CN110900580A - A wearable bionical manipulator for assisting gripping article - Google Patents
A wearable bionical manipulator for assisting gripping article Download PDFInfo
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- CN110900580A CN110900580A CN201911322348.1A CN201911322348A CN110900580A CN 110900580 A CN110900580 A CN 110900580A CN 201911322348 A CN201911322348 A CN 201911322348A CN 110900580 A CN110900580 A CN 110900580A
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- bionic
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- finger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
Abstract
A wearable bionic manipulator for assisting in grabbing objects is characterized in that a first driving rotating shaft is horizontally arranged at the top of a wrist clamping sleeve, a steering engine is vertically and fixedly arranged on the right side portion of the wrist clamping sleeve, the first driving rotating shaft is connected with the steering engine through a first universal coupling, a second driving rotating shaft is vertically arranged on the left side portion of the wrist clamping sleeve, the first driving rotating shaft is connected with the second driving rotating shaft through a second universal coupling, the wrist clamping sleeve is clamped at a forearm wrist joint, the wrist clamping sleeve and the wrist clamping sleeve are fixed through a sticky buckle tape, bionic five fingers are arranged on the wrist clamping sleeve according to a human hand five-finger distribution mode, and driving forces of bending and straightening actions of the bionic five fingers are provided by the; the bionic fingers are respectively matched with the backs of the corresponding five fingers of the hand in an attaching way, and the bionic fingers are fixed with the fingers by the thread gluing tapes. The invention is designed according to human engineering, can be fully attached to human hands, has the characteristics of simple structure, convenient control, light weight and small volume, and effectively improves the self-care ability of patients.
Description
Technical Field
The invention belongs to the technical field of bionic manipulators, and particularly relates to a wearable bionic manipulator for assisting in grabbing articles.
Background
In the middle-aged and elderly people, the incidence of stroke is always high, and the limb hemiplegia formed after the stroke brings inconvenience to patients in life, especially the reduction of the activity of upper limbs seriously affects the life self-care ability of the patients, and serious people even eating and drinking water can not finish the stroke independently and can only be realized by the help of nursing staff.
Therefore, in order to improve the self-care ability of patients with hemiplegia, particularly for patients with lower upper limb mobility, researchers design a variety of auxiliary devices and equipment to help the patients to independently grab articles and further realize self-care in the aspects of eating and drinking, but the auxiliary devices and the equipment are not too complex in structural design, are too large in size or weight, and have a poor actual use effect.
Disclosure of Invention
Aiming at the problems in the prior art, the wearable bionic manipulator for assisting in grabbing objects is completely designed according to human engineering, can be fully attached to human hands, is simple in structure and convenient to control, has the characteristics of light weight and small size, can effectively assist a patient in grabbing objects, and improves the life self-care capability of the patient.
In order to achieve the purpose, the invention adopts the following technical scheme: a wearable bionic manipulator for assisting in grabbing articles comprises a wrist clamping sleeve, a steering engine, a first universal coupling, a first driving rotating shaft, a second universal coupling, a second driving rotating shaft, a bionic thumb, a bionic index finger, a bionic middle finger, a bionic ring finger and a bionic little finger; the first driving rotating shaft is horizontally arranged at the top of the wrist clamping sleeve through the hinge lug seat, the steering engine is vertically and fixedly arranged at the right side part of the wrist clamping sleeve, a motor shaft of the steering engine faces upwards, one end of the first universal coupling is connected with the motor shaft of the steering engine, and the other end of the first universal coupling is connected with one end of the first driving rotating shaft; the second driving rotating shaft is vertically arranged on the left side part of the wrist clamping sleeve through a hinged lug seat, one end of the second universal coupling is connected with the other end of the first driving rotating shaft, and the other end of the second universal coupling is connected with one end of the second driving rotating shaft; the wrist clamping sleeve is clamped at the small arm wrist joint and fixed with the small arm wrist through a sticky buckle tape; the bionic thumb, the bionic index finger, the bionic middle finger, the bionic ring finger and the bionic little finger are arranged on the wrist sleeve according to the distribution mode of five fingers of a hand of a human body, and the driving force for bending and straightening actions of the bionic thumb, the bionic index finger, the bionic middle finger, the bionic ring finger and the bionic little finger is provided by the steering engine; the bionic thumb is attached to the back of the thumb of the hand, the bionic index finger is attached to the back of the index finger of the hand, the bionic middle finger is attached to the back of the middle finger of the hand, the bionic ring finger is attached to the back of the ring finger of the hand, the bionic little finger is attached to the back of the little finger of the hand, the bionic middle finger is attached to the thumb of the hand, the bionic middle finger and the middle finger of the hand are fixed through the thread gluing belt, the bionic ring finger is attached to the back of the little finger of the hand, and the bionic little finger and the little finger of the hand are fixed through the thread gluing belt.
The bionic index finger, the bionic middle finger, the bionic ring finger and the bionic little finger have the same structure and respectively comprise a crank, a connecting rod, a sliding block, a metacarpal slideway rod, a metacarpal pull rod, a proximal phalanx bottom lever, a proximal phalanx pull rod, a proximal phalanx balancing telescopic rod, a middle phalanx bottom lever, a middle phalanx pull rod, a middle phalanx balancing telescopic rod and a distal phalanx lever; one end of each crank is hinged to the first driving rotating shaft, the other end of each crank is hinged to one end of the corresponding connecting rod, the other end of each connecting rod is hinged to the corresponding sliding block, the sliding blocks are sleeved on the metacarpal slideway rods, one ends of the metacarpal slideway rods are hinged to the wrist clamping sleeves, and the other ends of the metacarpal slideway rods are hinged to one ends of the proximal phalangeal balancing telescopic rods; one end of the metacarpal bone pull rod is hinged to the sliding block, the other end of the metacarpal bone pull rod is hinged to one end of the proximal phalanx bottom lever, the other end of the proximal phalanx bottom lever is hinged to one end of the proximal phalanx pull rod, and a fulcrum of the proximal phalanx bottom lever is located behind a hinged joint of the metacarpal bone slideway rod and the proximal phalanx balance telescopic rod; the other end of the proximal phalanx balancing telescopic rod is hinged with one end of a middle phalanx bottom lever, the other end of the middle phalanx bottom lever is hinged with one end of a middle phalanx pull rod, the other end of the proximal phalanx pull rod is hinged with one end of a middle phalanx balancing telescopic rod, the other end of the middle phalanx balancing telescopic rod is hinged with one end of a distal phalanx lever, and the other end of the distal phalanx lever is a free end; the other end of the middle phalanx pull rod is used as a fulcrum of the distal phalanx lever.
The double-rod parallel maintaining mechanism comprises a limiting block and a guide pin column, a first guide hole and a second guide hole are formed in the limiting block respectively and are perpendicular to the first guide hole, the guide pin column is vertically and fixedly arranged on the upper surface of the proximal phalanx pull rod/the middle phalanx pull rod, the guide pin column is arranged in the first guide hole in a penetrating mode, and the proximal phalanx balance telescopic rod/the middle phalanx balance telescopic rod is arranged in the second guide hole in a penetrating mode.
The bionic thumb comprises a crank, a connecting rod, a sliding block, a metacarpal slideway rod, a metacarpal pull rod, a proximal phalanx bottom lever, a proximal phalanx pull rod, a proximal phalanx balancing telescopic rod and a distal phalanx lever; one end of the crank is hinged to the second driving rotating shaft, the other end of the crank is hinged to one end of the connecting rod, the other end of the connecting rod is hinged to the sliding block, the sliding block is sleeved on the metacarpal bone slideway rod, one end of the metacarpal bone slideway rod is hinged to the wrist clamping sleeve, and the other end of the metacarpal bone slideway rod is hinged to one end of the proximal phalangeal balancing telescopic rod; one end of the metacarpal bone pull rod is hinged to the sliding block, the other end of the metacarpal bone pull rod is hinged to one end of the proximal phalanx bottom lever, the other end of the proximal phalanx bottom lever is hinged to one end of the proximal phalanx pull rod, and a fulcrum of the proximal phalanx bottom lever is located behind a hinged joint of the metacarpal bone slideway rod and the proximal phalanx balance telescopic rod; the other end of the proximal phalanx balancing telescopic rod is hinged with one end of the distal phalanx lever, and the other end of the distal phalanx lever is a free end; the other end of the proximal phalanx pull rod is used as a fulcrum of the distal phalanx lever.
A double-rod parallel retaining mechanism is arranged between the proximal phalanx pull rod and the proximal phalanx balance telescopic rod and comprises a limiting block and a guide pin column, a first guide hole and a second guide hole are formed in the limiting block respectively and are perpendicular to each other, the guide pin column is vertically and fixedly arranged on the upper surface of the proximal phalanx pull rod, the guide pin column is arranged in the first guide hole in a penetrating mode, and the proximal phalanx balance telescopic rod is arranged in the second guide hole in a penetrating mode.
The invention has the beneficial effects that:
the wearable bionic manipulator for assisting in grabbing the object is completely structurally designed according to human engineering, can be fully attached to a human hand, is simple in structure and convenient to control, has the characteristics of light weight and small size, can effectively assist a patient in grabbing the object, and improves the self-care ability of the patient.
Drawings
FIG. 1 is a perspective view of a wearable biomimetic manipulator for assisting in gripping an article in accordance with the present invention;
FIG. 2 is a top view of a wearable biomimetic manipulator for assisting in gripping an article in accordance with the present invention;
FIG. 3 is a side view of a wearable biomimetic manipulator (biomimetic thumb not shown) for assisting in gripping an article in accordance with the present invention;
FIG. 4 is a schematic structural diagram of a bionic index finger/bionic middle finger/bionic ring finger/bionic little finger (in a straightened state) according to the present invention;
FIG. 5 is a schematic diagram of the structure of a bionic index finger/bionic middle finger/bionic ring finger/bionic little finger (in a bending state) according to the present invention;
FIG. 6 is a schematic diagram of the structure of a bionic thumb (in a straightened state) of the present invention;
FIG. 7 is a schematic diagram of the structure of a bionic thumb (in a bent state) according to the present invention;
in the figure, 1-wrist clamping sleeve, 2-steering engine, 3-first universal coupler, 4-first driving rotating shaft, 5-second universal coupler, 6-second driving rotating shaft, 7-bionic thumb, 8-bionic forefinger, 9-bionic middle finger, 10-bionic ring finger, 11-bionic little finger, 12-forearm, 13-crank, 14-connecting rod, 15-slider, 16-metacarpal slideway rod, 17-metacarpal pull rod, 18-proximal phalanx bottom lever, 19-proximal phalanx pull rod, 20-proximal phalanx balancing telescopic rod, 21-middle phalanx bottom lever, 22-middle phalanx pull rod, 23-middle phalanx balancing telescopic rod, 24-distal phalanx lever, 25-double-rod parallel keeping mechanism, 26-limiting block and 27-guiding pin column.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
As shown in fig. 1 to 7, a wearable bionic manipulator for assisting in gripping an article comprises a wrist ferrule 1, a steering engine 2, a first universal coupling 3, a first driving rotating shaft 4, a second universal coupling 5, a second driving rotating shaft 6, a bionic thumb 7, a bionic forefinger 8, a bionic middle finger 9, a bionic ring finger 10 and a bionic little finger 11; the first driving rotating shaft 4 is horizontally arranged at the top of the wrist clamping sleeve 1 through a hinge lug seat, the steering engine 2 is vertically and fixedly arranged at the right side part of the wrist clamping sleeve 1, a motor shaft of the steering engine 2 faces upwards, one end of the first universal coupling 3 is connected with the motor shaft of the steering engine 2, and the other end of the first universal coupling 3 is connected with one end of the first driving rotating shaft 4; the second driving rotating shaft 6 is vertically arranged on the left side part of the wrist clamping sleeve 1 through a hinge lug seat, one end of the second universal coupling 5 is connected with the other end of the first driving rotating shaft 4, and the other end of the second universal coupling 5 is connected with one end of the second driving rotating shaft 6; the wrist clamping sleeve 1 is clamped at the wrist joint of the small arm 12, and the wrist clamping sleeve 1 and the wrist of the small arm 12 are fixed through a sticky buckle tape; the bionic thumb 7, the bionic index finger 8, the bionic middle finger 9, the bionic ring finger 10 and the bionic little finger 11 are arranged on the wrist clamping sleeve 1 according to the distribution mode of five fingers of a human hand, and the driving force for bending and straightening actions of the bionic thumb 7, the bionic index finger 8, the bionic middle finger 9, the bionic ring finger 10 and the bionic little finger 11 is provided by the steering engine 2; bionic thumb 7 pastes and leans on at hand thumb back, bionic forefinger 8 pastes and leans on at hand forefinger back, bionic middle finger 9 pastes and leans on at hand middle finger back, bionic third finger 10 pastes and leans on at hand third finger back, bionic little finger 11 pastes and leans on at hand little finger back, between bionic thumb 7 and hand thumb, between bionic forefinger 8 and hand forefinger, between bionic middle finger 9 and the hand middle finger, between bionic third finger 10 and the hand third finger, all fix through the thread gluing area between bionic little finger 11 and the hand little finger.
The bionic index finger 8, the bionic middle finger 9, the bionic ring finger 10 and the bionic little finger 11 have the same structure and respectively comprise a crank 13, a connecting rod 14, a sliding block 15, a metacarpal slideway rod 16, a metacarpal pull rod 17, a proximal phalanx bottom lever 18, a proximal phalanx pull rod 19, a proximal phalanx balancing telescopic rod 20, a middle phalanx bottom lever 21, a middle phalanx pull rod 22, a middle phalanx balancing telescopic rod 23 and a distal phalanx lever 24; one end of each crank 13 is hinged to the first driving rotating shaft 4, the other end of each crank 13 is hinged to one end of each connecting rod 14, the other end of each connecting rod 14 is hinged to the corresponding sliding block 15, each sliding block 15 is sleeved on the corresponding metacarpal bone slideway rod 16, one end of each metacarpal bone slideway rod 16 is hinged to the corresponding wrist clamping sleeve 1, and the other end of each metacarpal bone slideway rod 16 is hinged to one end of the corresponding proximal phalangeal balanced telescopic rod 20; one end of the metacarpal bone pull rod 17 is hinged on the sliding block 15, the other end of the metacarpal bone pull rod 17 is hinged with one end of a proximal phalanx bottom lever 18, the other end of the proximal phalanx bottom lever 18 is hinged with one end of a proximal phalanx pull rod 19, and a fulcrum of the proximal phalanx bottom lever 18 is positioned behind a hinged joint of the metacarpal bone slideway rod 16 and the proximal phalanx balance telescopic rod 20; the other end of the proximal phalanx balancing telescopic rod 20 is hinged with one end of a middle phalanx bottom lever 21, the other end of the middle phalanx bottom lever 21 is hinged with one end of a middle phalanx pull rod 22, the other end of the proximal phalanx pull rod 19 is hinged with one end of a middle phalanx balancing telescopic rod 23, the other end of the middle phalanx balancing telescopic rod 23 is hinged with one end of a distal phalanx lever 24, and the other end of the distal phalanx lever 24 is a free end; the other end of the middle phalangeal draw bar 22 serves as a fulcrum for the distal phalangeal lever 24.
The two-rod parallel retaining mechanism 25 is arranged between the proximal phalanx pull rod 19 and the proximal phalanx balance telescopic rod 20 and between the middle phalanx pull rod 22 and the middle phalanx balance telescopic rod 23, the two-rod parallel retaining mechanism 25 comprises a limiting block 26 and a guide pin column 27, a first guide hole and a second guide hole are formed in the limiting block 26 respectively and are perpendicular to the first guide hole, the guide pin column 27 is vertically and fixedly arranged on the upper surface of the proximal phalanx pull rod 19/the middle phalanx pull rod 22, the guide pin column 27 is arranged in the first guide hole in a penetrating mode, and the proximal phalanx balance telescopic rod 20/the middle phalanx balance telescopic rod 23 is arranged in the second guide hole in a penetrating mode.
The bionic thumb 7 comprises a crank 13, a connecting rod 14, a sliding block 15, a metacarpal slideway rod 16, a metacarpal pull rod 17, a proximal phalanx bottom lever 18, a proximal phalanx pull rod 19, a proximal phalanx balancing telescopic rod 20 and a distal phalanx lever 24; one end of the crank 13 is hinged to the second driving rotating shaft 6, the other end of the crank 13 is hinged to one end of the connecting rod 14, the other end of the connecting rod 14 is hinged to the sliding block 15, the sliding block 15 is sleeved on the metacarpal bone slideway rod 16, one end of the metacarpal bone slideway rod 16 is hinged to the wrist clamping sleeve 1, and the other end of the metacarpal bone slideway rod 16 is hinged to one end of the proximal phalangeal balanced telescopic rod 20; one end of the metacarpal bone pull rod 17 is hinged on the sliding block 15, the other end of the metacarpal bone pull rod 17 is hinged with one end of a proximal phalanx bottom lever 18, the other end of the proximal phalanx bottom lever 18 is hinged with one end of a proximal phalanx pull rod 19, and a fulcrum of the proximal phalanx bottom lever 18 is positioned behind a hinged joint of the metacarpal bone slideway rod 16 and the proximal phalanx balance telescopic rod 20; the other end of the proximal phalanx balancing telescopic rod 20 is hinged with one end of a distal phalanx lever 24, and the other end of the distal phalanx lever 24 is a free end; the other end of the proximal phalanx pull rod 19 serves as a fulcrum of the distal phalanx lever 24.
A double-rod parallel retaining mechanism 25 is arranged between the proximal phalanx pull rod 19 and the proximal phalanx balancing telescopic rod 20, the double-rod parallel retaining mechanism 25 comprises a limiting block 26 and a guide pin column 27, a first guide hole and a second guide hole are respectively formed in the limiting block 26 and are perpendicular to each other, the guide pin column 27 is vertically and fixedly arranged on the upper surface of the proximal phalanx pull rod 19, the guide pin column 27 penetrates into the first guide hole, and the proximal phalanx balancing telescopic rod 20 penetrates into the second guide hole.
The one-time use process of the present invention is described below with reference to the accompanying drawings:
before the bionic finger fixing device is used, the wrist clamping sleeve 1 is accurately buckled on the wrist of an arm 12, the wrist clamping sleeve 1 and the wrist of the arm 12 are fixed through the sticky buckle tape, then a nursing staff helps the fingers of a patient to straighten, the backs of the fingers are respectively attached to the bionic fingers, then the fingers and the bionic fingers are fixed together through the sticky buckle tape, for the bionic thumb 7, the sticky buckle tape is connected between a proximal phalanx of the thumb of a hand and a proximal phalanx pull rod 19 of the bionic thumb 7, for other four bionic fingers, the sticky buckle tape is provided with two positions, the first sticky buckle tape is connected between a middle phalanx of the hand and a middle phalanx pull rod 22 of the bionic finger, the second sticky buckle tape is connected between a proximal phalanx of the hand and a proximal phalanx pull rod 19 of the bionic finger, and after the connection, the five fingers of the hand can be completely synchronously moved along with the bionic fingers.
When the bionic manipulator is needed to assist the hand to grasp an object, the steering engine 2 is started, and the steering engine 2 synchronously drives the first universal coupling 3, the first driving rotating shaft 4, the second universal coupling 5 and the second driving rotating shaft 6 to synchronously rotate, so that the crank 13 of the bionic five fingers is synchronously driven to synchronously swing forwards.
For the bionic thumb 7, after the crank 13 swings forwards, the connecting rod 14 is firstly driven to move forwards, the sliding block 15 is further driven to move forwards along the metacarpal slideway rod 16, the metacarpal pull rod 17 is driven to move forwards through the sliding block 15 which moves forwards, the proximal phalanx bottom lever 18 is further driven to swing anticlockwise, at the moment, the proximal phalanx pull rod 19 moves backwards along with the swing of the proximal phalanx bottom lever 18, the distal phalanx lever 24 is further driven to deflect backwards, and meanwhile, the proximal phalanx balancing telescopic rod 20 is driven to extend and swing anticlockwise until the bionic thumb 7 bends to an appointed state.
For other four bionic fingers, after the crank 13 swings forwards, the connecting rod 14 is driven to move forwards, the sliding block 15 is driven to move forwards along the metacarpal slideway rod 16, the metacarpal pull rod 17 is driven to move forwards through the sliding block 15 which moves forwards, the proximal phalanx bottom lever 18 is driven to swing anticlockwise, the proximal phalanx pull rod 19 moves backwards along with the swing of the proximal phalanx bottom lever 18, the middle phalanx bottom lever 21 is driven to swing anticlockwise, the proximal phalanx balancing telescopic rod 20 is driven to extend and swing anticlockwise, the middle phalanx pull rod 22 moves backwards along with the swing of the middle phalanx bottom lever 21, the distal phalanx lever 24 is driven to deflect backwards, and the proximal phalanx balancing telescopic rod 20 is driven to extend and swing anticlockwise until the bionic finger bends to an appointed state.
After all five bionic fingers reach the appointed bent state, the target object can be accurately grasped in the hand, so that the life self-care capacity of a patient is improved, the spoon is grasped when the patient eats, the water cup is grasped when the patient drinks water, the help of other people is not needed, and the purpose of independently grasping objects is completely realized.
The embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications without departing from the scope of the present invention are intended to be included in the scope of the present invention.
Claims (5)
1. A wearable bionical manipulator for assisting in gripping an article, characterized in that: the wrist joint comprises a wrist clamping sleeve, a steering engine, a first universal coupling, a first driving rotating shaft, a second universal coupling, a second driving rotating shaft, a bionic thumb, a bionic index finger, a bionic middle finger, a bionic ring finger and a bionic little finger; the first driving rotating shaft is horizontally arranged at the top of the wrist clamping sleeve through the hinge lug seat, the steering engine is vertically and fixedly arranged at the right side part of the wrist clamping sleeve, a motor shaft of the steering engine faces upwards, one end of the first universal coupling is connected with the motor shaft of the steering engine, and the other end of the first universal coupling is connected with one end of the first driving rotating shaft; the second driving rotating shaft is vertically arranged on the left side part of the wrist clamping sleeve through a hinged lug seat, one end of the second universal coupling is connected with the other end of the first driving rotating shaft, and the other end of the second universal coupling is connected with one end of the second driving rotating shaft; the wrist clamping sleeve is clamped at the small arm wrist joint and fixed with the small arm wrist through a sticky buckle tape; the bionic thumb, the bionic index finger, the bionic middle finger, the bionic ring finger and the bionic little finger are arranged on the wrist sleeve according to the distribution mode of five fingers of a hand of a human body, and the driving force for bending and straightening actions of the bionic thumb, the bionic index finger, the bionic middle finger, the bionic ring finger and the bionic little finger is provided by the steering engine; the bionic thumb is attached to the back of the thumb of the hand, the bionic index finger is attached to the back of the index finger of the hand, the bionic middle finger is attached to the back of the middle finger of the hand, the bionic ring finger is attached to the back of the ring finger of the hand, the bionic little finger is attached to the back of the little finger of the hand, the bionic middle finger is attached to the thumb of the hand, the bionic middle finger and the middle finger of the hand are fixed through the thread gluing belt, the bionic ring finger is attached to the back of the little finger of the hand, and the bionic little finger and the little finger of the hand are fixed through the thread gluing belt.
2. A wearable biomimetic manipulator for assisting in gripping an article according to claim 1, wherein: the bionic index finger, the bionic middle finger, the bionic ring finger and the bionic little finger have the same structure and respectively comprise a crank, a connecting rod, a sliding block, a metacarpal slideway rod, a metacarpal pull rod, a proximal phalanx bottom lever, a proximal phalanx pull rod, a proximal phalanx balancing telescopic rod, a middle phalanx bottom lever, a middle phalanx pull rod, a middle phalanx balancing telescopic rod and a distal phalanx lever; one end of each crank is hinged to the first driving rotating shaft, the other end of each crank is hinged to one end of the corresponding connecting rod, the other end of each connecting rod is hinged to the corresponding sliding block, the sliding blocks are sleeved on the metacarpal slideway rods, one ends of the metacarpal slideway rods are hinged to the wrist clamping sleeves, and the other ends of the metacarpal slideway rods are hinged to one ends of the proximal phalangeal balancing telescopic rods; one end of the metacarpal bone pull rod is hinged to the sliding block, the other end of the metacarpal bone pull rod is hinged to one end of the proximal phalanx bottom lever, the other end of the proximal phalanx bottom lever is hinged to one end of the proximal phalanx pull rod, and a fulcrum of the proximal phalanx bottom lever is located behind a hinged joint of the metacarpal bone slideway rod and the proximal phalanx balance telescopic rod; the other end of the proximal phalanx balancing telescopic rod is hinged with one end of a middle phalanx bottom lever, the other end of the middle phalanx bottom lever is hinged with one end of a middle phalanx pull rod, the other end of the proximal phalanx pull rod is hinged with one end of a middle phalanx balancing telescopic rod, the other end of the middle phalanx balancing telescopic rod is hinged with one end of a distal phalanx lever, and the other end of the distal phalanx lever is a free end; the other end of the middle phalanx pull rod is used as a fulcrum of the distal phalanx lever.
3. A wearable biomimetic manipulator for assisting in gripping an article according to claim 2, wherein: the double-rod parallel maintaining mechanism comprises a limiting block and a guide pin column, a first guide hole and a second guide hole are formed in the limiting block respectively and are perpendicular to the first guide hole, the guide pin column is vertically and fixedly arranged on the upper surface of the proximal phalanx pull rod/the middle phalanx pull rod, the guide pin column is arranged in the first guide hole in a penetrating mode, and the proximal phalanx balance telescopic rod/the middle phalanx balance telescopic rod is arranged in the second guide hole in a penetrating mode.
4. A wearable biomimetic manipulator for assisting in gripping an article according to claim 1, wherein: the bionic thumb comprises a crank, a connecting rod, a sliding block, a metacarpal slideway rod, a metacarpal pull rod, a proximal phalanx bottom lever, a proximal phalanx pull rod, a proximal phalanx balancing telescopic rod and a distal phalanx lever; one end of the crank is hinged to the second driving rotating shaft, the other end of the crank is hinged to one end of the connecting rod, the other end of the connecting rod is hinged to the sliding block, the sliding block is sleeved on the metacarpal bone slideway rod, one end of the metacarpal bone slideway rod is hinged to the wrist clamping sleeve, and the other end of the metacarpal bone slideway rod is hinged to one end of the proximal phalangeal balancing telescopic rod; one end of the metacarpal bone pull rod is hinged to the sliding block, the other end of the metacarpal bone pull rod is hinged to one end of the proximal phalanx bottom lever, the other end of the proximal phalanx bottom lever is hinged to one end of the proximal phalanx pull rod, and a fulcrum of the proximal phalanx bottom lever is located behind a hinged joint of the metacarpal bone slideway rod and the proximal phalanx balance telescopic rod; the other end of the proximal phalanx balancing telescopic rod is hinged with one end of the distal phalanx lever, and the other end of the distal phalanx lever is a free end; the other end of the proximal phalanx pull rod is used as a fulcrum of the distal phalanx lever.
5. A wearable biomimetic manipulator for assisting in gripping an article according to claim 4, wherein: a double-rod parallel retaining mechanism is arranged between the proximal phalanx pull rod and the proximal phalanx balance telescopic rod and comprises a limiting block and a guide pin column, a first guide hole and a second guide hole are formed in the limiting block respectively and are perpendicular to each other, the guide pin column is vertically and fixedly arranged on the upper surface of the proximal phalanx pull rod, the guide pin column is arranged in the first guide hole in a penetrating mode, and the proximal phalanx balance telescopic rod is arranged in the second guide hole in a penetrating mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911322348.1A CN110900580A (en) | 2019-12-20 | 2019-12-20 | A wearable bionical manipulator for assisting gripping article |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911322348.1A CN110900580A (en) | 2019-12-20 | 2019-12-20 | A wearable bionical manipulator for assisting gripping article |
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| CN201911322348.1A Pending CN110900580A (en) | 2019-12-20 | 2019-12-20 | A wearable bionical manipulator for assisting gripping article |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112318489A (en) * | 2020-11-30 | 2021-02-05 | 延边大学 | Wearable flexible joint exoskeleton power assisting device |
| CN113084851A (en) * | 2021-04-22 | 2021-07-09 | 常州工学院 | Anthropomorphic finger mechanism |
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2019
- 2019-12-20 CN CN201911322348.1A patent/CN110900580A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112318489A (en) * | 2020-11-30 | 2021-02-05 | 延边大学 | Wearable flexible joint exoskeleton power assisting device |
| CN112318489B (en) * | 2020-11-30 | 2021-12-31 | 延边大学 | Wearable flexible joint exoskeleton power assisting device |
| CN113084851A (en) * | 2021-04-22 | 2021-07-09 | 常州工学院 | Anthropomorphic finger mechanism |
| CN113084851B (en) * | 2021-04-22 | 2022-06-28 | 常州工学院 | Anthropomorphic finger mechanism |
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