CN115503013B

CN115503013B - Multi-finger hydraulic humanoid manipulator

Info

Publication number: CN115503013B
Application number: CN202211273672.0A
Authority: CN
Inventors: 付宜利; 陶振国; 李旭
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2022-10-18
Filing date: 2022-10-18
Publication date: 2023-05-12
Anticipated expiration: 2042-10-18
Also published as: CN115503013A

Abstract

The invention discloses a multi-finger hydraulic humanoid manipulator, which relates to a humanoid manipulator and aims to solve the problems that a traditional hydraulic system driven by hydraulic pressure in the prior art is high in redundancy and is not beneficial to the integrated design of a manipulator, and further mechanical equipment capable of reducing the redundancy quality of the hydraulic system, simplifying a hydraulic driving structure and improving the terminal control precision is required. 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; the three single-finger structures are arranged at the front end of the palm skeleton, each single finger is rotationally connected with the palm skeleton, each single-finger driving hydraulic cylinder is connected with one single finger, the thumb structure is arranged on the side face, close to the rear end, of the palm skeleton, the thumb of the parallel structure is rotationally connected with the side face of the palm skeleton, and the single-finger driving hydraulic cylinder shell, the thumb driving hydraulic cylinder shell and the servo valve are all arranged on the palm skeleton. The invention belongs to the field of robots.

Description

Multi-finger 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 manipulator end effector.

Background

The ability to design end effectors and their environment interactions has been a problem to be solved in current hydraulic robot and hydraulic robotic arm systems. Although various bionic multi-finger dexterous hands are put forward by related research institutions and companies at present, the requirements of certain related industries and researches can be covered, the functions of grabbing and operating the target object and the like can be realized, the functions of carrying the load of the target object, resisting external disturbance and the like are realized, and the relatively mature researches and applications are obtained. However, in the working conditions facing special operations, such as requirements of heavy load, high strength, quick response, smart operation and the like, the selectable configuration of the multi-finger hydraulic humanoid manipulator is fewer, and a driving scheme with heavy load and high frequency response is selected as a research basis, so that the multi-finger hydraulic humanoid manipulator is a necessary condition for solving the problem.

The design schemes of the multi-finger manipulator facing the operation of the mechanical arm and the robot end effector at present mainly comprise the following steps: the motor driving scheme is a main application scheme at present, has the advantages of high integration level, high control precision, compact structure and the like, and can meet general operation conditions; the pneumatic driving scheme is a main driving scheme of the tail end mechanical claw of the partial industrial mechanical arm at present, has the characteristics of simple structure, quick response, easy control and the like, and can meet the light-load operation condition; the hydraulic driving scheme has the advantages of strong load capacity, high power density, good impact resistance and the like, and can adapt to the working conditions of medium load and large load. Although the motor driving scheme can meet the end operation requirements of most robots and mechanical arms, under the operation conditions of high-load operation requirements and impact resistance requirements, the motor driving scheme is worry, and hydraulic driving can meet the condition, so that the hydraulic driving technology with high power density is adopted as the design basis of the mechanical arm.

Although hydraulic drive has the advantages of strong load capacity, high power density, shock resistance and quick response, on the aspect of hydraulic structure integration level, the traditional hydraulic system has high redundancy, is unfavorable for the integrated design of a manipulator part, and meanwhile, as an end effector, the redundant quality of the hydraulic system is reduced as much as possible, the hydraulic drive structure is simplified, and the end control precision is improved. Secondly, because the structural proposal of realizing smart operation of the related hydraulic manipulator at home and abroad is less in research, the structural design proposal of the novel multi-finger smart manipulator is necessary, the spatial arrangement of the mechanical structure and the hydraulic system is considered, and the maximum integration of the manipulator is realized.

Disclosure of Invention

The invention aims to solve the problems that the redundancy of the traditional hydraulic system driven by hydraulic pressure is high and the integrated design of a mechanical hand is not facilitated in the prior art, and further, mechanical equipment capable of reducing the redundancy quality of the hydraulic system, simplifying the hydraulic driving structure and improving the terminal control precision is needed to be provided.

The invention adopts the technical proposal for solving the problems that:

a multi-finger hydraulic humanoid manipulator comprises a thumb structure, a palm skeleton, three single-finger structures and a plurality of servo valves; 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; the three single-finger structure is installed on the front end of palm skeleton, every single-finger is connected with the palm skeleton rotation, every single-finger drive pneumatic cylinder is connected with a single-finger, the thumb structure is installed and is close to the side of rear end on the palm skeleton, the thumb of parallel structure is connected with the side rotation of palm skeleton, two thumb drive pneumatic cylinders all rotate with the thumb of parallel structure and are connected, every single-finger drive pneumatic cylinder and every thumb drive pneumatic cylinder communicate with a servo valve respectively, and single-finger drive pneumatic cylinder casing, thumb drive pneumatic cylinder casing and servo valve all install on the palm skeleton.

The beneficial effects of the invention are as follows:

1. the whole palm of the manipulator has five degrees of freedom, and the five degrees of freedom are driven by a small hydraulic cylinder; when the piston rod of the hydraulic cylinder extends, the four fingers perform gripping action, and when the piston rod of the hydraulic cylinder retracts, the four fingers open, so that the object is gripped and operated; the servo valves of the control hydraulic cylinders are arranged at the joints of the wrists in a concentrated mode, and therefore palm integration and compactness of the structure can be achieved.

2. 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 driving hydraulic cylinder and a single-finger driving hydraulic cylinder, and the large load, the light weight and the quick response of the manipulator are realized by the movement of a piston rod of the hydraulic cylinder.

3. The multi-finger manipulator driven by hydraulic pressure has the advantages of large load, quick response and high frequency response compared with the common multi-finger manipulator, and can realize high load capacity under the condition of the same size and quality as the common manipulator.

4. The application adopts hydraulic drive's multi-finger manipulator, and part major structure adopts the integrated into one piece technique of material increase manufacturing, simple structure, and processing is simpler, and the installation is easier with the dismantlement, and the structure is compacter, and whole lighter weight.

5. The multi-finger manipulator is driven by hydraulic pressure, the single finger is driven by the connecting rod, the thumb is driven by the parallel structure, the coupling motion of each joint is realized, the multi-finger manipulator is a fully driven manipulator, the tail end motion track of the finger is determined, the precise tail end track control can be performed, and the control is simple.

Drawings

Fig. 1 is a schematic backward diagram of a manipulator with an integral structure, wherein 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 robot of the present application.

Fig. 3 is a rear view of the manipulator of the overall structure of the present application, wherein reference symbol J is the rodless cavity oil inlet of the second thumb drive 16, and reference symbol K is the rod cavity oil inlet of the second thumb drive 16.

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

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

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

Fig. 7 is a schematic diagram of the single finger motion of fig. 6.

Detailed Description

The first embodiment is as follows: 1-6, a multi-finger hydraulic humanoid manipulator comprising 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; three single-finger structures are installed on the front end of the palm skeleton 12, each single-finger is rotationally connected with the palm skeleton 12, each single-finger driving hydraulic cylinder 13 is connected with one single finger, the thumb structure is installed on the side face of the palm skeleton 12, which is close to the rear end, the thumb of the parallel structure is rotationally connected with the side face of the palm skeleton 12, the two thumb driving hydraulic cylinders are rotationally connected with the thumb 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, and a single-finger driving hydraulic cylinder 13 shell, a thumb driving hydraulic cylinder shell 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 arranged to facilitate grabbing objects, and the single-finger driving hydraulic cylinder 13 and the thumb driving hydraulic cylinder are controlled to work through the servo valve, so that the stretching and bending grabbing actions of the thumb structure and the single-finger structure are realized. And the middle single-finger structure of the three single-finger structures is independently arranged on the palm skeleton 12 through the middle finger mounting seat 18, so that structural interference is avoided, and the installation and the maintenance are convenient.

The second embodiment is as follows: referring to fig. 1, a difference between the present embodiment and the specific embodiment is that three single-finger driving hydraulic cylinders 13 are disposed on the back side of the palm skeleton 12, two thumb driving hydraulic cylinders are symmetrically disposed on the inner side of the palm skeleton 12, and two thumb driving hydraulic cylinders are symmetrically disposed about the thumb of the parallel structure. Other compositions and connection modes are the same as in the first embodiment.

And a third specific embodiment: the present embodiment is described with reference to fig. 1, and one difference between the present embodiment and the specific embodiment is that the three single-finger structures have the same structure.

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

The specific embodiment IV is as follows: the present embodiment is described with reference to fig. 1, and one difference between the present embodiment and the specific embodiment is that the single finger is a single degree of freedom, and the single finger includes a distal knuckle 1, a first middle knuckle link 2, a second middle knuckle link 3, a first proximal knuckle link 4, and a second proximal knuckle link 15; the single-finger driving hydraulic cylinder 13 is rotationally connected to the palm skeleton 12, the single-finger piston rod 14 of the single-finger driving hydraulic cylinder 13 is rotationally connected with one end of the first near-finger joint connecting rod 4, the other end of the first near-finger joint connecting rod 4 is rotationally connected with one end of the first middle-finger joint connecting rod 2, one end of the second near-finger joint connecting rod 15 is rotationally connected with the palm skeleton 12, the other end of the second near-finger joint connecting rod 15 is rotationally connected with one end of the second middle-finger joint connecting rod 3, and the other end of the second middle-finger joint connecting rod 3 and the other end of the first middle-finger joint connecting rod 2 are both connected with the tail-end finger joint 1. Other compositions and connection modes are the same as those of the third embodiment.

Fifth embodiment: the first embodiment is different from the specific embodiment in that the first middle knuckle link 2, the first proximal knuckle link 4, and the second proximal knuckle link 15 are fork-shaped, the open end of one end of the first proximal knuckle link 4 is rotatably connected to the end of the single finger piston rod 14, the other end of the first proximal knuckle link 4 is rotatably connected to one end of the first middle knuckle link 2, the open end of the other end of the first middle knuckle link 2 is rotatably connected to the distal knuckle 1, one end of the second proximal knuckle link 15 is rotatably connected to the palm skeleton 12 through the opening of the first proximal knuckle link 4, the open end of the other end of the second proximal knuckle link 15 is rotatably connected to one end of the second middle knuckle link 3, and the other end of the second middle knuckle link 3 is rotatably connected to the distal knuckle 1 through the opening of the other end of the first middle knuckle link 2.

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. Other compositions and connection modes are the same as those of the fourth embodiment.

Specific embodiment six: referring to fig. 1, a difference between the present embodiment and the specific embodiment is that two thumb-driven hydraulic cylinders are mounted on the palm skeleton 12, and a housing of each thumb-driven hydraulic cylinder is rotatably connected with the palm skeleton 12, and piston rods of the two thumb-driven hydraulic cylinders are rotatably connected with driving ends of thumbs of a parallel structure, and a fixed end of the thumbs of the parallel structure is rotatably connected with the palm skeleton 12. Other compositions and connection modes are the same as those of the fifth embodiment.

Seventh embodiment: the present embodiment is described with reference to fig. 1, and one difference between the present embodiment and the specific embodiment is that the thumb of the parallel structure includes a thumb end joint 6, a first thumb proximal joint link 7, a second thumb proximal joint link 8, and a thumb swing rotation axis system 9; 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 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, 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, and the second thumb near-finger end joint connecting rod 8 is rotatably connected with the thumb swing rotary shaft system 9.

The two thumbs drive the hydraulic cylinder to drive the telescopic control thumb tail end joint 6 of the piston rod to move towards the three single-finger structures or away from the three single-finger structures, so that the grabbing action or the releasing action of the thumb structures and the three single-finger structures is realized. The two thumb driving hydraulic cylinders adopt a parallel structure, so that the load capacity is increased, the structure is compact, the occupied space is reduced, and the palm integration is improved. Other compositions and connection modes are the same as those of the sixth embodiment.

In this embodiment, one end of the thumb swing rotation shaft system 9 is rotatably connected to the palm skeleton 12, and the thumb swing rotation shaft system 9 rotates on the palm skeleton 12, so that the thumb with a parallel structure can tilt and rotate on the palm skeleton 12.

Eighth embodiment: the present embodiment is different from the specific embodiment in that the servo valve block 10 is provided on the palm skeleton 12, the palm skeleton 12 and the servo valve block 10 are integrally formed, and the plurality of servo valves 11 are mounted on the servo valve block 10, as described with reference to fig. 1.

The palm skeleton 12 and the servo valve block 10 finish machining mating surface, simplify the design of oil circuit, and simultaneously the design of furthest lightweight makes the structure compacter. Other compositions and connection manners are the same as those of the seventh embodiment.

Detailed description nine: the present embodiment is different from the specific embodiment in that 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, a control oil port Z of the servo valve 11 fixed on the servo valve block 10 is connected with a rod cavity oil inlet K of the hydraulic cylinder through an external oil pipe connected on the servo valve block 10, likewise, a control oil port W of the servo valve 11 is connected with a rodless cavity oil inlet J through an oil pipe fixed on the servo valve block 10, and simultaneously, high-pressure oil path ports P of the five servo valves 11 are all communicated with high-pressure oil paths of the servo valve block 10, and low-pressure oil path ports T of the five servo valves 11 are all communicated with low-pressure oil paths of the servo valve block 10.

The centralized oil supply is realized, the oil way design is simplified, and the system integration level is improved. Other compositions and connection manners are the same as those of the seventh embodiment.

Detailed description ten: the present embodiment is different from the specific embodiment in that it further includes a plurality of angle encoders 17, an angle encoder 17 is installed at a joint of the single finger piston rod 14 and the first proximal knuckle connecting rod 4, an angle encoder 17 is installed at a joint of the first proximal knuckle connecting rod 4 and the first middle knuckle connecting rod 2, an angle encoder 17 is installed at a joint of the second proximal knuckle connecting rod 15 and the palm skeleton 12, an angle encoder 17 is installed at a joint of the second proximal knuckle connecting rod 15 and the second middle knuckle connecting rod 3, an angle encoder 17 is installed at a joint of the second middle knuckle connecting rod 3 and the end knuckle 1, and an angle encoder 17 is installed at a joint of the first middle knuckle connecting rod 2 and the end knuckle 1.

The joint of the thumb swing rotary shaft system 9 and the palm skeleton 12 is provided with an angle encoder 17, the joint of the first thumb near-end joint connecting rod 7 and the thumb tail end joint 6 is provided with an angle encoder 17, the joint of the second thumb near-end joint connecting rod 8 and the thumb tail end joint 6 is provided with an angle encoder 17, the joint of the first thumb near-end joint connecting rod 7 and the thumb swing rotary shaft system 9 is provided with an angle encoder 17, the joints of the two ends of the 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 are respectively provided with an angle encoder 17, the joint of the second thumb near-end joint connecting rod 8 and the thumb swing rotary shaft system 9 is provided with an angle encoder 17, and the joint of each single-finger driving hydraulic cylinder 13 shell and the thumb skeleton 12 is provided with an angle encoder 17. In the embodiment, all the connecting rod joints are installed and connected by adopting copper sleeve bearings, so that the load capacity is increased, and the movement friction force and loss are reduced. Other compositions and connection modes are the same as those of the first, second, third, fourth, fifth, sixth, seventh, eighth and ninth embodiments.

In the embodiment, each single-finger joint root is provided with a small angle sensor, so that the angle servo control of each degree of freedom of the single finger and the thumb can be realized, and the grabbing operation of a target object is completed.

Fig. 1 and 2 are overall views of a multi-finger hydraulic humanoid manipulator of the invention, mainly comprising a thumb structure and three single-finger structures, wherein the three single-finger structures correspond to index fingers, middle fingers and ring fingers of hands of a human body, five hydraulic cylinders driving the thumb structure and the three single-finger structures are fixedly connected to a palm skeleton 12, the palm skeleton 12 is connected with a servo valve block 10 through a flange, five servo valves driving the hydraulic cylinders are arranged on the servo valve block 10 for 3D printing, and a rear bottom flange is connected with the tail end of a required hydraulic robot or mechanical arm. Two oil inlets are reserved on the valve block and are respectively connected with high-pressure oil ports and low-pressure oil ports of an external oil supply pressure unit, so that hydraulic power is provided for the whole palm. The two oil control ports of the servo valve 11 are connected with corresponding hydraulic cylinders through oil pipes, so that a main body of the whole hydraulic driving palm is formed.

Referring to fig. 3 to 5, in the structural composition diagram of the multi-finger hydraulic humanoid manipulator of the present invention, the single-finger piston rod 14 extends to drive the second near-finger joint connecting rod 15, the first near-finger joint connecting rod 4 and the first middle-finger joint connecting rod 2, the second middle-finger joint connecting rod 3 moves, and finally the end-finger joint 1 is driven to move, so as to realize bending of three fingers, two thumb driving hydraulic cylinders form a connecting structure platform with the thumb end joint 6, the thumb near-finger joint connecting rod 7, the thumb near-finger joint connecting rod 8 and the thumb swinging rotary shaft system 9, when the two thumb driving hydraulic cylinders extend simultaneously, the thumb of the parallel structure bends, and when the two thumb driving hydraulic cylinders differentially move, the thumb swings and bends, and the motions of other three fingers are synchronized, so as to realize the hand grabbing motion.

Referring to fig. 6 and 7, the principle of a single-finger structure mechanism of the multi-finger hydraulic humanoid manipulator is simplified, a proximal knuckle, a middle knuckle and a distal knuckle of a single finger are respectively composed of two groups of four-bar mechanisms connected in series, wherein a bar AB is a driving part of the whole single finger, a hydraulic cylinder and the bar AB are used for driving AB bars to move, and other bar components are driven parts. In the first-stage four-bar structure, when the AB bar rotates around A, the bar BC realizes the rotation around C, namely the movement of the near-end joint and the middle joint; meanwhile, the OCE is taken as a component and moves correspondingly, at the moment, the four-bar linkage formed by CE, EF, CD, FD has similar kinematic characteristics as the first-level four-bar linkage, the CD is taken as a driving part, other connecting bars are taken as driven parts, when the CD rotates, FD can rotate around the point D, then the point G at the tail end of the single finger can obtain a target movement track, namely the movement of the far finger end joint, and the principle of bending is realized for the single finger connecting bar structure on the whole, and the current palm single finger structure can be obtained by adjusting the joint size and shape according to a specific structure.

While the embodiments of the present invention have been described, it will be understood by those skilled in the art that the foregoing embodiments are illustrative only and not intended to limit the scope of the invention, and any modifications, equivalent substitutions, improvements, etc. that fall within the spirit and scope of the principles of the present invention should be included in the scope of the claims.

Claims

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).