-degree-of-freedom simulation manipulator structure of this utility model, the joint arm has an arc-shaped groove in the middle, and a swing plate is hinged between the two side walls of the arc-shaped groove by a pin; a micro cylinder is installed at the bottom of the swing plate, and the piston rod of the micro cylinder is fixedly connected to the bottom of the swing plate; the micro cylinder drives the swing plate to swing around the pin, thereby adjusting the angle of the joint arm to change the spatial position of the clamping unit.

[0011] As a preferred embodiment of the multi-degree-of-freedom simulation manipulator structure of this utility model, the clamping unit includes two opposing grippers, with flexible pads on the inner side of the grippers; the tail of the gripper is connected to the end of the joint arm via a hinge, and the middle of the gripper is fixedly connected to the side of the joint arm via a tension spring; an electromagnet is also installed at the end of the joint arm, which generates magnetic force when energized, attracting the tail of the gripper to retract inward, thereby realizing the clamping action; when the electromagnet is de-energized, the tension spring pulls the gripper to reset, completing the release action.

[0012] As a preferred embodiment of the multi-degree-of-freedom simulation manipulator structure of this utility model, the gripper is further equipped with multiple sets of pressure sensors, with the probes of the pressure sensors facing the inner surface of the gripper; the pressure sensors are used to detect the contact pressure between the gripper and the target object and transmit the detection signal to the control unit; the control unit adjusts the current intensity of the electromagnet according to the detection signal to adjust the gripping force of the gripper.

[0013] As a preferred embodiment of the multi-degree-of-freedom simulation manipulator structure of this utility model, a vision module is also installed at the end of the articulated arm. The vision module includes a camera and a light source. The lens of the camera faces the front of the gripping unit and is used to capture image information of the target object. The light source is arranged around the periphery of the camera to provide uniform lighting conditions for the target object. The vision module is connected to the control unit through a data cable and transmits the acquired image information to the control unit for processing.

[0014] As a preferred embodiment of the multi-degree-of-freedom simulation manipulator structure of this utility model, the base has multiple mounting holes at its bottom, which are evenly distributed around the base; the base is fixedly connected to external equipment through the mounting holes; the base also has a battery compartment inside, which contains a rechargeable lithium battery for powering the drive components, joint modules and vision modules.

[0015] As a preferred embodiment of the multi-degree-of-freedom simulation manipulator structure of this utility model, the support frame is provided with a protective cover, which is made of transparent plastic; the top of the protective cover is fixedly connected to the top of the support frame, and the bottom of the protective cover is fixedly connected to the top surface of the base; the protective cover is used to protect the internal components from external dust and foreign objects, and at the same time facilitates the observation of the working status of the manipulator.

[0016] As a preferred embodiment of the multi-degree-of-freedom simulation manipulator structure of this utility model, wherein: both ends of the slide are provided with limiting blocks, and the limiting blocks are fixedly connected to the ends of the slide by screws; the limiting blocks are used to limit the movement range of the slider and prevent the slider from leaving the slide; the bottom of the slider is also provided with a buffer pad, the buffer pad being made of rubber, which is used to absorb the impact force generated when the slider collides with the limiting block.

[0017] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0018] 1. This device uses a combination design of turntable and slide rail. When the slider moves along the slide rail, it can drive the joint arm to make multi-angle adjustments on the horizontal plane, which is suitable for operation needs in different spatial positions. At the same time, multiple joint arms work together to complete complex multi-degree-of-freedom movements.

[0019] 2. This device uses a combination of a miniature cylinder and a swing plate. The swing plate can adjust the angle of the joint arm in real time, thereby flexibly changing the spatial position of the gripping unit and improving the manipulator's operational flexibility in three-dimensional space.

[0020] 3. This device combines an electromagnet and a tension spring. When the electromagnet is energized, it attracts the gripper to retract, thus achieving the clamping action. When the power is turned off, the tension spring pulls the gripper back to reset, thus completing the release action. This simplifies the drive structure of the clamping unit and improves the response speed of the clamping action.

[0021] 4. The device monitors the contact pressure between the gripper and the target object in real time through a pressure sensor. The control unit adjusts the current intensity of the electromagnet according to the detection signal, thereby achieving precise control of the clamping force and avoiding operational errors caused by excessive or insufficient clamping force.

[0022] 5. By introducing a vision module, the camera captures image information of the target object and transmits it to the control unit. The control unit plans the robot's motion path based on the image information, which improves the robot's operational accuracy and intelligence level in complex task scenarios.

[0023] 6. The device features a protective cover made of transparent plastic, which not only protects the internal components from external dust and foreign objects but also allows operators to easily observe the working status of the robotic arm, thus improving the device's reliability and practicality. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0025] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0026] Figure 2 This is a schematic diagram of the turntable and slide groove structure of this utility model.

[0027] Figure 3 This is a schematic diagram of the articulated arm and clamping unit structure of this utility model.

[0028] Figure 4 This is a partial enlarged view of the clamping unit of this utility model.

[0029] Figure 5 This is a schematic diagram showing the installation position of the vision module of this utility model.

[0030] Figure 6This is a schematic diagram of the protective cover structure of this utility model.

[0031] Explanation of reference numerals in the attached figures:

[0032] 1. Base; 2. Support frame; 3. Turntable; 4. Slide; 5. Slider; 6. Articulated arm; 7. Clamping unit; 8. Guide column; 9. Compression spring; 10. Lead screw; 11. Swing plate; 12. Miniature cylinder; 13. Gripper; 14. Flexible pad; 15. Electromagnet; 16. Pressure sensor; 17. Vision module; 18. Protective cover; 19. Limiting block; 20. Buffer pad. Detailed Implementation

[0033] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings.

[0034] This utility model provides a multi-degree-of-freedom simulation manipulator structure, combined with Figures 1 to 6 The accompanying drawings are described in detail. The robotic arm includes a base 1, a support frame 2, a turntable 3, a slide 4, a slider 5, an articulated arm 6, a gripping unit 7, and several auxiliary components. The specific structure and connection relationships of each component will be described in detail below.

[0035] The base 1 serves as the mounting foundation for the entire robotic arm. Multiple mounting holes, evenly distributed around its perimeter, are provided on its bottom for secure connection to external devices using bolts or screws. The base 1 contains a battery compartment housing a rechargeable lithium battery to power the drive components, joint modules, and vision module 17. The top of the base 1 is bolted to the bottom of the support frame 2, which is vertically oriented. A circular groove at the center of its top accommodates a bearing. The turntable 3 is connected to the center of the top of the support frame 2 via a bearing. The outer ring of the bearing is fixed to the support frame 2, and the inner ring is fixed to the turntable 3, allowing the turntable 3 to rotate around the central axis of the support frame 2. The rotation of the turntable 3 is driven by a servo motor installed inside the support frame 2. The output shaft of the servo motor is fixedly connected to the center of the bottom surface of the turntable 3 via a coupling.

[0036] Multiple grooves 4 are evenly distributed on the outer edge of the turntable 3. The number of grooves 4 is designed according to actual needs, usually three or four. The grooves 4 are arranged in an arc shape, and a slider 5 is embedded in each groove 4. The bottom of the slider 5 is hinged to one end of the joint arm 6 through a connecting rod. The two ends of the connecting rod are connected to the slider 5 and the joint arm 6 respectively through pins, thereby realizing the relative rotation between the slider 5 and the joint arm 6. The top of the slider 5 has a threaded hole that passes through the slider 5 and is parallel to the bottom surface of the groove 4. A stepper motor is installed on the top of the groove 4. The output shaft of the stepper motor is connected to a lead screw 10 through a coupling. The other end of the lead screw 10 is rotatably connected to the bottom surface of the groove 4 through a bearing. The lead screw 10 passes through the threaded hole on the top of the slider 5. When the stepper motor drives the lead screw 10 to rotate, the slider 5 moves along the length of the groove 4. Limiting blocks 19 are provided at both ends of the groove 4. The limiting blocks 19 are fixedly connected to the ends of the groove 4 by screws to limit the range of movement of the slider 5 and prevent the slider 5 from disengaging from the groove 4. The bottom of the slider 5 is also provided with a buffer pad 20, which is made of rubber and is used to absorb the impact force generated when the slider 5 collides with the limit block 19.

[0037] The articulated arm 6 has an arc-shaped groove in its middle, and a swing plate 11 is hinged between the two side walls of the arc-shaped groove by a pin. A miniature cylinder 12 is installed at the bottom of the swing plate 11, and the piston rod of the miniature cylinder 12 is fixedly connected to the bottom of the swing plate 11 by bolts. The miniature cylinder 12 drives the swing plate 11 to swing around the pin, thereby adjusting the angle of the articulated arm 6. A clamping unit 7 is installed at the end of the articulated arm 6. The clamping unit 7 includes two opposing grippers 13, and a flexible pad 14 is provided on the inner side of the grippers 13. The tail of the grippers 13 is connected to the end of the articulated arm 6 by a hinge, and the middle of the grippers 13 is fixedly connected to the side of the articulated arm 6 by a tension spring. An electromagnet 15 is also installed at the end of the articulated arm 6. When the electromagnet 15 is energized, it generates magnetic force, attracting the tail of the grippers 13 to retract inward, thereby realizing the clamping action. When the electromagnet 15 is de-energized, the tension spring pulls the grippers 13 to reset, completing the release action. Multiple pressure sensors 16 are also embedded on the inner side of the gripper 13. The probes of the pressure sensors 16 face the inner surface of the gripper 13 and are used to detect the contact pressure between the gripper 13 and the target object, and transmit the detection signal to the control unit. The control unit adjusts the current intensity of the electromagnet 15 according to the detection signal to adjust the clamping force of the gripper 13.

[0038] A vision module 17, including a camera and a light source, is also installed at the end of the articulated arm 6. The camera lens faces forward of the clamping unit 7 to capture image information of the target object. The light source is arranged around the periphery of the camera to provide uniform illumination for the target object. The vision module 17 is connected to the control unit via a data cable to transmit the acquired image information to the control unit for processing. Multiple guide posts 8 are also provided on the top of the support frame 2. The guide posts 8 are evenly distributed along the circumference of the support frame 2, and the top of the guide posts 8 contacts the bottom surface of the turntable 3. A compression spring 9 is sleeved on the outer side of the guide posts 8. One end of the compression spring 9 is fixedly connected to the top surface of the support frame 2, and the other end is fixedly connected to the bottom surface of the turntable 3. The guide posts 8 are used to limit the axial displacement of the turntable 3, while the compression spring 9 provides a restoring force to the turntable 3 to reduce the vibration generated by the turntable 3 during high-speed rotation.

[0039] A protective cover 18, made of transparent plastic, is provided on the outside of the support frame 2. The top of the protective cover 18 is fixedly connected to the top of the support frame 2 by bolts, and the bottom of the protective cover 18 is fixedly connected to the top surface of the base 1 by bolts. The protective cover 18 is used to protect the internal components from external dust and foreign objects, while also facilitating the observation of the robot's working status.

[0040] In actual operation, the base 1 is first fixed in a designated position using external equipment. Then, the servo motor is started, driving the turntable 3 to rotate, causing the slide groove 4 on the turntable 3 to move the slider 5 along the circumferential direction. The movement of the slider 5 is transmitted to the articulated arm 6 via a connecting rod, allowing the articulated arm 6 to be adjusted at multiple angles on the horizontal plane. The stepper motor drives the lead screw 10 to rotate, further precisely controlling the position of the slider 5 within the slide groove 4, thereby achieving spatial position adjustment of the articulated arm 6. The micro cylinder 12 drives the swing plate 11 to swing, adjusting the angle of the articulated arm 6 in real time and changing the spatial position of the clamping unit 7. When the target object enters the working range of the clamping unit 7, the camera of the vision module 17 captures the image information of the target object and transmits the image information to the control unit. The control unit plans the motion path of the robot arm based on the image information and controls the electromagnet 15 to be energized, attracting the gripper 13 to retract and achieve the clamping action. The pressure sensor 16 monitors the contact pressure between the gripper 13 and the target object in real time and transmits the detection signal to the control unit. The control unit adjusts the current intensity of the electromagnet 15 based on the detection signal, thereby adjusting the clamping force of the gripper 13. After the clamping task is completed, the control unit controls the electromagnet 15 to be de-energized, and the tension spring pulls the gripper 13 to reset, completing the release action.

[0041] The above process demonstrates the operation flow of the robotic arm in complex task scenarios. Through the coordinated work of multiple degrees of freedom, efficient and precise operation is achieved. The guide column 8 and compression spring 9 at the top of the support frame 2 effectively reduce the vibration of the turntable 3 during high-speed rotation, improving the stability of the robotic arm. The protective cover 18 not only protects the internal components but also facilitates the operator's observation of the robotic arm's working status, enhancing the reliability and practicality of the device.

[0042] To enable those skilled in the art to fully understand and implement this utility model, the following supplementary explanation of the specific implementation principle of this utility model is provided in conjunction with a specific application scenario.

[0043] First, the base 1 is bolted to the external equipment platform to ensure the overall stability of the robot. The battery compartment inside the base 1 houses a rechargeable lithium battery, providing power to the servo motor, stepper motor, miniature cylinder 12, electromagnet 15, and vision module 17. At this point, the support frame 2 is bolted to the base 1, forming the main structure of the robot. The turntable 3 is connected to the top center of the support frame 2 via a bearing. The servo motor drives the turntable 3 to rotate, thereby moving the slide 4 and slider 5 circumferentially. The movement of the slider 5 is transmitted to the articulated arm 6 via a connecting rod, allowing the articulated arm 6 to be adjusted at multiple angles on the horizontal plane. This process achieves the initial horizontal positioning function of the robot.

[0044] Next, the stepper motor starts, and its output shaft drives the lead screw 10 to rotate via a coupling. The lead screw 10 passes through the threaded hole at the top of the slider 5, pushing the slider 5 to move along the length of the slide groove 4. The range of movement of the slider 5 is limited by the limiting blocks 19 at both ends of the slide groove 4. At the same time, the buffer pad 20 absorbs the impact force generated when the slider 5 collides with the limiting blocks 19, avoiding mechanical damage caused by the collision. By precisely controlling the position of the slider 5 through the stepper motor, the spatial position of the articulated arm 6 can be further adjusted, thereby achieving precise positioning of the robot in three-dimensional space. In this step, the cooperative design of the slide groove 4 and the slider 5 allows the robot to flexibly adapt to the operational needs of different spatial positions.

[0045] Subsequently, the miniature cylinder 12 is activated, and its piston rod pushes the swing plate 11 to swing around the pivot, thereby adjusting the angle of the articulated arm 6. The swing angle of the swing plate 11 is determined by the stroke of the miniature cylinder 12. By controlling the extension and retraction of the miniature cylinder 12, the angle of the articulated arm 6 can be changed in real time, thereby adjusting the spatial position of the gripping unit 7. This process improves the flexibility of the robotic arm in complex task scenarios, enabling it to respond quickly to changes in the position of the target object. The design of the swing plate 11 simplifies the angle adjustment method of the articulated arm 6 while improving the response speed of the robotic arm.

[0046] When the target object enters the working range of the gripping unit 7, the vision module 17 is activated, the camera captures the image information of the target object, and transmits the image information to the control unit via a data cable. Light sources are arranged around the camera to provide uniform illumination for the target object, ensuring image clarity. The control unit plans the robot's motion path based on the image information and controls the electromagnet 15 to be energized. When energized, the electromagnet 15 generates magnetic force, attracting the tail of the gripper 13 to retract inward, thus achieving the gripping action. A flexible pad 14 is provided on the inner side of the gripper 13 to protect the surface of the target object and prevent damage caused by excessive gripping force. A pressure sensor 16 is embedded in the inner side of the gripper 13, monitoring the contact pressure between the gripper 13 and the target object in real time and transmitting the detection signal to the control unit. The control unit adjusts the current intensity of the electromagnet 15 based on the detection signal, thereby precisely adjusting the gripping force of the gripper 13. In this step, the introduction of the pressure sensor 16 enables intelligent control of the gripping force, avoiding operational errors caused by improper gripping.

[0047] After completing the clamping task, the control unit de-energizes the electromagnet 15, and the tension spring pulls the gripper 13 to reset, completing the release action. The reset process of the gripper 13 is driven by the elastic force of the tension spring, ensuring the speed and reliability of the release action. This design simplifies the drive structure of the clamping unit 7 while improving the response speed of the clamping action.

[0048] During the operation of the robotic arm, the guide post 8 and compression spring 9 at the top of the support frame 2 play a crucial role. The guide post 8 restricts the axial displacement of the turntable 3, while the compression spring 9 provides a restoring force to the turntable 3, reducing vibrations generated during high-speed rotation and improving the overall stability of the robotic arm. Furthermore, the protective cover 18, made of transparent plastic, not only protects the internal components from external dust and foreign objects but also facilitates operator observation of the robotic arm's working status, enhancing the reliability and practicality of the device.

[0049] The above steps demonstrate the specific operational process of the robotic arm in complex task scenarios. Through the coordinated work of multiple degrees of freedom, it achieves efficient and precise operation. This robotic arm can adapt to the operational needs of different spatial positions, and possesses both high precision and high flexibility, making it suitable for various fields such as industrial assembly, medical surgical assistance, and educational experiments.

[0050] The foregoing description only illustrates certain exemplary embodiments of the present invention. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A multi-degree-of-freedom simulated manipulator structure, comprising a base (1), a drive assembly, and a joint module, characterized in that: It also includes a support frame (2) fixedly connected to the base (1); the top of the support frame (2) is provided with a rotatable turntable (3), the turntable (3) is connected to the top center of the support frame (2) through a bearing, and is driven to rotate by a servo motor installed inside the support frame (2); the outer edge of the turntable (3) is evenly distributed with multiple slide grooves (4), each slide groove (4) is fitted with a slider (5), and the slider (5) slides along the length direction of the slide groove (4); the bottom of each slider (5) is hinged to a joint arm (6) through a connecting rod, and the end of the joint arm (6) is equipped with a clamping unit (7).

2. The multi-degree-of-freedom simulated manipulator structure according to claim 1, characterized in that, The top of the support frame (2) is also provided with multiple guide posts (8). The guide posts (8) are evenly distributed along the circumference of the support frame (2), and the top of the guide posts (8) is in contact with the bottom surface of the turntable (3). A compression spring (9) is sleeved on the outside of the guide post (8). One end of the compression spring (9) is fixedly connected to the top surface of the support frame (2), and the other end is fixedly connected to the bottom surface of the turntable (3).

3. The multi-degree-of-freedom simulated manipulator structure according to claim 1, characterized in that, The top of the slider (5) is provided with a threaded hole, which passes through the slider (5) and is parallel to the bottom surface of the slide groove (4); a stepper motor is installed on the top of the slide groove (4), and the output shaft of the stepper motor is connected to a lead screw (10) through a coupling. The other end of the lead screw (10) is rotatably connected to the bottom surface of the slide groove (4); the lead screw (10) passes through the threaded hole at the top of the slider (5).

4. The multi-degree-of-freedom simulation manipulator structure according to claim 1, characterized in that, The articulated arm (6) has an arc-shaped groove in the middle, and a swing plate (11) is hinged between the two side walls of the arc-shaped groove by a pin; a miniature cylinder (12) is installed at the bottom of the swing plate (11), and the piston rod of the miniature cylinder (12) is fixedly connected to the bottom of the swing plate (11).

5. The multi-degree-of-freedom simulation manipulator structure according to claim 1, characterized in that, The clamping unit (7) includes two opposing clamps (13), with a flexible pad (14) on the inner side of the clamps (13); the tail of the clamps (13) is connected to the end of the joint arm (6) via a hinge, and the middle part of the clamps (13) is fixedly connected to the side of the joint arm (6) via a tension spring; an electromagnet (15) is also installed at the end of the joint arm (6).

6. The multi-degree-of-freedom simulated manipulator structure according to claim 5, characterized in that, Multiple pressure sensors (16) are also embedded on the inner side of the gripper (13), with the probes of the pressure sensors (16) facing the inner surface of the gripper (13).

7. The multi-degree-of-freedom simulated manipulator structure according to claim 1, characterized in that, The end of the articulated arm (6) is also equipped with a vision module (17), which includes a camera and a light source; the lens of the camera faces the front of the clamping unit (7), and the light source is arranged around the periphery of the camera.

8. The multi-degree-of-freedom simulation manipulator structure according to claim 1, characterized in that, The outer side of the support frame (2) is provided with a protective cover (18), which is made of transparent plastic. The top of the protective cover (18) is fixedly connected to the top of the support frame (2), and the bottom of the protective cover (18) is fixedly connected to the top surface of the base (1).

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