CN215281940U

CN215281940U - Bionic manipulator

Info

Publication number: CN215281940U
Application number: CN202121799151.XU
Authority: CN
Inventors: 陈国鹏; 姜修博; 姜兆亮
Original assignee: Shandong University
Current assignee: Shandong University
Priority date: 2021-08-03
Filing date: 2021-08-03
Publication date: 2021-12-24
Anticipated expiration: 2031-08-03

Abstract

The utility model relates to a bionic manipulator, including the palm platform, the palm platform rotates and is connected with the finger subassembly, the finger subassembly with act as go-between and be connected, the one end at the connector is fixed to the palm platform, the other end of connector is equipped with wears the body, it rotates and is connected with drive assembly to wear the body, act as go-between and be connected with the one end of connecting piece, the other end of connecting piece passes behind the connector and is connected with drive assembly, drive assembly can rotate and drive the motion of acting as go-between through the connecting piece along with the bending that user pointed for act as go-between drives the finger subassembly and simulates the crooked motion of finger, the utility model discloses a bionic manipulator simple structure, the cost of manufacture is low.

Description

Bionic manipulator

Technical Field

The utility model relates to a manipulator technical field, concretely relates to bionic manipulator.

Background

The statements herein merely provide background related to the present disclosure and may not necessarily constitute prior art.

The inventor finds that the bionic manipulator capable of realizing certain distance action output is generally provided with a motor and other driving elements and a complex transmission mechanism at joints, various sensors are generally arranged on hands of people to realize synchronous motion of the bionic manipulator, and the motion of the hands of users can be accurately simulated.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the defects of the prior art, providing a bionic manipulator which has simple structure and low cost and is suitable for families.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the embodiment of the utility model provides a bionic manipulator, including the palm platform, the palm platform rotates and is connected with the finger subassembly, the finger subassembly with act as go-between and be connected, the one end at the connector is fixed to the palm platform, the other end of connector is equipped with wears the body, it is connected with drive assembly to wear the body rotation, act as go-between and be connected with the one end of connecting piece, the other end of connecting piece passes behind the connector and is connected with drive assembly, drive assembly can rotate and drive the motion of acting as go-between through the connecting piece along with the bending that user pointed for the motion that the finger crooked was simulated to the drive finger subassembly of acting as go-between.

Optionally, the palm platform is fixed with the base, and base and finger subassembly one end rotate to be connected and be equipped with the torsional spring between base and the finger subassembly.

Optionally, the finger assembly is formed by sequentially and rotatably connecting a plurality of knuckles, one end of the pull wire sequentially penetrates through the knuckles of the finger assembly and is fixedly connected with the knuckle at the tail end of the finger assembly, and the other end of the pull wire is connected with one end of the connecting piece.

Optionally, in two adjacent knuckles, one end of one knuckle is rotatably connected with the pin shaft, one end of the other knuckle is rotatably connected with the pin shaft, a reel is fixed on the pin shaft, and the pull wire is fixed with the knuckle at the tail end after bypassing the reel through the same side of the plurality of reels.

Optionally, a tensioning wheel is arranged inside the knuckle and used for tensioning the pull line.

Optionally, the two adjacent knuckles are rotationally connected through a torsion spring, and the torsion spring is used for resetting the two adjacent knuckles.

Optionally, the connecting piece includes a metal strip, one end of the metal strip is connected with the pull wire, the other end of the metal strip is connected with one end of the flexible piece after penetrating through a guide part arranged on the connecting body, and the other end of the flexible piece is fixed with the connecting body or the wearing body.

Optionally, the driving assembly comprises a connecting rod, one end of the connecting rod is rotatably connected with the wearing main body, the connecting rod is fixed to one end of the pull rod, the other end of the pull rod is connected with the flexible piece, and the connecting rod can rotate to drive the metal strip to move along the axis direction of the metal strip through the pull rod and the flexible piece.

Optionally, one end of the connecting rod is rotatably connected with the wearing body, and the other end of the connecting rod is provided with a finger ring.

Optionally, the end face of the wearing body, which is used for contacting with the hand of the user, is an arc-shaped face.

The utility model has the advantages that:

1. the utility model discloses a bionic manipulator has drive assembly, connecting piece and acts as go-between, and the user of service passes through actuating mechanism and acts as go-between can control the bending of finger subassembly to realize simulating the user of service hand action, for traditional bionic manipulator, need not to set up sensor and driving motor, simple structure, the cost of manufacture is low, is suitable for occasions such as daily life that the requirement for simulation precision is not high to use.

4. The utility model discloses a bionic mechanical hand, through setting up the reel, and act as go-between and walk around the reel with one side of reel, can make the finger subassembly crooked to a direction to can reset through the torsional spring, conveniently to the crooked control of finger subassembly.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

Fig. 1 is a schematic view of the overall structure of embodiment 1 of the present invention;

fig. 2 is an assembly schematic view of a palm platform and a finger assembly according to embodiment 1 of the present invention;

fig. 3 is a schematic structural view of a finger assembly according to embodiment 1 of the present invention;

FIG. 4 is a schematic view of the connection between the pull wire and the reel and the tension wheel in the index finger assembly according to embodiment 1 of the present invention;

FIG. 5 is a schematic view of the connection between the pull wire and the reel and the tension wheel in the thumb assembly according to embodiment 1 of the present invention;

fig. 6 is a schematic view of a connecting member structure according to embodiment 1 of the present invention;

fig. 7 is a first schematic structural diagram of a driving assembly according to embodiment 1 of the present invention;

fig. 8 is a schematic structural diagram of a driving assembly according to embodiment 1 of the present invention;

the novel palm-shaped finger-type hand-held robot comprises a connecting body 1, a connecting plate 1-1, side plates 1-2, a guide portion 1-3, a palm platform 2, a wearing body 3, a finger assembly 4, a head end finger joint 4-1, a shell 4-1-1, a cover plate 4-1-2, a middle finger joint 4-2, a tail end finger joint 4-3, a pin shaft 4-4, a torsion spring 4-5, a base 5, a pull wire 6, a winding wheel 7, a tension wheel 8, a fixed shaft 9, a tension spring 10, a connecting rod 11, a connecting rod shaft 12, a lantern ring 13, a pull rod 14, a pull rod base 15 and a steel bar 16.

Detailed Description

Example 1

The embodiment discloses a bionic manipulator, as shown in fig. 1, including connector 1, connector one end is fixed with palm platform 2, and the other end is fixed with wears the body 3, the palm platform is connected with finger subassembly 4, in this embodiment, the finger subassembly sets up five groups, is the thumb subassembly that is used for simulating the thumb, is used for simulating the forefinger subassembly of forefinger, is used for simulating the middle finger subassembly of middle finger, is used for simulating the ring finger subassembly of ring finger and is used for simulating the little finger subassembly of little finger respectively. The structure of forefinger subassembly, middle finger subassembly, third finger subassembly and little finger subassembly is the same, wear the body and be used for wearing whole bionic manipulator to user's hand.

In the embodiment, the connecting body adopts a connecting plate 1-1, the two long edges of the connecting plate are fixed with side plates 1-2, the middle position of the connecting plate is provided with a guide part 1-3, the guide part is fixed with the connecting plate and the two side plates, and five guide holes are formed in the guide part.

The palm platform adopts two parallel arrangement's rectangular plate, and one of them rectangular plate is connected with connector tip integral type, and two rectangular plates utilize the intermediate lamella to connect and be a whole, in order to prevent to cause the injury to the user, four angular position of rectangular plate carry out the radius angle and handle.

Five bases 5 are fixed between the edges of the two rectangular plates, the bases are fixedly connected with the rectangular plates through bolts, the positions of the five bases are matched with the positions of five fingers of a human hand, and the palm platform is connected with the finger assembly through the bases.

In other embodiments, the palm platform may be a solid cube structure with five bases mounted at its edges.

As shown in fig. 2-5, the structures of the index finger assembly, the middle finger assembly, the ring finger assembly and the little finger assembly are the same, and the structure of the index finger assembly is taken as an example to explain the structure of the finger assembly.

The finger component comprises a plurality of knuckles which are connected in sequence in a rotating manner, the knuckles are of a cavity structure consisting of a shell and a cover plate, the shell 4-1-1 and the cover plate 4-1-2 are fixed through bolts and nuts, and fingers of a hand of a person consist of three joints, so that the finger component consists of three knuckles, namely a head knuckle 4-1, a middle knuckle 4-2 and a tail knuckle 4-3 in sequence.

One end of the head end knuckle is rotatably connected with the pin shaft 4-4, one end of the middle knuckle is rotatably connected with the same pin shaft, so that the head end knuckle and the middle knuckle are rotatably connected, the head end knuckle is rotatably connected with the pin shaft through a torsion spring 4-5, the middle knuckle is rotatably connected with the pin shaft through the torsion spring, and the head end knuckle and the middle knuckle can be reset by the torsion spring after relative rotation. The middle knuckle and the tail end knuckle are in rotary connection through the pin shaft and the torsion spring in the same mode.

The head end knuckle is rotationally connected with the base through the pin shaft and the torsion spring, and the finger assembly is rotationally connected with the base.

The bending of the finger assembly can be achieved by the relative rotational connection of the head, intermediate and tail knuckles.

Furthermore, in order to fix the pull wire 6 with the tail end knuckle, a fixing shaft 9 is arranged in the tail end knuckle and fixed with one end of the pull wire, the other end of the pull wire penetrates through the tail end knuckle, the middle knuckle and the head end knuckle, and the pull wire is pulled to enable the head end knuckle, the middle knuckle and the tail end knuckle to rotate relatively, so that the finger assembly is bent.

Because the human fingers can only bend towards one direction, the pin shafts between the head end knuckle and the middle knuckle, between the middle knuckle and the tail end knuckle and between the tail end knuckle and the base are rotatably connected with the reel 7, and the reel and the pin shaft are coaxially arranged and can rotate around the pin shaft. The pull wire is wound around the plurality of reels through the same side of the reels.

Further, in order to tension the pull wire, tensioning wheels 8 are further arranged in the middle finger joint and the head end finger joint, and the tensioning wheels are rotatably connected with tensioning wheel shafts arranged in the middle finger joint and the head end finger joint. The different sides that act as go-between through reel and take-up pulley bypass reel and take-up pulley for the finger subassembly conveniently bends to a direction, and the take-up pulley is to acting as go-between and is carried out the tensioning, makes to act as go-between remain the state of tightening all the time.

The thumb component is also formed by rotationally connecting a head end knuckle, a middle knuckle and a tail end knuckle through a pin shaft and a torsion spring in sequence, a reel is also arranged on the pin shaft, a stay wire bypasses a plurality of reels through the same side of the reel, tensioning wheels are also arranged in the head end knuckle and the middle knuckle, and the thumb component and the other four finger components are only different in that the axis of the reel of the pin shaft between the head end joint and the base is vertical to the axis of the reel on the pin shaft between the other knuckles of the thumb component, so that the stay wire is reversed, the action requirement of the thumb component is met, and the tensioning wheels are only arranged on the middle knuckle.

In this embodiment, the natural state of the torsion spring keeps each finger assembly in a straightened state.

After the stay wire penetrates through the finger assembly, the end part of the stay wire is fixed with one end of the connecting piece, and the other end of the connecting piece penetrates through the connecting body and then is connected with the driving assembly on the wearing body.

The connecting piece passes the guide part through the guiding hole of guide part on the connector, utilizes the guide part to lead the motion of connecting piece for the connecting piece can only be done along the motion of its self axis direction, and the connecting piece moves along its self axis direction, can stimulate the acting as go-between, makes the acting as go-between drive finger subassembly to bend, simulates the bending action of user's finger.

In the embodiment, the pull wire is made of fiber wires, so that the pull wire has the characteristic of high strength, and the normal work of the bionic manipulator is ensured.

As shown in fig. 6, the connecting member includes a metal strip and a flexible member, preferably, the metal strip is a steel strip 16, and a person skilled in the art can select other types of metal strips such as an aluminum strip according to actual needs, one end of the metal strip is fixed to the end of the pull wire through the hook, and the other end of the metal strip is fixed to one end of the flexible member.

In other embodiments, the end of the tension spring can be directly fixed with the wearing body, and the person skilled in the art can select the tension spring according to actual needs.

Because five finger assemblies are arranged, five sets of connecting pieces are matched, and each finger assembly is correspondingly provided with one connecting piece.

The extension spring is connected with the drive assembly arranged on the wearing body, and the drive assembly can drive the metal strip to move along the axis direction of the drive assembly through the extension spring.

The wearing body adopts the cavity structure, and its face that is used for with user's hand contact is the arcwall face, has satisfied the comfort level demand that the user wore.

Because whole bionic manipulator is provided with five finger subassemblies, consequently need set up five sets of drive assembly, every connecting piece corresponds a drive assembly.

As shown in fig. 7-8, the driving assembly cooperating with the index finger assembly, the middle finger assembly, the ring finger assembly and the little finger assembly includes a connecting rod 11, one end of the connecting rod is rotatably connected with a connecting rod shaft 12 disposed inside the wearing body, in this embodiment, five pull rods share one connecting rod shaft, in order to realize that the pull rods rotate around the connecting rod shaft, a notch is disposed on the arc-shaped surface of the wearing body, and a space for rotating the connecting rod is provided. The other end of the connecting rod is provided with a collar 13 for the fingers of the user to pass through. The connecting rod is fixed with one end of the pull rod 14, and the other end of the pull rod is fixed with the tension spring.

With thumb subassembly complex drive assembly including the connecting rod, connecting rod one end is rotated with the connecting rod base 15 that sets up and is wearing the body side and is connected, the connecting rod base is an arc pole, and the both ends of arc pole are fixed with the side of wearing the body. The other end of the connecting rod is provided with a lantern ring for the thumb to pass through, the connecting rod is fixed with one end of the pull rod, and the other end of the pull rod is connected to the tension spring corresponding to the thumb component.

The use method of the bionic manipulator in the embodiment comprises the following steps:

user's the back of the hand and the arcwall face laminating of wearing the body, five fingers pass five drive assembly's the lantern ring respectively, when certain finger subassembly of needs is crooked, the finger that user corresponds carries out bending movement, it rotates around the connecting rod axle to drive the connecting rod, the connecting rod passes through pull rod pulling extension spring, because the extension spring has the flexibility, consequently, the extension spring can stimulate the metal strip and be the motion along its self axis direction under the effect of guide part, the metal strip pulling is acted as go-between, thereby it produces the bending to drive the finger subassembly that corresponds, simulate the bending movement of user's finger. After the fingers are straightened, the pull rod resets, and the finger assembly also returns to the straightened state under the action of the torsion spring.

Adopt the bionic manipulator of this embodiment, need not to set up driving element such as sensor and motor, the cost of manufacture is low, is suitable for the family with need not to the occasion of accurate bionic simulation, simultaneously because the existence of connector and connecting piece, has realized the remote transmission of user's hand motion, can pick at fruit, supplementary baby practises occasions such as walking and use, reduction user of service's intensity of labour that will be very big.

Although the present invention has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without inventive work are still within the scope of the present invention.

Claims

1. The utility model provides a bionic manipulator, a serial communication port, including the palm platform, the palm platform rotates and is connected with the finger subassembly, the finger subassembly with act as go-between and be connected, the one end at the connector is fixed to the palm platform, the other end of connector is equipped with wears the body, it rotates and is connected with drive assembly to wear the body, act as go-between and be connected with the one end of connecting piece, the other end of connecting piece passes behind the connector and is connected with drive assembly, drive assembly can rotate and drive the motion of acting as go-between through the connecting piece along with the bending that user pointed, make the motion that the line pulling drive finger subassembly simulated the finger bending.

2. The bionic manipulator according to claim 1, wherein the palm platform is fixed with a base, the base is rotatably connected with one end of the finger assembly, and a torsion spring is arranged between the base and the finger assembly.

3. The bionic manipulator according to claim 1, wherein the finger assembly is formed by sequentially and rotatably connecting a plurality of knuckles, one end of the pull wire sequentially passes through the plurality of knuckles of the finger assembly and is fixedly connected with the knuckle at the tail end of the finger assembly, and the other end of the pull wire is connected with one end of the connecting piece.

4. The bionic manipulator according to claim 3, wherein one end of one knuckle of two adjacent knuckles is rotatably connected with the pin, one end of the other knuckle is rotatably connected with the pin, a reel is fixed on the pin, and the pull wire is fixed with the knuckle at the tail end after passing around the reel through the same side of the plurality of reels.

5. The bionic manipulator according to claim 4, wherein tension wheels are arranged inside the knuckle for tensioning the pull wires.

6. The bionic manipulator according to claim 3, wherein two adjacent knuckles are rotatably connected by a torsion spring, and the torsion spring is used for resetting the two adjacent knuckles.

7. The bionic manipulator according to claim 1, wherein the connecting member comprises a metal strip, one end of the metal strip is connected with the pull wire, the other end of the metal strip is connected with one end of the flexible member after passing through a guide part arranged on the connecting body, and the other end of the flexible member is fixed with the connecting body or the wearing body.

8. The bionic manipulator according to claim 1, wherein the driving assembly comprises a connecting rod, one end of the connecting rod is rotatably connected with the wearing body, the connecting rod is fixed with one end of a pull rod, the other end of the pull rod is connected with a flexible piece, and the rotation of the connecting rod can drive the metal strip to move along the axis direction of the metal strip through the pull rod and the flexible piece.

9. The bionic manipulator according to claim 8, wherein one end of the connecting rod is rotatably connected with the wearing body, and the other end of the connecting rod is provided with a finger ring.

10. The bionic manipulator according to claim 1, wherein the end face of the wearing body for contacting with the hand of the user is an arc-shaped face.