CN115503013B - A multi-fingered hydraulic humanoid manipulator - Google Patents

Abstract

A multi-finger hydraulic humanoid manipulator. The present invention relates to a humanoid manipulator. In order to solve the problem that the traditional hydraulically driven hydraulic system has high redundancy and is not conducive to the integrated design of the manipulator in the prior art, the present invention further needs Provide mechanical equipment that can reduce the redundant quality of the hydraulic system, simplify the hydraulic drive structure, and improve the precision of terminal control. The thumb structure includes a thumb in parallel structure and two thumb-driven hydraulic cylinders; the single-finger structure includes a single finger and a single-finger driven hydraulic cylinder; three single-finger structures are installed on the front end of the palm frame, and each single finger is rotationally connected with the palm frame , each single-finger drive hydraulic cylinder is connected with a single finger, the thumb structure is installed on the side of the palm frame near the rear end, the thumb of the parallel structure is connected to the side of the palm frame for rotation, the single-finger drive hydraulic cylinder shell, the thumb drive hydraulic cylinder Both the housing and the servo valve are mounted on the palm skeleton. The invention belongs to the field of robots.

Description

A multi-fingered hydraulic humanoid manipulator

technical field

The invention relates to a humanoid manipulator, in particular to a multi-finger hydraulic humanoid manipulator, which is applied to a hydraulic robot or a mechanical arm end effector.

Background technique

In today's hydraulic robot and hydraulic manipulator systems, the design of the end effector and its ability to interact with the environment have always been an urgent problem to be solved. Although at present, relevant research institutes and companies of robotic hands have launched a variety of bionic multi-fingered dexterous hands, which can cover the needs of certain related industries and research, and can realize functions such as target object grasping and operation, and realize the target object. Functions such as load handling and resistance to external disturbances have achieved relatively mature research and application. However, in the working conditions for special operations, such as large load, high strength, fast response and dexterous operation, there are few optional configurations of multi-finger hydraulic humanoid manipulators, and a high-frequency response with large load is selected. The driving scheme as the research basis is a necessary condition to solve this problem.

At present, the design schemes of multi-fingered manipulators for the operation of manipulators and robot end effectors mainly include the following: motor drive scheme, which is the main application scheme at present, has the advantages of high integration, high control precision, and compact structure, which can meet General operating conditions; the pneumatic drive scheme is currently the main drive scheme for the mechanical claws at the end of some industrial manipulators. It has the characteristics of simple structure, fast response, and easy control, and can meet light-load operating conditions; the hydraulic drive scheme has strong load capacity, With the advantages of high power density and good impact resistance, it can adapt to the working conditions of medium load and heavy load. Although the motor drive scheme can meet the end operation requirements of most robots and manipulators, under the conditions of high load operation requirements and impact resistance requirements, the motor drive scheme will appear to be unable to do what it wants, but the hydraulic drive can meet this requirement. conditions, so it is feasible to adopt high power density hydraulic drive technology as the design basis of the manipulator.

Although the hydraulic drive has the advantages of strong load capacity, high power density, impact resistance and fast response, in terms of hydraulic structure integration, the traditional hydraulic system has high redundancy, which is not conducive to the integrated design of the manipulator. The redundant quality of the hydraulic system should be reduced as much as possible, the structure of the hydraulic drive should be simplified, and the precision of the terminal control should be improved. Secondly, due to the lack of research on the structural schemes of hydraulic manipulators to achieve dexterous operation at home and abroad, a new structural design scheme for multi-fingered dexterous hands is necessary, taking into account the space layout of the mechanical structure and hydraulic system to achieve the maximum degree of manipulator. Integrated.

Contents of the invention

In order to solve the problem that the traditional hydraulic drive hydraulic system has high redundancy and is not conducive to the integrated design of the manipulator in the prior art, the present invention needs to provide a solution that can reduce the redundant quality of the hydraulic system, simplify the hydraulic drive structure, and improve the control accuracy of the end mechanical equipment.

The technical scheme that the present invention adopts in order to solve the above problems is:

A multi-finger hydraulic humanoid manipulator, which includes a thumb structure, a palm skeleton, three single-finger structures and multiple servo valves; the thumb structure includes a parallel structure of the thumb and two thumb-driven hydraulic cylinders; the single-finger structure includes a single finger and Single-finger drive hydraulic cylinder; three single-finger structures are installed on the front end of the palm frame, each single finger is rotationally connected with the palm frame, each single-finger drive hydraulic cylinder is connected with a single finger, and the thumb structure is installed on the palm frame close to On the side of the rear end, the thumb of the parallel structure is rotationally connected with the side of the palm skeleton, and the two thumb drive hydraulic cylinders are both rotationally connected with the thumb of the parallel structure, and each single finger drive hydraulic cylinder and each thumb drive hydraulic cylinder are respectively connected with a servo valve connected, and the single-finger-driven hydraulic cylinder housing, the thumb-driven hydraulic cylinder housing and the servo valve are all installed on the palm frame.

The beneficial effects of the present invention are:

1. The entire palm of the manipulator of this application has five degrees of freedom, and these five degrees of freedom are all driven by small hydraulic cylinders; when the piston rod of the hydraulic cylinder is stretched out, the four fingers perform a grasping action; when the piston rod of the hydraulic cylinder is retracted, The four fingers are opened to grasp and operate objects; the servo valves controlling the hydraulic cylinders are centrally arranged at the joint of the wrist, which can realize the integration of the palm and the compact structure.

2. In this application, the thumb structure includes a parallel thumb and two thumb-driven hydraulic cylinders; the single-finger structure includes a single finger and a single-finger driven hydraulic cylinder, and the manipulator can realize large load, light weight and fast response by moving the piston rod of the hydraulic cylinder. specialty.

3. This application uses a hydraulically driven multi-finger manipulator, which has the advantages of large load, fast response, and high frequency response compared to general multi-finger manipulators, and can achieve a high load capacity under the same size and quality as ordinary manipulators .

4. This application adopts a hydraulically driven multi-finger manipulator. Part of the main structure adopts the integrated molding technology of additive manufacturing. The structure is simple, the processing is simpler, the installation and disassembly are easier, the structure is more compact, and the overall weight is lighter.

5. This application adopts a hydraulically driven multi-finger manipulator. The single finger is driven by a connecting rod, and the thumb is driven by a parallel structure to realize the coupled movement of each joint. It is a fully driven manipulator. End trajectory control, easy to control.

Description of drawings

Fig. 1 is a schematic diagram showing the overall structure of the manipulator in the rear direction of the present application, in which reference sign H is a low-pressure oil inlet, and reference sign L is a high-pressure oil inlet.

Fig. 2 is a schematic side view of the overall structure of the manipulator of the present application.

Fig. 3 is the rear view of the manipulator with the overall structure of the present application. In the figure, the reference symbol J is the oil inlet of the rodless chamber of the second thumb drive cylinder 16, and the reference symbol K is the oil inlet of the rod chamber of the second thumb drive cylinder 16. mouth.

Fig. 4 is a view from the direction C-C of Fig. 3 , in which reference sign M is the oil inlet of the rod cavity of the single-finger drive hydraulic cylinder 13, and reference sign N is the oil inlet of the rodless cavity of the single-finger drive hydraulic cylinder 13.

Fig. 5 is a D-D arrow view of Fig. 3 .

Fig. 6 is a schematic diagram of a single finger structure.

FIG. 7 is a schematic diagram of a single-finger movement in FIG. 6 .

Detailed ways

Embodiment 1: This embodiment is described in conjunction with Fig. 1-Fig. 6, a multi-finger hydraulic humanoid manipulator, which includes a thumb structure, a palm skeleton 12, three single-finger structures and a plurality of servo valves 11; the thumb structure includes a parallel The thumb of the structure and two thumb drive hydraulic cylinders; the single-finger structure includes a single finger and a single-finger drive hydraulic cylinder 13; three single-finger structures are installed on the front end of the palm frame 12, and each single finger is rotationally connected with the palm frame 12, Each single finger drive hydraulic cylinder 13 is connected with a single finger, the thumb structure is installed on the side of the palm frame 12 near the rear end, the thumb of the parallel structure is connected with the side rotation of the palm frame 12, and the two thumb drive hydraulic cylinders are connected with the parallel structure thumb rotation connection, each single-finger drive hydraulic cylinder 13 and each thumb drive hydraulic cylinder communicate with a servo valve 11 respectively, and the single-finger drive hydraulic cylinder 13 housing, the thumb drive hydraulic cylinder housing and the servo valve 11 are all installed On the palm skeleton 12.

The thumb structure and the single-finger structure in the middle of the three single-finger structures are correspondingly set to facilitate grabbing objects, and the single-finger drive hydraulic cylinder 13 and the thumb-drive hydraulic cylinder are controlled by the servo valve to work to realize the straightening and bending of the thumb structure and the single-finger structure. Take action. And the single-finger structure in the middle of the three single-finger structures is independently installed on the palm frame 12 through the middle finger mount 18 to avoid structural interference and facilitate installation and maintenance.

Specific embodiment 2: This embodiment is described in conjunction with FIG. 1. The difference between this embodiment and specific embodiment 1 is that three single-finger drive hydraulic cylinders 13 are arranged on the back side of the skeleton of the palm frame 12, and two thumb drive hydraulic cylinders are arranged symmetrically. On the inside of the skeleton of the palm skeleton 12, two thumb-driven hydraulic cylinders are arranged symmetrically with respect to the thumb of the parallel structure. Other compositions and connection methods are the same as those in Embodiment 1.

Embodiment 3: This embodiment is described with reference to FIG. 1 . The difference between this embodiment and Embodiment 1 is that the structures of the three single-finger structures are the same.

Therefore, the single-finger structure has the characteristics of modularization and interchangeability. Other compositions and connection methods are the same as those in the second embodiment.

Embodiment 4: This embodiment is described in conjunction with FIG. 1 . The difference between this embodiment and Embodiment 1 is that the single finger has a single degree of freedom, and the single finger with a single degree of freedom includes the terminal knuckle 1 and the first middle knuckle link 2 , the second middle knuckle link 3, the first proximal finger joint link 4 and the second proximal finger joint link 15; the single-finger drive hydraulic cylinder 13 housing is rotatably connected to the palm frame 12, and the single-finger drive hydraulic cylinder The one-finger piston rod 14 of the cylinder 13 is rotationally connected with one end of the first proximal finger joint link 4, and the other end of the first proximal finger joint link 4 is rotationally connected with one end of the first middle finger joint link 2. One end of the two proximal finger joint links 15 is rotationally connected with the palm frame 12, the other end of the second proximal finger joint link 15 is rotationally connected with one end of the second middle finger joint link 3, and the second middle finger joint link The other end of 3 and the other end of the first middle knuckle link 2 are connected to the terminal knuckle 1 . Other compositions and connection methods are the same as those in the third embodiment.

Embodiment 5: This embodiment is described in conjunction with FIG. 1. The difference between this embodiment and Embodiment 1 is that the first middle finger joint link 2, the first proximal finger joint link 4 and the second proximal finger joint link Rod 15 is shift fork shape, and the open end of one end of the first proximal finger end joint connecting rod 4 is rotationally connected with the single-finger piston rod 14 ends, and the other end of the first proximal finger end joint connecting rod 4 is connected with the first middle finger joint. One end of the connecting rod 2 is rotationally connected, the open end of the other end of the first middle finger joint connecting rod 2 is rotationally connected with the terminal finger joint 1, and one end of the second proximal finger joint connecting rod 15 passes through the first proximal finger joint connecting rod The opening of 4 is rotationally connected with the palm frame 12, the opening end of the other end of the second proximal finger joint link 15 is rotationally connected with one end of the second middle finger joint link 3, and the other end of the second middle finger joint link 3 passes through Through the opening at the other end of the first middle knuckle link 2, it is rotationally connected with the terminal knuckle 1.

The side wall close to the opening of the opening of the first proximal finger end joint link 4 is provided with a pin shaft, and the first proximal finger end joint link 4 is rotationally connected with the palm skeleton 12 through the pin shaft, and is close to the second proximal finger end joint link bar. The side wall of 15 open end openings is provided with bearing pin and connecting plate, and the second proximal finger joint connecting rod 15 is connected with one end of connecting plate by pin rotation, and connecting plate other end is connected with the first middle knuckle connecting rod 2 and the second The connecting shaft of a proximal finger joint link 4 is connected in rotation. Other composition and connection modes are the same as those in Embodiment 4.

Embodiment 6: This embodiment is described in conjunction with FIG. 1. The difference between this embodiment and Embodiment 1 is that two thumb-driven hydraulic cylinders are installed on the palm frame 12, and each thumb-driven hydraulic cylinder shell and palm frame 12 is rotationally connected, the piston rods of the two thumb-driven hydraulic cylinders are rotationally connected with the driving end of the thumb of the parallel structure, and the fixed end of the thumb of the parallel structure is rotationally connected with the palm frame 12. Other compositions and connection methods are the same as those in Embodiment 5.

Embodiment 7: This embodiment is described in conjunction with FIG. 1. The difference between this embodiment and Embodiment 1 is that the thumb of the parallel structure includes the thumb end joint 6, the first thumb proximal end joint connecting rod 7, the second thumb proximal finger End joint connecting rod 8 and thumb swing rotary shaft system 9; two thumb driving hydraulic cylinders are the first thumb driving cylinder 5 and the second thumb driving cylinder 16; the first thumb proximal finger end joint connecting rod 7 and the second thumb proximal finger The end joint connecting rods 8 are fork-shaped, and one end of the thumb swinging shaft system 9 is rotatably connected and installed on the palm frame 12. The open end of the first thumb proximal finger joint connecting rod 7 and the second thumb proximal finger joint connecting rod The opening ends of 8 are respectively connected to the thumb end joint 6 in rotation, and the fixed end of the first thumb proximal end joint connecting rod 7 passes through the opening of the opening end of the second thumb proximal finger end joint connecting rod 8 and is rotationally connected to the thumb swing rotation shaft system 9 , the other end of the second thumb proximal finger end joint connecting rod 8 is the driving end, which is rotationally connected with the piston rod of the first thumb driving cylinder 5 and the piston rod of the second thumb driving cylinder 16 through a pin shaft, and the second thumb proximal finger The end joint connecting rod 8 is rotationally connected with the thumb swing rotary shaft system 9 .

Two thumbs drive the hydraulic cylinder to drive the expansion and contraction of the piston rod to control the movement of the thumb end joint 6 to the three single-finger structures or move away from the three single-finger structures, so as to realize the grasping action or release of the thumb structure and the three single-finger structures action. The two thumb-driven hydraulic cylinders adopt a parallel structure to increase the load capacity, compact structure, reduce the occupied space, and improve the palm integration. Other compositions and connection methods are the same as those in Embodiment 6.

In this embodiment, one end of the thumb swing rotation shaft system 9 is rotatably connected and installed on the palm frame 12, and the thumb swing rotation shaft system 9 rotates on the palm frame 12, so that the thumb in parallel structure rotates obliquely on the palm frame 12.

Embodiment 8: This embodiment is described in conjunction with FIG. 1. The difference between this embodiment and Embodiment 1 is that the palm frame 12 is provided with a servo valve block 10, and the palm frame 12 and the servo valve block 10 are integrally formed and manufactured. The servo valves 11 are all installed on the servo valve block 10 .

The mating surfaces of the palm frame 12 and the servo valve block 10 are finished to simplify the design of the oil circuit, and at the same time, the maximum lightweight design makes the structure more compact. Other compositions and connection methods are the same as those in Embodiment 7.

Embodiment 9: This embodiment is described in conjunction with FIG. 1. The difference between this embodiment and Embodiment 1 is that each single-finger drive hydraulic cylinder 13 communicates with a servo valve 11 through a hydraulic pipeline, and each thumb drive hydraulic cylinder passes through The hydraulic pipeline communicates with a servo valve 11, and the control oil port Z of the servo valve 11 fixed on the servo valve block 10 is connected with the rod chamber oil inlet K of the hydraulic cylinder through the external oil pipe connected to the servo valve block 10, Similarly, the control oil port W of the servo valve 11 is connected to the oil inlet J of the rodless cavity through the oil pipe fixed on the servo valve block 10. The high-pressure oil circuit of the five servo valves 11 is connected with the low-pressure oil circuit of the servo valve block 10 .

Realize centralized oil supply, simplify oil circuit design, and improve system integration. Other compositions and connection methods are the same as those in Embodiment 7.

Embodiment 10: This embodiment is described in conjunction with FIG. 1. The difference between this embodiment and Embodiment 1 is that it also includes a plurality of angle encoders 17, and the single-finger piston rod 14 is connected with the first proximal finger end joint connecting rod 4. An angle encoder 17 is installed at the joint, an angle encoder 17 is installed at the connection between the first proximal finger joint connecting rod 4 and the first middle finger joint connecting rod 2, and the second proximal finger joint connecting rod 15 and the palm skeleton 12 An angle encoder 17 is installed at the connection, an angle encoder 17 is installed at the connection between the second proximal finger joint connecting rod 15 and the second middle knuckle connecting rod 3, and the second middle knuckle connecting rod 3 and the end knuckle An angle encoder 17 is installed at the joint of 1, and an angle encoder 17 is installed at the joint between the first middle knuckle link 2 and the end knuckle 1.

An angle encoder 17 is installed at the connection between the thumb swing rotation shaft system 9 and the palm frame 12, an angle encoder 17 is installed at the connection between the first thumb proximal end joint connecting rod 7 and the thumb end joint 6, and the second thumb proximal finger An angle encoder 17 is installed at the connection between the end joint connecting rod 8 and the thumb end joint 6, an angle encoder 17 is installed at the connection between the first thumb proximal end joint connecting rod 7 and the thumb swing rotation shaft system 9, and the second thumb An angle encoder 17 is respectively installed at the two ends of the proximal finger end joint connecting rod 8 pin shafts and the piston rod of the first thumb drive cylinder 5 and the piston rod connection of the second thumb drive cylinder 16, and the second thumb near finger end joint An angle encoder 17 is installed at the connection between the connecting rod 8 and the thumb swing shaft system 9 , and an angle encoder 17 is installed at the connection between the housing of each single-finger drive hydraulic cylinder 13 and the palm frame 12 . In this embodiment, each connecting rod joint is installed and connected with copper sleeve bearings, which increases the load capacity and reduces motion friction and loss. Other compositions and connection modes are the same as those in Embodiments 1, 2, 3, 4, 5, 6, 7, 8 and 9.

In this embodiment, a small angle sensor is installed at the root of each single finger joint, which can realize the angle servo control of each degree of freedom of the single finger and the thumb, and complete the grasping operation of the target object.

Fig. 1 and Fig. 2 are the overall diagram of multi-finger hydraulic humanoid manipulator of the present invention, mainly comprise thumb structure and three single-finger structures, and three single-finger structures correspond to the index finger, middle finger and ring finger of human hand, drive thumb structure and three Five hydraulic cylinders with a single-finger structure are connected and fixed on the palm frame 12, and the palm frame 12 is connected to the servo valve block 10 through a flange, and the five servo valves driving the hydraulic cylinder are installed on the 3D printed servo valve block 10, and then The bottom flange connects to the desired end of the hydraulic robot or robotic arm. There are two oil inlets on the valve block, which are respectively connected with the high and low pressure oil ports of the external oil supply pressure unit to provide hydraulic power for the entire palm. The two oil control ports of the servo valve 11 are connected to the corresponding hydraulic cylinders through oil pipes, thereby forming the main body of the entire hydraulically driven palm.

Referring to Fig. 3 to Fig. 5, it is the structure diagram of multi-finger hydraulic humanoid manipulator of the present invention, single-finger piston rod 14 stretches out and drives second proximal finger end joint connecting rod 15, first proximal finger end joint connecting rod 4 and the second One middle knuckle link 2, the second middle knuckle link 3 moves, and finally drives the end knuckle 1 to move to realize the bending of the three fingers. Two thumb-driven hydraulic cylinders are connected with the thumb end joint 6 and the thumb proximal end joint. Rod 7, connecting rod 8 at the proximal end of the thumb, and thumb swing shaft system 9 form a joint structure platform. When the piston rods of the two thumb-driven hydraulic cylinders are extended simultaneously, the thumbs of the parallel structure bend, and the two thumbs drive the hydraulic cylinder differentially. During the movement, the thumb swings and bends, synchronizing the movement of the other three fingers, and the grasping action of the hand can be realized.

Referring to Figure 6 and Figure 7, it is a schematic diagram of the single-finger structure mechanism of the multi-finger hydraulic humanoid manipulator, the proximal finger joint, the middle finger joint and the distal finger joint of the single finger are respectively composed of two sets of four-linkages connected in series Mechanism composition, wherein the connecting rod AB is the active part of the whole single finger, the four connecting rods composed of the hydraulic cylinder, the connecting rod AB and the palm skeleton drive the AB rod to move, and the other connecting rod components are the driven parts. In the first-stage four-link structure, when the AB link rotates around A, the link BC realizes the rotation around C, that is, the movement of the proximal finger joint and the middle finger joint; at the same time, OCE as a component also follows Corresponding movement, at this time, the four-bar linkage composed of CE, EF, CD, and FD has similar kinematics characteristics to the first-stage four-bar linkage, with CD as the active part and other links as follower parts. When CD rotates , FD can rotate around point D, then point G point at the end of a single finger can get the target trajectory, which is the movement of the distal finger joint. Joint size and shape, you can get the current single-finger structure of the palm.

The embodiments of the present invention have been described above, but those skilled in the art should understand that the above embodiments are only used to illustrate the present invention, not to limit the scope of protection of the present invention, any within the spirit and principle of the present invention , any modifications, equivalent replacements, improvements, etc., should be included within the protection scope of the present invention.

Claims (8)

1. A multi-finger hydraulic humanoid manipulator comprises a thumb structure, a palm skeleton (12), three single-finger structures and a plurality of servo valves (11); the thumb structure comprises a thumb and two thumb driving hydraulic cylinders which are connected in parallel; the single-finger structure comprises a single-finger and a single-finger driving hydraulic cylinder (13); the method is characterized in that: the single finger is of single degree of freedom and comprises a tail end knuckle (1), a first middle knuckle connecting rod (2), a second middle knuckle connecting rod (3), a first near-knuckle connecting rod (4) and a second near-knuckle connecting rod (15); the thumb with the parallel structure comprises a thumb tail end joint (6), a first thumb near-finger end joint connecting rod (7), a second thumb near-finger end joint connecting rod (8) and a thumb swing rotary shaft system (9); three single-finger structures are arranged on the front end of a palm skeleton (12), each single-finger is rotationally connected with the palm skeleton (12), each single-finger driving hydraulic cylinder (13) is rotationally connected with one single finger, a thumb structure is arranged on the side face of the palm skeleton (12) close to the rear end, the thumbs of the parallel structure are rotationally connected with the side face of the palm skeleton (12), the two thumb driving hydraulic cylinders are rotationally connected with thumbs of the parallel structure, each single-finger driving hydraulic cylinder (13) and each thumb driving hydraulic cylinder are respectively communicated with one servo valve (11), a single-finger driving hydraulic cylinder (13) shell, a thumb driving hydraulic cylinder shell and the servo valve (11) are all arranged on the palm skeleton (12), a single-finger piston rod (14) of the single-finger driving hydraulic cylinder (13) is rotationally connected with one end of a first near-finger joint connecting rod (4), the other end of the first near-finger joint connecting rod (2) is rotationally connected with one end of the first near-finger joint connecting rod (2), the other end of the second near-finger joint connecting rod (3) is rotationally connected with the other end of the second near-finger joint connecting rod (3), the two thumb drive hydraulic cylinders are a first thumb drive cylinder (5) and a second thumb drive cylinder (16); the first thumb near-finger end joint connecting rod (7) and the second thumb near-finger end joint connecting rod (8) are in a shifting fork shape, one end of the thumb swing rotary shaft system (9) is rotatably connected and installed on the palm skeleton (12), the opening end of the first thumb near-finger end joint connecting rod (7) and the opening end of the second thumb near-finger end joint connecting rod (8) are respectively rotatably connected with the thumb tail end joint (6), the fixed end of the first thumb near-finger end joint connecting rod (7) penetrates through the opening of the opening end of the second thumb near-finger end joint connecting rod (8) to be rotatably connected with the thumb swing rotary shaft system (9), the other end of the second thumb near-finger end joint connecting rod (8) is a driving end, and the driving end of the driving end is rotatably connected with a piston rod of the first thumb driving cylinder (5) and a piston rod of the second thumb driving cylinder (16) through a pin shaft.

2. The multi-finger hydraulic humanoid manipulator of claim 1, wherein: the three single-finger driving hydraulic cylinders (13) are arranged on the back side of the palm skeleton (12), the two thumb driving hydraulic cylinders are symmetrically arranged on the inner side of the skeleton of the palm skeleton (12), and the two thumb driving hydraulic cylinders are symmetrically arranged about the thumb of the parallel structure.

3. The multi-finger hydraulic humanoid manipulator of claim 2, wherein: the three single finger structures are all identical in structure.

4. The multi-finger hydraulic humanoid manipulator of claim 1, wherein: the first middle knuckle connecting rod (2), the first near knuckle connecting rod (4) and the second near knuckle connecting rod (15) are fork-shaped, the opening end of one end of the first near knuckle connecting rod (4) is rotationally connected with one end of the single-finger piston rod (14), the other end of the first near knuckle connecting rod (4) is rotationally connected with one end of the first middle knuckle connecting rod (2), the opening end of the other end of the first middle knuckle connecting rod (2) is rotationally connected with the tail end knuckle (1), one end of the second near knuckle connecting rod (15) penetrates through the opening of the first near knuckle connecting rod (4) and is rotationally connected with the palm skeleton (12), the opening end of the other end of the second near knuckle connecting rod (15) is rotationally connected with one end of the second middle knuckle connecting rod (3), the other end of the second middle knuckle connecting rod (3) penetrates through the opening of the other end of the first middle knuckle connecting rod (2) and is rotationally connected with the tail end knuckle (1),

the side wall close to the opening end of the first near-finger joint connecting rod (4) is provided with a pin shaft, the first near-finger joint connecting rod (4) is rotationally connected with the palm skeleton (12) through the pin shaft, the side wall close to the opening end of the second near-finger joint connecting rod (15) is provided with a pin shaft and a connecting plate, the second near-finger joint connecting rod (15) is rotationally connected with one end of the connecting plate through the pin shaft, and the other end of the connecting plate is rotationally connected with the connecting shaft of the first middle-finger joint connecting rod (2) and the first near-finger joint connecting rod (4).

5. The multi-finger hydraulic humanoid manipulator of claim 2, wherein: the two thumb drive hydraulic cylinders are arranged on the palm skeleton (12), the shell of each thumb drive hydraulic cylinder is rotationally connected with the palm skeleton (12), the piston rods of the two thumb drive hydraulic cylinders are rotationally connected with the driving ends of the thumbs of the parallel structure, and the fixed ends of the thumbs of the parallel structure are rotationally connected with the palm skeleton (12).

6. The multi-finger hydraulic humanoid manipulator of claim 2, wherein: the palm skeleton (12) is provided with a servo valve block (10), the palm skeleton (12) and the servo valve block (10) are integrally molded and manufactured, and a plurality of servo valves (11) are all arranged on the servo valve block (10).

7. The multi-finger hydraulic humanoid manipulator of claim 6, wherein: each single-finger driving hydraulic cylinder (13) is communicated with one servo valve (11) through a hydraulic pipeline, each thumb driving hydraulic cylinder is communicated with one servo valve (11) through a hydraulic pipeline, high-pressure oil way oil ports (P) of five servo valves (11) are communicated with high-pressure oil ways of the servo valve blocks (10), and low-pressure oil way oil ports (T) of five servo valves (11) are communicated with low-pressure oil ways of the servo valve blocks (10).

8. The multi-fingered hydraulic humanoid manipulator of any one of claims 1, 2, 3, 4, 5, 6 or 7, wherein: the device also comprises a plurality of angle encoders (17), wherein an angle encoder (17) is arranged at the joint of the single-finger piston rod (14) and the first near-finger joint connecting rod (4), an angle encoder (17) is arranged at the joint of the first near-finger joint connecting rod (4) and the first middle-finger joint connecting rod (2), an angle encoder (17) is arranged at the joint of the second near-finger joint connecting rod (15) and the palm skeleton (12), an angle encoder (17) is arranged at the joint of the second near-finger joint connecting rod (15) and the second middle-finger joint connecting rod (3), an angle encoder (17) is arranged at the joint of the second middle-finger joint connecting rod (3) and the tail-end finger joint (1), an angle encoder (17) is arranged at the joint of the first middle-finger joint connecting rod (2) and the tail-end finger joint (1),

an angle encoder (17) is arranged at the joint of the thumb swing rotary shaft system (9) and the palm skeleton (12), an angle encoder (17) is arranged at the joint of the first thumb near-end joint connecting rod (7) and the thumb tail end joint (6), an angle encoder (17) is arranged at the joint of the second thumb near-end joint connecting rod (8) and the thumb tail end joint (6), an angle encoder (17) is arranged at the joint of the first thumb near-end joint connecting rod (7) and the thumb swing rotary shaft system (9), an angle encoder (17) is arranged at the joint of the two ends of a pin shaft of the second thumb near-end joint connecting rod (8) and the piston rod of the first thumb driving cylinder (5) and the piston rod of the second thumb driving cylinder (16), an angle encoder (17) is arranged at the joint of the second thumb near-end joint connecting rod (8) and the thumb swing rotary shaft system (9), and an angle encoder (17) is arranged at the joint of each single-finger driving hydraulic cylinder (13) shell and the palm skeleton (12).

Images