CN113288074A - Multi-degree-of-freedom position-adjustable pulse-taking mechanical arm device - Google Patents
Multi-degree-of-freedom position-adjustable pulse-taking mechanical arm device Download PDFInfo
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- CN113288074A CN113288074A CN202110534674.XA CN202110534674A CN113288074A CN 113288074 A CN113288074 A CN 113288074A CN 202110534674 A CN202110534674 A CN 202110534674A CN 113288074 A CN113288074 A CN 113288074A
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- 210000000707 wrist Anatomy 0.000 claims abstract description 49
- 230000033001 locomotion Effects 0.000 claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims description 217
- 239000003638 chemical reducing agent Substances 0.000 claims description 49
- 238000009434 installation Methods 0.000 claims description 10
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 7
- 239000000741 silica gel Substances 0.000 claims description 7
- 229910002027 silica gel Inorganic materials 0.000 claims description 7
- 210000001145 finger joint Anatomy 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 238000003745 diagnosis Methods 0.000 abstract description 6
- 210000003811 finger Anatomy 0.000 abstract 10
- 210000005224 forefinger Anatomy 0.000 abstract 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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Abstract
The utility model provides a multi freedom position adjustable pulse-taking manipulator device, includes: consecutive mechanical wrist, mechanical palm and three structures are the same and as the mechanical finger of forefinger, middle finger and ring finger respectively, wherein: each mechanical finger comprises a finger tail section, a finger middle section, a finger proximal section and a finger telescopic mechanism which are connected in sequence. According to the pulse diagnosis mechanical hand, each mechanical finger is provided with one telescopic motion freedom degree, two mechanical finger translational motion freedom degrees and three rotational motion freedom degrees are arranged in the mechanical palm, and one vertical motion freedom degree is arranged in the mechanical wrist, so that the device integrally has nine motion freedom degrees, the position adjusting function of the pulse diagnosis mechanical hand is greatly increased, and the adaptability of the pulse diagnosis mechanical hand to individual pulse diagnosis position differences of different crowds is enhanced; in addition, the invention adopts small-sized modular design, simplifies the mechanism design and assembly difficulty, and has the characteristics of light weight, small volume and convenient movement.
Description
Technical Field
The invention relates to a technology in the field of medical auxiliary equipment, in particular to a multi-degree-of-freedom position-adjustable pulse-taking mechanical arm device.
Background
Most of the existing pulse-taking mechanical arm devices adopt a single-finger single-rotation freedom design, though the pressing action of fingers in traditional Chinese medicine can be simulated, the individual difference of three parts of cun-guan-chi of a human body is not considered, and the fingers at the front end of the mechanical arm do not have the lateral and front-back position adjusting freedom, so that the pulse-taking mechanical arm devices are difficult to accurately press the three parts of the cun-guan-chi due to the individual difference.
Disclosure of Invention
The invention provides a multi-degree-of-freedom position-adjustable pulse-taking mechanical arm device aiming at the defects that the existing mechanical arm lacks of freedom degree of movement and cannot respond to the three position individual differences of different people to be detected, two mechanical finger translational movement freedom degrees and three rotational movement freedom degrees are arranged in a mechanical palm and one vertical movement freedom degree is arranged in a mechanical wrist, so that the device integrally has nine movement freedom degrees, the position adjusting function of the pulse-taking mechanical arm is greatly increased, and the adaptability of the pulse-taking mechanical arm to the individual pulse-taking position differences of different people is enhanced; in addition, the invention adopts small-sized modular design, simplifies the mechanism design and assembly difficulty, and has the characteristics of light weight, small volume and convenient movement.
The invention is realized by the following technical scheme:
the invention comprises the following steps: consecutive mechanical wrist, mechanical palm and three mechanical fingers that the structure is the same, wherein: each mechanical finger comprises a finger tail section, a finger middle section and a finger near section which are connected in sequence.
The first mechanical finger, the second mechanical finger and the third mechanical finger are respectively connected with the front end rotary motion mechanism of the mechanical palm in a rotary mode, and the rear end of the mechanical palm is fixed on the vertical lifting mechanism of the mechanical wrist.
The finger end section comprises: silica gel indicates pad, indicates pad baffle, pulse sensor and indicates the end joint, wherein: the silica gel finger pad is fixed at the central circular hole of the finger pad baffle and is connected with the pulse sensor, and the pulse sensor is arranged in the front circular hole groove of the finger end joint.
The middle section of the finger comprises: well festival rear end fixed plate, flexible transmission master gear, flexible transmission follow gear, flexible drive micro motor reduction gear, point well festival shell, flexible drive screw, flexible slider, a pair of flexible bracing piece and flexible front end mounting panel, wherein: the telescopic driving micro motor reducer is axially arranged in an inner round hole of the finger middle section shell, the output end of the telescopic driving micro motor reducer is coaxially arranged with the telescopic transmission main gear, the telescopic transmission screw rod is arranged on the finger middle section shell, one end of the telescopic transmission screw rod is coaxially arranged with the telescopic transmission slave gear, the other end of the telescopic transmission screw rod is connected with the telescopic sliding block, one end of the pair of telescopic supporting rods is fixedly connected with the telescopic sliding block, and the other end of the pair of telescopic supporting rods is arranged on the telescopic front.
Two ends of the finger proximal segment are provided with 90-degree configured installation positioning holes, one end of each installation positioning hole is connected with the finger middle segment, and the other end of each installation positioning hole is connected with the mechanical palm.
The end face thickness and the modulus of the telescopic transmission main gear and the telescopic transmission driven gear are the same and are meshed with each other.
The telescopic front end mounting plate is fixedly connected with the rear end mounting plate of the finger end joint.
One end of the middle section rear end fixing plate is fixedly connected with the rear end of the middle section shell, and the other end of the middle section rear end fixing plate is connected with the finger proximal section.
The mechanical palm comprises: palm mounting base, palm apron, a pair of palm apron fixed ring, second finger rotary driving mechanism, first finger translation actuating mechanism, first finger rotary driving mechanism, third finger translation actuating mechanism and third finger rotary driving mechanism, wherein: third finger translation actuating mechanism and first finger translation actuating mechanism symmetry are fixed to be set up on palm mounting base's panel, and second finger rotation actuating mechanism and first finger rotation actuating mechanism fixed connection, and third finger rotation actuating mechanism and first finger rotation actuating mechanism link to each other with third finger translation actuating mechanism and first finger translation actuating mechanism respectively, and the palm apron is through the solid fixed ring of a pair of palm apron and palm mounting base fixed connection.
The second finger rotary drive mechanism includes: motor fixed stop, the rotatory driving motor reduction gear of second finger and the rotatory pendulum rod of second finger, wherein: the rear end of the second finger rotation driving motor reducer is fixedly connected with the third finger translation driving mechanism through a motor fixing baffle, the front end output shaft of the second finger rotation driving motor reducer is coaxially arranged with the central round hole at one end of the second finger rotation swing rod, and the other end of the second finger rotation swing rod is coaxially and fixedly connected with the central round hole at one end of the proximal segment of the finger.
First finger rotary driving mechanism and third finger rotary driving mechanism structure the same, all include: the rotation drives micro motor reduction gear and motor slip drum, wherein: the rear end of the rotation driving micro motor reducer is coaxially sleeved in the motor sliding barrel, the motor sliding barrel is fixedly connected with the palm mounting base through a flange disc at the bottom end, and an output shaft of the rotation driving micro motor reducer is coaxially and fixedly connected with a central round hole at one end of the finger close to the palm mounting base.
First finger translation actuating mechanism and third finger translation actuating mechanism structure the same, all include: translation motor reduction gear, the first fixed plate of motor, motor second fixed plate, gear installation baffle, the first gear of translation transmission, translation transmission second gear, translation transmission third gear, translation transmission gear round pin axle, translation transmission screw rod and translation transmission slider, wherein: the front end and the rear end of a translation motor reducer are respectively fixedly connected with a palm mounting base through a motor first fixing plate and a motor second fixing plate, an output shaft of the translation motor reducer is coaxially arranged with a translation transmission first gear, a translation transmission second gear is coaxially arranged with a translation transmission gear pin shaft and is placed on the motor first fixing plate through the translation transmission gear pin shaft, one end of a translation transmission screw rod is coaxially arranged with a translation transmission third gear, the other end of the translation transmission screw rod is coaxially arranged with a small round hole on the motor second fixing plate, a translation transmission slide block is sleeved on the translation transmission screw rod through a threaded hole on one side, the translation transmission slide block is coaxially and fixedly connected with a rotation driving micro motor reducer through a large round hole on the other side, a gear mounting baffle is placed on one side end face of the translation transmission first gear, the translation transmission second gear and the translation transmission third gear, and is fixedly connected with the first fixing plate of the motor through two mounting holes at two sides of the fixing plate.
The thickness and the number of teeth of the end face of the translation transmission first gear, the translation transmission second gear and the translation transmission third gear are the same and are meshed with each other.
The mechanical wrist in be provided with vertical lift mechanism, include: wrist base, lift driving motor reduction gear, the first gear of lift transmission, lift transmission second gear, lift transmission third gear, lift transmission gear round pin axle, lift transmission screw and lift transmission slider, a pair of lift transmission bracing piece and wrist upper cover plate, wherein: the lifting driving motor reducer is placed in a motor mounting round hole on the wrist base, an output shaft of the lifting driving motor reducer is coaxially arranged with the lifting transmission first gear, the lifting transmission second gear is coaxially arranged with the lifting transmission gear pin shaft and is placed in a pin hole of the wrist base through the lifting transmission gear pin shaft, one end of the lifting transmission screw rod is coaxially arranged with the lifting transmission third gear, the other end of the lifting transmission screw rod is coaxially arranged with a central round hole on the side surface of the bottom plate of the wrist base, the lifting transmission slide block is sleeved on the lifting transmission screw rod through a central threaded hole, the lifting transmission slide block is fixedly connected with the palm cover plate through a mounting flange plate at the bottom end, the wrist upper cover plate is placed on the lifting transmission first gear, and the end surfaces of one side of the lifting transmission second gear and the lifting transmission third gear are fixedly connected with the wrist base through two mounting holes on two sides of the lifting transmission second gear and the lifting transmission third gear.
The first lifting transmission gear and the second lifting transmission gear are in large and small tooth meshing transmission, and the end surface thickness and the modulus of the first lifting transmission gear and the second lifting transmission gear are the same.
The thickness and the number of teeth of the end face of the lifting transmission second gear and the end face of the lifting transmission third gear are the same and are meshed with each other.
Technical effects
The invention integrally solves the problems that the existing pulse feeling mechanical hand only has single unidirectional rotation freedom degree, the motion mode of fingers is single, and the wrist cun-guan-chi three-position individual difference of different people is not easily adapted, and the existing device has larger volume and weight and is inconvenient to move.
Compared with the prior art, the invention has the advantages that each mechanical finger is respectively provided with one telescopic motion freedom degree, two mechanical finger translational motion freedom degrees are additionally arranged in the mechanical palm, and one vertical motion freedom degree is arranged in the mechanical wrist, so that the whole device has six motion freedom degrees compared with the prior art; the lateral adjustable distance of the first mechanical finger and the third mechanical finger of the device relative to the second mechanical finger can reach 16mm at most, and the adjustable distance of the finger tail section of the first mechanical finger, the second mechanical finger and the third mechanical finger relative to the finger middle section can reach 18mm at most, so that the position adjusting function of the pulse-taking mechanical hand is greatly increased, and the adaptability of the pulse-taking mechanical hand to the individual pulse-taking position difference of different crowds is enhanced. In addition, the vertical lifting mechanism in the device ensures that the tail ends of the three mechanical fingers can be in surface contact with the pulse-taking part in the direction vertical to the wrist surface of the human body, and ensures that the mechanical fingers can apply pressure in the vertical direction to the pulse-taking part when performing pulse-taking pressing action.
Drawings
FIG. 1 is a schematic view of the overall structure of the pulse-taking manipulator device of the present invention;
FIG. 2 is a schematic view of a mechanical palm configuration;
FIG. 3 is a schematic diagram of the end of a finger;
FIG. 4 is a schematic illustration of a middle finger segment;
FIG. 5 is a schematic view of a mechanical palm;
FIG. 6 is a schematic view of a translation drive mechanism module;
FIG. 7 is a schematic view of a robot wrist;
FIG. 8 is a schematic view of an application scenario of the pulse-taking manipulator device;
FIG. 9 is a schematic view of the adjustment of the lateral spacing of the fingers;
FIG. 10 is a schematic view of the adjustment of the axial extension position of a single mechanical finger;
in the figure: a first mechanical finger 1, a second mechanical finger 2, a third mechanical finger 3, a mechanical palm 4, a mechanical wrist 5, a finger end section 6, a finger middle section 7, a finger proximal section 8, a silica gel finger pad 9, a finger pad baffle plate 10, a pulse sensor 11, a finger end joint 12, a middle section rear end fixing plate 13, a telescopic transmission main gear 14, a telescopic transmission driven gear 15, a telescopic driving micro-motor reducer 16, a finger middle section shell 17, a telescopic transmission screw 18, a telescopic slider 19, a pair of telescopic supporting rods 20 and a telescopic front end mounting plate 21, a finger telescopic mechanism 22, a palm cover plate 23, a second finger rotation driving mechanism 24, a motor fixing baffle plate 25, a second finger rotation driving motor reducer 26, a second finger rotation swing rod 27, a first finger translation driving mechanism 28, a pair of palm cover plate fixing rings 29, a first finger rotation driving mechanism 30, a palm mounting base 31, The device comprises a third finger rotation driving mechanism 32, a third finger translation driving mechanism 33, a rotation driving micro motor reducer 34, a motor sliding cylinder 35, a gear mounting baffle 36, a first motor fixing plate 37, a translation motor reducer 38, a second motor fixing plate 39, a translation transmission first gear 40, a translation transmission second gear 41, a translation transmission gear pin shaft 42, a translation transmission third gear 43, a translation transmission screw 44, a translation transmission slide block 45, an upper wrist cover plate 46, a lifting transmission first gear 47, a lifting transmission second gear 48, a lifting transmission third gear 49, a lifting transmission gear pin shaft 50, a lifting transmission screw 51, a lifting driving motor reducer 52, a lifting transmission slide block 53, a pair of lifting transmission support rods 54 and a wrist base 55.
Detailed Description
As shown in fig. 1, this embodiment relates to a multi-degree-of-freedom position-adjustable pulse-taking manipulator device, which includes: three first mechanical finger 1, second mechanical finger 2, third mechanical finger 3 that the structure is the same, mechanical palm 4 and mechanical wrist 5, wherein: the first mechanical finger 1, the second mechanical finger 2 and the third mechanical finger 3 are respectively connected with a front end rotary motion mechanism of a mechanical palm 4 in a rotary mode, and the rear end of the mechanical palm 4 is fixed on a vertical lifting mechanism of a mechanical wrist 5.
As shown in fig. 2, the first mechanical finger 1, the second mechanical finger 2 and the third mechanical finger 3 each include: the finger distal segment 6, the finger middle segment 7 and the finger proximal segment 8 are connected in sequence.
As shown in fig. 3, the finger end section 6 includes: silica gel indicates pad 9, indicates pad baffle 10, pulse sensor 11 and indicates the tip joint 12, wherein: the silica gel finger pad 9 is fixed on the center circular hole of the finger pad baffle 10 and is connected with the pulse sensor 11, and the pulse sensor 11 is arranged in the front circular hole groove of the finger end joint 12.
As shown in fig. 4, the middle finger segment 7 includes: well festival rear end fixed plate 13, finger telescopic machanism 22 and flexible front end mounting panel 21, wherein: the finger retraction mechanism 22 is placed inside the finger midrange housing 17.
The finger retracting mechanism 22 includes: telescopic transmission master gear 14, telescopic transmission slave gear 15, telescopic driving micro motor reducer 16, telescopic transmission screw 18, telescopic slider 19 and a pair of telescopic support rods 20, wherein: the telescopic driving micro motor reducer 16 is axially arranged in an inner round hole of the finger middle section shell 17, the output end of the telescopic driving micro motor reducer is coaxially arranged with the telescopic driving main gear 14, the telescopic driving screw 18 is arranged on the finger middle section shell 17, one end of the telescopic driving micro motor reducer is coaxially arranged with the telescopic driving slave gear 15, the other end of the telescopic driving micro motor reducer is connected with the telescopic sliding block 19, one end of each pair of telescopic supporting rods 20 is fixedly connected with the telescopic sliding block 19, and the other end of each pair of telescopic supporting rods is arranged on the telescopic front end mounting plate 21.
The end face thickness and the module of the telescopic transmission main gear 14 and the telescopic transmission driven gear 15 are the same and are meshed with each other.
The telescopic front end mounting plate 21 is fixedly connected with the rear end mounting plate of the finger end joint 12.
One end of the middle section rear end fixing plate 13 is fixedly connected with the rear end of the middle section shell 17, and the other end of the middle section rear end fixing plate is connected with the finger proximal section 8.
In the finger telescoping mechanism, an output shaft of a telescopic driving micro-motor reducer 16 transmits output torque to a telescopic transmission main gear 14, the output torque is meshed with a gear 15 through the telescopic transmission main gear 14 and telescopic transmission, a telescopic transmission screw 18 is driven to rotate, a telescopic sliding block 19 is guided to move axially back and forth, and the telescopic sliding block drives a pair of telescopic supporting rods 20 fixed on the telescopic sliding block 19 to synchronously move, so that the finger tail section 6 completes the back and forth telescopic action.
Two ends of the finger proximal joint 8 are provided with 90-degree configured installation positioning holes, one end of the finger proximal joint is connected with the finger middle joint 7, and the other end of the finger proximal joint is connected with the mechanical palm 4.
As shown in fig. 5, the mechanical palm 4 includes: palm mounting base 31, palm apron 23, a pair of palm apron fixed ring 29, second finger rotary drive mechanism 24, first finger translation actuating mechanism 28, first finger rotary drive mechanism 30, third finger translation actuating mechanism 33 and third finger rotary drive mechanism 32, wherein: the third finger translation driving mechanism 33 and the first finger translation driving mechanism 28 are symmetrically and fixedly arranged on the panel of the palm mounting base 31, the second finger rotation driving mechanism 24 is fixedly connected with the first finger rotation driving mechanism 24, the third finger rotation driving mechanism 32 and the first finger rotation driving mechanism 30 are respectively connected with the third finger translation driving mechanism 33 and the first finger translation driving mechanism 28, and the palm cover plate 23 is fixedly connected with the palm mounting base 31 through a pair of palm cover plate fixing rings 29.
The second finger-rotation driving mechanism 24 includes: motor fixed stop 25, second finger rotary drive motor reduction gear 26 and second finger rotate the pendulum rod 27, wherein: the rear end of a second finger rotation driving motor reducer 26 is fixedly connected with a third finger translation driving mechanism 28 through a motor fixing baffle 25, the output shaft at the front end of the second finger rotation driving motor reducer 26 is coaxially arranged with the central circular hole at one end of a middle finger rotation swing rod 27, and the other end of the second finger rotation swing rod 27 is coaxially and fixedly connected with the central circular hole at one end of the proximal finger segment 8.
In the second finger rotation driving mechanism, the output shaft of the second finger rotation driving motor reducer 26 drives the second finger rotation swing rod 27 to rotate, so as to drive the second mechanical finger 2 fixed on the rotation swing rod 27 to perform rotation motion, thereby realizing the middle finger pressing action during pulse feeling.
The first finger rotation drive mechanism 30 and the third finger rotation drive mechanism 32 each include: the rotation drives the micro motor reducer 34 and the motor sliding cylinder 35, the rear end of the rotation drives the micro motor reducer 34 is coaxially sleeved in the motor sliding cylinder 35, wherein: the motor sliding barrel 35 is fixedly connected with the palm mounting base 31 through a flange disc at the bottom end, and an output shaft of the rotation driving micro motor reducer 34 is coaxially and fixedly connected with a central circular hole at one end of the finger proximal joint 8.
In the first finger rotation driving mechanism 30, the output shaft of the rotation driving micro motor reducer 34 in the first finger rotation driving mechanism 30 drives the proximal finger segment 8 on the first mechanical finger 1 to rotate, so as to drive the first mechanical finger 1 to perform rotation motion, thereby realizing the pressing action of the index finger during pulse feeling.
In the third finger rotation driving mechanism 32, the rotation of the third finger rotation driving mechanism 32 drives the proximal finger joint 8 on the third mechanical finger 3 driven by the output shaft of the micro motor reducer 34 to rotate, so as to drive the third mechanical finger 3 to perform a rotation motion, thereby realizing a ring finger pressing action during pulse feeling.
As shown in fig. 6, the first finger translation drive mechanism 28 and the third finger translation drive mechanism 33 each include: translation motor reduction gear 38, the first fixed plate 37 of motor, motor second fixed plate 39, gear installation baffle 36, translation transmission first gear 40, translation transmission second gear 41, translation transmission third gear 43, translation transmission gear round pin axle 42, translation transmission screw 44 and translation transmission slider 45, wherein: the front end and the rear end of a translation motor reducer 38 are fixedly connected with the palm mounting base 31 through a first motor fixing plate 37 and a second motor fixing plate 39 respectively, an output shaft of the translation motor reducer 38 is coaxially arranged with a first translation transmission gear 40, a second translation transmission gear 41 is coaxially arranged with a translation transmission gear pin 42 and is placed on the first motor fixing plate 37 through the translation transmission gear pin 42, one end of a translation transmission screw 44 is coaxially arranged with a third translation transmission gear 43, the other end of the translation transmission screw 44 is coaxially arranged with a small round hole on the second motor fixing plate 39, a translation transmission slide block 45 is sleeved on the translation transmission screw 44 through a threaded hole on one side, the translation transmission slide block 45 is coaxially and fixedly connected with a rotation driving micro motor reducer 34 through a large round hole on the other side, a gear mounting baffle 36 is placed on the first translation transmission gear 40, The translation transmission second gear 41 and the translation transmission third gear 43 are arranged on one side end face and fixedly connected with the motor first fixing plate 37 through two mounting holes on two sides of the translation transmission second gear.
The end face thickness and the number of teeth of the translation transmission first gear 40, the translation transmission second gear 41 and the translation transmission third gear 43 are the same and are meshed with each other.
In the first finger translation driving mechanism 28, an output shaft of a translation motor reducer 38 in the first finger translation driving mechanism 28 transmits an output torque to a translation transmission first gear 40, and through pairwise meshing transmission of the translation transmission first gear 40, the translation transmission second gear 41 and a translation transmission third gear 43, a translation transmission screw 44 is driven to rotate, so that a translation transmission sliding block 45 is guided to move axially, the translation transmission sliding block drives a first finger rotation driving mechanism 30 fixed on the translation transmission sliding block 45 to move synchronously, so that the third mechanical finger 3 can move laterally relative to the second mechanical finger 2, and a function of adjusting a lateral spacing position of the third mechanical finger 3 and the second mechanical finger 2 is realized.
In the third finger translation driving mechanism 33, an output shaft of a translation motor reducer 38 in the third finger translation driving mechanism 33 transmits an output torque to a translation transmission first gear 40, and through pairwise meshing transmission of the translation transmission first gear 40, the translation transmission second gear 41 and a translation transmission third gear 43, a translation transmission screw 44 is driven to rotate, so that a translation transmission sliding block 45 is guided to move axially, the translation transmission sliding block drives a third finger rotation driving mechanism 32 fixed on the translation transmission sliding block 45 to move synchronously, the first mechanical finger 1 can move laterally relative to the second mechanical finger 2, and the function of adjusting the lateral spacing position of the first mechanical finger 1 and the second mechanical finger 2 is realized.
As shown in fig. 7, the mechanical wrist 5 is provided with a vertical lifting mechanism, which includes: wrist base 55, lift driving motor reduction gear 52, lift transmission first gear 47, lift transmission second gear 48, lift transmission third gear 49, lift transmission gear round pin axle 50, lift transmission screw 51 and lift transmission slider 53, a pair of lift transmission bracing piece 54 and wrist upper cover plate 46, wherein: the lifting driving motor reducer 52 is placed in a motor mounting round hole on the wrist base 55, an output shaft of the lifting driving motor reducer 52 is coaxially arranged with the lifting transmission first gear 47, the lifting transmission second gear 48 is coaxially arranged with the lifting transmission gear pin shaft 50 and is placed in a pin hole of the wrist base 55 through the lifting transmission gear pin shaft 50, one end of the lifting transmission screw 51 is coaxially arranged with the lifting transmission third gear 49, the other end of the lifting transmission screw 51 is coaxially arranged with a central round hole on the side surface of the bottom plate of the wrist base 55, the lifting transmission slide block 53 is sleeved on the lifting transmission screw block 51 through a central threaded hole, the lifting transmission slide block 53 is fixedly connected with the palm cover plate 23 through a mounting flange plate at the bottom end, the wrist upper cover plate 46 is placed on one side end surface of the lifting transmission first gear 47, the lifting transmission second gear 48 and the lifting transmission third gear 49, and is fixedly connected with the wrist base 55 through two mounting holes at both sides thereof.
The lifting transmission first gear 47 and the lifting transmission second gear 48 are in large and small tooth meshing transmission, and the end surface thickness and the modulus are the same.
The thickness and the number of teeth of the end surfaces of the lifting transmission second gear 48 and the lifting transmission third gear 49 are the same and are meshed with each other.
In the vertical lifting mechanism, the output shaft of the lifting driving motor reducer 52 transmits the output torque to the lifting transmission first gear 47, and the lifting transmission first gear 47, the lifting transmission second gear 48 and the lifting transmission third gear 49 are engaged with each other for transmission to drive the lifting transmission screw 51 to rotate, so as to guide the lifting transmission slide block 53 to move axially, drive the mechanical palm 4 fixed on the lifting transmission slide block 53 to move synchronously, and realize the function of adjusting the position of the mechanical palm 4 along the vertical direction.
As shown in fig. 8, because the three positions of the cun-guan-chi of the wrist of the human body are not on the same straight line, the invention respectively configures 1 set of finger telescoping mechanism 22 in the middle finger segment 7 of the first mechanical finger 1, the second mechanical finger 2 and the third mechanical finger 3, so that each mechanical finger has the freedom of axial front-back telescopic motion, and the finger end segment 6 of each mechanical finger has the function of adjusting the position in the transverse direction of the wrist; because the longitudinal intervals of the three parts of the customs clearance of the wrist part of the human body present individual differences due to the height and the fat and thin of the human body, the invention respectively drives the first mechanical finger 1 and the third mechanical finger 3 to do lateral horizontal movement relative to the second mechanical finger 2 by arranging the first finger translation driving mechanism 28 and the third finger translation driving mechanism 33 in the mechanical palm 4, when the finger end section 6 of the second mechanical finger 2 is positioned at the customs clearance part of the wrist part of the human body, the finger end section 6 of the first mechanical finger 1 is positioned at the cun-mai part of the wrist part of the human body by adjusting the lateral interval of the first mechanical finger 1 relative to the second mechanical finger 2, and the finger end section 6 of the third mechanical finger 3 is positioned at the customs clearance part of the wrist part of the human body by adjusting the lateral interval of the third mechanical finger 3 relative to the second mechanical finger 2, thereby realizing that the first mechanical finger 1, the second mechanical finger 2 and the third mechanical finger 3 can adapt to the individual differences of the three parts of the customs clearance of the human body, accurate positioning is realized; according to the invention, the vertical lifting mechanism is arranged in the mechanical wrist 5, so that the first mechanical finger 1, the second mechanical finger 2 and the third mechanical finger 3 have a position adjusting function in the vertical direction integrally, the tail end of each mechanical finger tail section 6 can be in contact with the surface of the pulse-taking part in the direction vertical to the surface of the wrist of a human body, and the rotary driving mechanism corresponding to each mechanical finger can apply pressure in the vertical direction to the pulse-taking part.
As shown in fig. 9, in the present embodiment, an O-XY coordinate system is established with the direction parallel to the axial direction of the robot finger as the X axis and the direction parallel to the radial direction of the robot finger as the Y axis, and the adjustable distance ranges of the first robot finger 1, the second robot finger 2, the third robot finger 3, and the second robot finger 2 along the Y axis are all 0 to 16 mm. As shown in fig. 10, the adjustable position range of the finger end section 6 of the single mechanical finger relative to the finger middle section 7 along the X-axis direction is 0-18 mm.
Compared with the prior art, this device sets up a concertina movement degree of freedom respectively through setting up a concertina movement degree of freedom on first mechanical finger 1, second mechanical finger 2 and third mechanical finger 3, sets up first finger translation actuating mechanism 28 and third finger translation actuating mechanism 33 in manipulator palm 4, sets up a perpendicular movement degree of freedom in mechanical wrist 5 for the device is whole to have increased 6 degrees of freedom of movement than prior art, has increased the position control function of pulse diagnosis manipulator, has strengthened its adaptability to the individual pulse diagnosis position difference of different crowds.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (10)
1. The utility model provides a multi freedom position adjustable pulse-taking manipulator device which characterized in that includes: consecutive mechanical wrist, mechanical palm and three mechanical fingers that the structure is the same, wherein: each mechanical finger comprises a finger tail section, a finger middle section and a finger near section which are connected in sequence;
the finger end section comprises: silica gel indicates pad, indicates pad baffle, pulse sensor and indicates the end joint, wherein: the silica gel finger pad is fixed at the central circular hole of the finger pad baffle and is connected with the pulse sensor, and the pulse sensor is arranged in a circular hole groove at the front end of the finger joint;
the middle section of the finger comprises: well festival rear end fixed plate, flexible transmission master gear, flexible transmission follow gear, flexible drive micro motor reduction gear, point well festival shell, flexible drive screw, flexible slider, a pair of flexible bracing piece and flexible front end mounting panel, wherein: the telescopic driving micro motor reducer is axially arranged in an inner round hole of the finger middle section shell, the output end of the telescopic driving micro motor reducer is coaxially arranged with the telescopic transmission main gear, the telescopic transmission screw rod is arranged on the finger middle section shell, one end of the telescopic transmission screw rod is coaxially arranged with the telescopic transmission slave gear, the other end of the telescopic transmission screw rod is connected with the telescopic sliding block, one end of the pair of telescopic supporting rods is fixedly connected with the telescopic sliding block, and the other end of the pair of telescopic supporting rods is arranged on the telescopic front end mounting plate.
2. The multi-degree-of-freedom position-adjustable pulse-taking manipulator device as claimed in claim 1, wherein the first mechanical finger, the second mechanical finger and the third mechanical finger are respectively connected with a front-end rotary motion mechanism of a mechanical palm in a rotary manner, and the rear end of the mechanical palm is fixed on a vertical lifting mechanism of a mechanical wrist;
two ends of the finger proximal segment are provided with 90-degree configured installation positioning holes, one end of each installation positioning hole is connected with the finger middle segment, and the other end of each installation positioning hole is connected with the mechanical palm.
3. The multi-degree-of-freedom position-adjustable pulse-taking manipulator device as claimed in claim 1, wherein the end face thicknesses and moduli of the telescopic transmission master gear and the telescopic transmission slave gear are the same and are meshed with each other;
the telescopic front end mounting plate is fixedly connected with the rear end mounting plate of the finger end joint;
one end of the middle section rear end fixing plate is fixedly connected with the rear end of the middle section shell, and the other end of the middle section rear end fixing plate is connected with the finger proximal section.
4. The multi-degree-of-freedom position-adjustable pulse-taking manipulator device as claimed in claim 1, wherein the mechanical palm comprises: palm mounting base, palm apron, a pair of palm apron fixed ring, second finger rotary driving mechanism, first finger translation actuating mechanism, first finger rotary driving mechanism, third finger translation actuating mechanism and third finger rotary driving mechanism, wherein: third finger translation actuating mechanism and first finger translation actuating mechanism symmetry are fixed to be set up on palm mounting base's panel, and second finger rotation actuating mechanism and first finger rotation actuating mechanism fixed connection, and third finger rotation actuating mechanism and first finger rotation actuating mechanism link to each other with third finger translation actuating mechanism and first finger translation actuating mechanism respectively, and the palm apron is through the solid fixed ring of a pair of palm apron and palm mounting base fixed connection.
5. The multi-degree-of-freedom position-adjustable pulse-taking manipulator device as claimed in claim 4, wherein the second finger rotation driving mechanism comprises: motor fixed stop, the rotatory driving motor reduction gear of second finger and the rotatory pendulum rod of second finger, wherein: the rear end of the second finger rotation driving motor reducer is fixedly connected with the third finger translation driving mechanism through a motor fixing baffle, the front end output shaft of the second finger rotation driving motor reducer is coaxially arranged with the central round hole at one end of the second finger rotation swing rod, and the other end of the second finger rotation swing rod is coaxially and fixedly connected with the central round hole at one end of the proximal segment of the finger.
6. The multi-degree-of-freedom position-adjustable pulse-taking manipulator device as claimed in claim 4, wherein the first finger rotation driving mechanism and the third finger rotation driving mechanism have the same structure and both comprise: the rotation drives micro motor reduction gear and motor slip drum, wherein: the rear end of the rotation driving micro motor reducer is coaxially sleeved in the motor sliding barrel, the motor sliding barrel is fixedly connected with the palm mounting base through a flange disc at the bottom end, and an output shaft of the rotation driving micro motor reducer is coaxially and fixedly connected with a central round hole at one end of the finger close to the palm mounting base.
7. The multi-degree-of-freedom position-adjustable pulse-taking manipulator device as claimed in claim 4, wherein the first finger translation driving mechanism and the third finger translation driving mechanism have the same structure and both comprise: translation motor reduction gear, the first fixed plate of motor, motor second fixed plate, gear installation baffle, the first gear of translation transmission, translation transmission second gear, translation transmission third gear, translation transmission gear round pin axle, translation transmission screw rod and translation transmission slider, wherein: the front end and the rear end of a translation motor reducer are respectively fixedly connected with a palm mounting base through a motor first fixing plate and a motor second fixing plate, an output shaft of the translation motor reducer is coaxially arranged with a translation transmission first gear, a translation transmission second gear is coaxially arranged with a translation transmission gear pin shaft and is placed on the motor first fixing plate through the translation transmission gear pin shaft, one end of a translation transmission screw rod is coaxially arranged with a translation transmission third gear, the other end of the translation transmission screw rod is coaxially arranged with a small round hole on the motor second fixing plate, a translation transmission slide block is sleeved on the translation transmission screw rod through a threaded hole on one side, the translation transmission slide block is coaxially and fixedly connected with a rotation driving micro motor reducer through a large round hole on the other side, a gear mounting baffle is placed on one side end face of the translation transmission first gear, the translation transmission second gear and the translation transmission third gear, and is fixedly connected with the first fixing plate of the motor through two mounting holes at two sides of the fixing plate.
8. The multi-degree-of-freedom position-adjustable pulse-taking manipulator device as claimed in claim 7, wherein the thickness and the number of teeth of the end surfaces of the translation transmission first gear, the translation transmission second gear and the translation transmission third gear are the same and are meshed with each other.
9. The multi-degree-of-freedom position-adjustable pulse-taking manipulator device as claimed in claim 1 or 2, wherein a vertical lifting mechanism is arranged in the mechanical wrist, and the vertical lifting mechanism comprises: wrist base, lift driving motor reduction gear, the first gear of lift transmission, lift transmission second gear, lift transmission third gear, lift transmission gear round pin axle, lift transmission screw and lift transmission slider, a pair of lift transmission bracing piece and wrist upper cover plate, wherein: the lifting driving motor reducer is placed in a motor mounting round hole on the wrist base, an output shaft of the lifting driving motor reducer is coaxially arranged with the lifting transmission first gear, the lifting transmission second gear is coaxially arranged with the lifting transmission gear pin shaft and is placed in a pin hole of the wrist base through the lifting transmission gear pin shaft, one end of the lifting transmission screw rod is coaxially arranged with the lifting transmission third gear, the other end of the lifting transmission screw rod is coaxially arranged with a central round hole on the side surface of the bottom plate of the wrist base, the lifting transmission slide block is sleeved on the lifting transmission screw rod through a central threaded hole, the lifting transmission slide block is fixedly connected with the palm cover plate through a mounting flange plate at the bottom end, the wrist upper cover plate is placed on the lifting transmission first gear, and the end surfaces of one side of the lifting transmission second gear and the lifting transmission third gear are fixedly connected with the wrist base through two mounting holes on two sides of the lifting transmission second gear and the lifting transmission third gear.
10. The multi-degree-of-freedom position-adjustable pulse-taking manipulator device as claimed in claim 9, wherein the lifting transmission first gear and the lifting transmission second gear are in large and small tooth meshing transmission, and the end surface thickness and the modulus are the same;
the thickness and the number of teeth of the end face of the lifting transmission second gear and the end face of the lifting transmission third gear are the same and are meshed with each other.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114469015A (en) * | 2022-01-10 | 2022-05-13 | 川北医学院 | Traditional Chinese medicine pulse condition diagnosis and treatment instrument |
| CN115781686A (en) * | 2022-12-26 | 2023-03-14 | 北京悬丝医疗科技有限公司 | Mechanical arm for remotely diagnosing pulse and control method |
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| CN114469015A (en) * | 2022-01-10 | 2022-05-13 | 川北医学院 | Traditional Chinese medicine pulse condition diagnosis and treatment instrument |
| CN115781686A (en) * | 2022-12-26 | 2023-03-14 | 北京悬丝医疗科技有限公司 | Mechanical arm for remotely diagnosing pulse and control method |
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