Search

CN-122008302-A - Smart manipulator with octopus sucker

CN122008302ACN 122008302 ACN122008302 ACN 122008302ACN-122008302-A

Abstract

The invention discloses an octopus sucking disc dexterous manipulator which comprises a palm substrate and five fingers connected with the palm substrate, wherein each five finger sequentially comprises a little finger, a ring finger, a middle finger, an index finger and a thumb, each little finger, each ring finger, each index finger and each thumb comprise a first knuckle, a second knuckle, a fingertip and a driving rope, the tail end of each first knuckle is hinged with the palm substrate, one end of each driving rope is connected with the tail end of each fingertip, the other end of each driving rope penetrates through the corresponding second knuckle and each first knuckle and then is connected with the driving end of a linear travel mechanism arranged in the palm substrate, reset mechanisms are arranged at the hinged positions of the corresponding first knuckle and the hinged positions of the corresponding fingertip and the corresponding second knuckle, and sucking discs are arranged on one face of the second knuckle, which faces the palm center. The flexible manipulator with the octopus sucker is simple in structure, simple to control and stable in grabbing.

Inventors

  • QIN KUI
  • TAN JIYONG
  • CHEN QIONG

Assignees

  • 深圳美丽魔方机器人有限公司

Dates

Publication Date
20260512
Application Date
20260318

Claims (10)

  1. 1. The utility model provides an octopus sucking disc dexterous manipulator, includes the palm base member and with the five fingers that the palm base member is connected, the five fingers include little finger, ring finger, middle finger, forefinger and thumb in proper order, its characterized in that, little finger, the middle finger the forefinger with the thumb all includes first knuckle, second knuckle, fingertip and driving rope, first knuckle second knuckle and the fingertip articulates in proper order, the tail end of first knuckle still with the palm base member articulates, driving rope's one end with the tail end connection of fingertip, driving rope's the other end passes the second knuckle with behind the first knuckle, with set up in the drive end connection of the straight line travel mechanism in the palm base member, first knuckle with the articulated department of palm base member second knuckle with the articulated department of first knuckle, the fingertip with the articulated department of second knuckle all is provided with reset mechanism, the second knuckle is provided with the sucking disc towards the palm center.
  2. 2. The flexible octopus suction cup manipulator according to claim 1, wherein the joints of the palm substrate corresponding to the five fingers are provided with first hinge seats, the tail ends of the first knuckles are provided with first hinge pins hinged with the first hinge seats, the tail ends of the second knuckles are provided with second hinge pins hinged with the second hinge seats, the tail ends of the fingertips are provided with third hinge seats, and the head ends of the second knuckles are provided with third hinge pins hinged with the third hinge seats.
  3. 3. The flexible octopus suction cup manipulator according to claim 2, wherein a first torsion spring is sleeved on the first hinge pin, the first torsion spring is limited in the first hinge seat in the left-right mode, two ends of the first torsion spring are respectively abutted with the head end of the palm substrate and the tail end of the first knuckle, a second torsion spring is sleeved on the second hinge pin, the second torsion spring is limited in the second hinge seat in the left-right mode, two ends of the second torsion spring are respectively abutted with the head end of the first knuckle and the tail end of the second knuckle, a third torsion spring is sleeved on the third hinge pin, the third torsion spring is limited in the third hinge seat in the left-right mode, and two ends of the third torsion spring are respectively abutted with the head end of the second knuckle and the tail end of the fingertip.
  4. 4. The flexible octopus suction cup manipulator according to claim 1, wherein the linear travel mechanism is provided with five, and the driving ends of the five linear travel mechanisms are respectively connected with the driving ropes of the little finger, the ring finger, the middle finger, the index finger and the thumb.
  5. 5. The flexible octopus suction cup manipulator according to claim 1, wherein the linear travel mechanism comprises a fixed support, a motor, a worm and a driving sliding block, the bottom of the fixed support is fixed on the bottom wall of the inner cavity of the palm substrate, a front limit baffle and a rear limit baffle are respectively arranged at the front end and the rear end of the fixed support, the motor is horizontally fixed on the rear side of the rear limit baffle, one end of the worm is rotationally connected to the middle part of the front limit baffle, the other end of the worm penetrates through the rear limit baffle and then is connected with the rotating end of the motor, the driving sliding block is sleeved outside the worm in a threaded manner, the bottom of the driving sliding block is in limiting contact with the bottom plate of the fixed support, and the driving sliding block is further connected with the driving rope.
  6. 6. The octopus suction cup dexterous manipulator of claim 1, wherein the driving rope is a wire rope or a fish line.
  7. 7. The flexible octopus suction cup manipulator of claim 6, wherein the wire rope is wound from a plurality of strands of 304 stainless steel wire.
  8. 8. The flexible octopus suction cup manipulator according to claim 1, wherein a first passage through which the driving rope passes and guides is provided in the first knuckle along a length direction thereof, and a second passage through which the driving rope passes and guides is provided in the second knuckle along a length direction thereof.
  9. 9. The flexible octopus suction cup manipulator of claim 1, wherein the suction cup is a soft gel suction cup.
  10. 10. The flexible octopus suction cup manipulator according to claim 1, wherein the finger tip is provided with anti-slip stripes on a side facing the palm.

Description

Smart manipulator with octopus sucker Technical Field The invention relates to the technical field of robots, in particular to a smart manipulator with an octopus sucker. Background The performance of the manipulator, which is used as a core execution component of the robot system, directly determines the working capacity of the robot. With the development of industrial automation and service robot technology, higher requirements are put on the dexterity, stability and cost control of the manipulator. The main current manipulators mainly comprise two types of humanoid five-finger dexterous manipulators and two-finger/three-finger manipulators. The humanoid five-finger dexterous hand is represented by the patent of application publication number CN120773072A, adopts a multi-link mechanism to drive fingers to bend and stretch, and the thumb is provided with a plurality of driving mechanisms to realize multi-degree-of-freedom motion, so that the humanoid five-finger dexterous hand can simulate a human hand to complete various complex actions. The manipulator has the obvious defects that firstly, the structure is heavy, the movement track of the connecting rod occupies large space, the whole volume and the weight are large, secondly, the control is complex, a plurality of driving mechanisms are required to be controlled cooperatively, the technical implementation difficulty is high, thirdly, the manufacturing cost is high, the machining precision requirement of the connecting rod mechanism is high, the strength requirement of common materials is difficult to meet in a limited space, and high-cost special materials are often required to be adopted. Two indicate/three indicate manipulator and traditional five-finger manipulator then generally adopt the rigidity clamping structure of metal material, form the point contact with object surface when snatching the object, be difficult to realize large tracts of land laminating and frictional resistance and promote. The manipulator is very easy to have the problems of unstable clamping, slipping and even falling of objects when grabbing spheres, glass, metal and other spheres or objects with hard and smooth surfaces, and severely limits the application scenes of the manipulator. Therefore, there is a need to develop a smart manipulator with simple structure, simple control and stable grasping. Disclosure of Invention Aiming at the technical problems that the humanoid dexterous hand has heavy structure, complex control and high cost and the traditional manipulator grabs a sphere and a hard and smooth object unstably in the prior art, the invention provides the octopus sucker dexterous manipulator which realizes the unification of dexterous and stability by the technical scheme of combining the collaborative driving of a steel wire rope and a torsion spring and the sucking of a sucker. The technical scheme of the invention is as follows: The utility model provides an octopus sucking disc dexterous manipulator, includes the palm base member and with the five fingers that the palm base member is connected, the five fingers include little finger, ring finger, middle finger, forefinger and thumb in proper order, little finger the ring finger, the middle finger the forefinger with the thumb all includes first knuckle, second knuckle, fingertip and driving rope, first knuckle the second knuckle reaches the fingertip articulates in proper order, the tail end of first knuckle still with the palm base member articulates, driving rope's one end with the tail end connection of fingertip, the driving rope's the other end passes the second knuckle with behind the first knuckle with the drive end of the straight line travel mechanism who sets up in the palm base member is connected, first knuckle with the articulated position of palm base member, second knuckle with the articulated position of first knuckle, fingertip with the articulated position of second knuckle all is provided with reset mechanism, the second knuckle is provided with the sucking disc towards the palm center. As a preferable scheme of the invention, the joint of the palm matrix corresponding to the five fingers is provided with a first hinging seat, the tail end of the first knuckle is provided with a first hinging pin hinged with the first hinging seat, the tail end of the second knuckle is provided with a second hinging seat, the head end of the first knuckle is provided with a second hinging pin hinged with the second hinging seat, the tail end of the fingertip is provided with a third hinging seat, and the head end of the second knuckle is provided with a third hinging pin hinged with the third hinging seat. As a preferable scheme of the invention, a first torsion spring is sleeved on the first hinge pin, the first torsion spring is limited left and right in the first hinge seat, two ends of the first torsion spring are respectively abutted with the head end of the palm substrate and the tail end of the first k