CN113752287A

CN113752287A - Bionic 3D printing manipulator based on brain wave control

Info

Publication number: CN113752287A
Application number: CN202111135268.2A
Authority: CN
Inventors: 潘铭杰; 刘政军; 陈柯宇; 王晓雨; 贺李玥; 戴园城; 姚秋艳
Original assignee: Shanghai Jian Qiao University
Current assignee: Shanghai Jian Qiao University
Priority date: 2021-09-27
Filing date: 2021-09-27
Publication date: 2021-12-07

Abstract

The invention relates to a manipulator, in particular to a bionic 3D printing manipulator based on brain wave control, which comprises a hand part, a wrist part, an arm part and a steering engine group, wherein the hand part and the wrist part are rotationally connected, the arm part is fixedly connected with the wrist part, and the steering engine group is arranged in the manipulator; the hand part comprises a palm piece and a plurality of finger pieces hinged on the palm piece, each finger piece is provided with a plurality of finger joints, and adjacent finger joints are hinged; the steering unit controls the independent rotation of a single knuckle, a finger piece or a palm piece through a connecting rope; the connecting rope is led out by the steering engine set and returns to the steering engine set after respectively bypassing the knuckle, the palm part or the wrist part. Compared with the prior art, the invention can accurately and quickly control the finger to rotate; each joint can be independently controlled, so that the joint is more flexible; each joint is controlled by one rope, so that the operation is simple and convenient; the wireless charging mode is adopted for charging, and the brain waves are controlled, so that the use is more convenient and simpler.

Description

Bionic 3D printing manipulator based on brain wave control

Technical Field

The invention relates to a manipulator, in particular to a bionic 3D printing manipulator based on brain wave control.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. Which combines the advantages of both human and robotic machines in their construction and performance and can be programmed to perform a variety of desired tasks.

The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

The clamp type or parallel moving type mechanical arm is designed for the functions of a certain specific requirement, is simple in structural control and convenient to operate, and has high practicability for a large-range large-load mechanical arm.

However, there are several disadvantages in this method:

1. the positioning and holding-pinching are completed by increasing the pressure and improving the friction force, no geometrical and mechanical closed chain exists, and high accuracy, stability and reliability are difficult to achieve in the grabbing of some objects.

2. It has restricted the manipulator accurate positioning and has snatched the function. The traditional mechanical arm adjusts the position state of the mechanical arm by adjusting the front position of the tail end. However, the overall size of the manipulator is large, and the adjustment of the working position and the adjustment of the control coordinate position of the manipulator are complicated, so that the stable and reliable control precision in the working area is difficult to achieve.

3. The precise grabbing control is lack of fine, small, flexible and reliable, and only objects with regular shapes and low mechanical requirements can be finished.

4. Cannot adapt to the change of the appearance of the object. For objects with extremely small individuals or unique appearances, the objects are difficult to grab, and the capturing success rate of the objects is reduced.

Chinese patent CN110604637A discloses a bionic finger and manipulator, comprising: a base; the first knuckle is rotatably connected with the base through a first hinge part; the second knuckle is rotatably connected with the first knuckle through a second hinge part; the third knuckle is rotatably connected with the second knuckle through a third hinge part; one end of the first connecting rod is rotatably connected with the base through a fourth hinge part, and the other end of the first connecting rod is rotatably connected with the second finger section through a fifth hinge part; and one end of the second connecting rod is rotatably connected with the first knuckle through a sixth hinge part, and the other end of the second connecting rod is rotatably connected with the third knuckle through a seventh hinge part. In the bionic finger provided by the patent, the angle change between the knuckles is realized through the connecting rod, and the manipulator is usually high in manufacturing cost and complex in structure and has the problem of slow movement when in use.

Chinese patent CN109822605A discloses a bionic finger and manipulator, comprising: at least two knuckles, wherein one of the two adjacent knuckles is provided with a first joint part, the other knuckle is provided with a second joint part, the second joint part is detachably and rotatably arranged in the first joint part, and the first joint part is provided with a first clamping surface; the traction rope is sequentially connected with each knuckle and drives the two adjacent knuckles to rotate along the traction direction; the torsional spring is detachably arranged in the second joint part, drives the two adjacent knuckles to rotate along the resetting direction and comprises a first torsional arm and a second torsional arm; and the pivot has seted up the fixed slot along the axial, and one end is provided with the second joint face, and first joint portion, second joint portion and torsional spring can be passed in the pivot, make second torque arm card go into the fixed slot, first torque arm and second joint portion butt, second joint face and first joint face joint. The bionic finger provided by the patent is complex in structure, needs to adopt the elastic restoring force of the torsion spring to restore the gesture of the finger, can have strong recoil and is easy to damage parts.

Disclosure of Invention

The present invention has been made to solve the above problems, and an object of the present invention is to provide a bionic 3D printing manipulator based on brain wave control, which has a simple structure and a high degree of freedom, and can freely control the movement of each degree of freedom of the manipulator through brain waves.

The purpose of the invention is realized by the following technical scheme:

a bionic 3D printing manipulator based on brain wave control comprises a hand part, a wrist part, an arm part and a steering engine group, wherein the hand part and the wrist part are rotatably connected, the arm part is fixedly connected with the wrist part, and the steering engine group is arranged in the manipulator;

the hand part comprises a palm piece and a plurality of finger pieces hinged on the palm piece, each finger piece is provided with a plurality of finger joints, and adjacent finger joints are hinged;

the steering engine group controls independent rotation of a single knuckle, a finger piece or a palm piece through a connecting rope;

the connecting rope is led out by the steering engine set and returns to the steering engine set after respectively bypassing the knuckle, the palm part or the wrist part.

Preferably, the number of the finger pieces is 5, and the finger pieces comprise a thumb piece, an index finger piece, a middle finger piece, a ring finger piece and a small finger piece which are arranged in sequence, wherein the thumb piece is arranged at one side of the palm piece, and the index finger piece, the middle finger piece, the ring finger piece and the small finger piece are arranged at the front end of the palm piece;

the thumb piece is provided with two knuckles comprising a first knuckle and a third knuckle which are hinged, and the other fingers are provided with three knuckles comprising a first knuckle, a second knuckle and a third knuckle which are sequentially and respectively hinged; the lower end of the third knuckle is hinged with the palm component.

Preferably, the first knuckle comprises a fixedly connected fingertip and a male member, the second knuckle comprises a fixedly connected male member and a female member, and the third knuckle comprises two fixedly connected female members;

the concave part at one end of the third knuckle is hinged with the convex part arranged at the front end of the palm part, the concave part at the other end of the third knuckle is hinged with the convex part of the second knuckle, and the concave part of the second knuckle is hinged with the convex part of the first knuckle;

or the concave part at one end of the third knuckle is hinged with the convex part arranged at the front end of the palm part, and the concave part at the other end of the third knuckle is hinged with the convex part of the first knuckle.

Preferably, the finger tip and the convex part of the first knuckle, the convex part and the concave part of the second knuckle and the two concave parts of the third knuckle are firmly fixed by printing glue.

Preferably, the printing glue is chloroform (acrylic glue).

Preferably, a plurality of channels for allowing the connecting ropes to pass through are arranged in the palm piece and the finger joints, and a V-shaped channel is arranged at the hinged position of the convex piece to realize the steering of the connecting ropes;

the front end of the fingertip is provided with a hole for the connecting rope to pass through, so that the connecting rope can be turned;

the connecting rope is led out by the steering engine set, respectively passes through the channels arranged in the palm piece and the finger joints, is turned by the V-shaped channel or the opening of the finger tip, and then returns to the steering engine set by the channels arranged in the palm piece and the finger joints.

Preferably, the connecting rope is composed of a plurality of braided wires.

Preferably, the material of the braided wire is polypropylene yarn.

Preferably, the palm part include the first finger root piece of being connected with thumb spare, with the second finger root piece that forefinger spare and middle finger spare are connected, with third finger root piece that third finger root piece is connected and the fourth finger root piece that is connected with little finger spare, first finger root piece, third finger root piece and fourth finger root piece articulated with second finger root piece respectively, second finger root piece articulated with the wrist portion.

Preferably, the wrist part comprises a rotary wrist and a wrist which are rotatably connected; the rotary wrist is U-shaped, the ear plates on the two sides are hinged with the palm piece, and the palm piece rotates along the connecting line of the two ear plates by controlling the connecting rope through the steering engine group;

the wrist is internally provided with a gear set, and the rotation of the rotary wrist along the axis of the wrist is realized by the driving of the steering gear set.

Preferably, the gear set, the wrist and the rotary wrist bottom plate are provided with holes for the connecting rope to pass through.

Preferably, the steering engine set comprises a first steering engine set arranged in the wrist part and a second steering engine set arranged in the arm part; the first steering engine group controls rotation of the wrist part, and the second steering engine group controls rotation of the finger joints and the palm piece.

Preferably, the first steering engine group is arranged in the middle of the wrist, one side of the first steering engine group is provided with a space for the connecting rope to pass through, and the other side of the first steering engine group is provided with a convex block for supporting the first steering engine group.

Preferably, the steering engine group is arranged in the manipulator through a steering engine seat; the number of the steering engines in the steering engine group is equal to the degree of freedom of the manipulator, each steering engine in the second steering engine group controls one connecting rope, and the steering engines in the first steering engine group control the gear group; and the steering gears in the steering gear group are all 360-degree steering gears.

Preferably, the steering engine seat adopts a high-low layer design, so that power in the same direction can be conveniently output, and meanwhile, the mutual interference cannot occur; the steering wheel and the steering wheel seat are fixed through screws, and a certain gap is reserved between the steering wheels, so that the heat dissipation of the steering wheel is facilitated, and the temperature of the steering wheel is reduced.

Preferably, a controller and a power supply are further arranged in the arm part; the controller comprises a signal transmission module and a control chip, and the control chip receives signals received by the signal transmission module and controls the actions of all parts; the power supply is charged in a wireless mode.

Preferably, the signal transmission module is a bluetooth module.

Preferably, each mechanical part of the manipulator is manufactured by 3D printing.

Preferably, the 3D printed material is a PLA material.

Preferably, the manipulator is controlled by brain waves.

The working principle of the invention is as follows:

the controller receives an action signal from the outside, and after processing, the signal is sent to a steering engine or a steering engine set which needs to act, and the steering engine or the steering engine set controls the movement of the manipulator by operating a connecting rope or a gear set.

When the wrist portion needs to rotate along the central shaft of the wrist portion, the steering gear set drives the gear set to rotate, and the gear set transmits movement or torsion to further drive the rotation of the wrist portion.

When the knuckle of finger spare need rotate (trun into and snatch the gesture), the rope motion is connected in steering wheel group drive, connect the rope and receive the effort of steering wheel and take place tensile, at this moment, connect the rope and have a pressure to the pivot of articulated department for the connection rope of pivot both sides is advanced, is gone out not on same water flat line, connects rope one side to have an excess pulling force to the pivot, and the opposite side has aggravated turning pressure to the pivot, makes two articulated parts of this articulated department have the relative rotation of revolving the axle. Because the connecting rope is also stretched to move, the whole mechanical finger is promoted to perform a plurality of rotary movements (relative rotation of three finger joints), the hand of the mechanical hand integrally forms a grabbing movement, the finger piece is bent, and the extrusion force formed by stretching the connecting rope is reduced.

When the finger piece need resume the normality, the rope antiport is connected in the steering wheel group drive, and finger piece self extrusion force reduces, is connecting under the inertial force drive of rope simultaneously, carries out lax motion, connects rope self and carries out extrusion motion, connects the rope and is in the collinear state, connects the strength between the rope and offsets each other. The extrusion force of the connecting rope to the rotating shaft is mutually offset, and the loss of the connecting rope is reduced.

The principle of rotation of the palm member and the finger members is similar to that of rotation of the knuckles of the finger members.

Compared with the prior art, the invention has the following beneficial effects:

1. the connecting rope controls the rotation of the manipulator, and the manipulator is driven by the 360-degree steering engine, so that the action of the manipulator can be accurately and quickly realized, and the rotating angle and speed of fingers can be controlled; each joint (hinged part) is controlled by a connecting rope and a steering engine, so that each joint can be controlled independently and is more flexible; the rotation of a joint can be realized only through a connection rope, and a channel is designed for each connection rope, so that the device is simple and convenient, and the possibility of misoperation caused by disorder connection ropes is reduced.

2. The bionic hand designed similarly to the human hand is designed according to the actual degree of freedom of the human hand, can highly imitate the human hand, and has high flexibility and stability similar to the human hand. The finger piece adopts a hinged mode, and the knuckle realize the mutual rotation of the knuckle and the knuckle by adopting the matching of the concave piece and the convex piece, so that joint parts are omitted, and the same rotation effect can be achieved; each finger piece is in an independent modular design, and subsequent maintenance, updating and replacement are facilitated.

3. The connecting rope adopts a plurality of strands of braided ropes, the materials are easy to obtain, the manufacture is easy, the strength of the braided ropes is high, the braided ropes are not easy to damage, the service life of the manipulator can be prolonged, and the maintenance frequency can be reduced. The connecting rope is adopted as a transmission assembly, so that the whole structure is simpler, the whole weight is light, and meanwhile, the rope driving is also characterized by low recoil and small volume, so that the manipulator is more comfortable when being installed on a human big arm, and the action is more convenient.

4. Adopt 3D to print and make, can have more accurate control to complicated inner structure, reduce manufacturing cost shortens manufacturing time for industrial production is simple and convenient more.

5. According to the invention, all the driving components, the power supply and the controller are integrated in the arm part or the wrist part, so that the space is greatly saved, and the wireless charging mode is adopted for charging and the brain wave control, so that the use is more convenient and simpler.

Drawings

FIG. 1 is a schematic structural view of a robot of the present invention;

FIG. 2 is a schematic diagram of the finger of the robot of the present invention;

FIG. 3 is a schematic diagram of the wrist and arm portions of the robot of the present invention;

in the figure: 1-hand; 11-a finger piece; 111-thumb piece; 112-index finger piece; 113-middle finger; 114-ring finger; 115-thumb piece; 1101 — first knuckle; 1102-second knuckle; 1103-third knuckle; 1104-the tip of a finger; 1105-a male part; 1106-female part; 12-a palm piece; 121-first finger root block; 122-second root finger block; 123-third finger root block; 124-fourth finger root block; 2-wrist part; 21-rotating wrist; 22-wrist; 3-arm part; 4-gear set; 51-a first rudder unit; 52-a second rudder unit; 6-connecting ropes.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments.

Example 1

A bionic 3D printing manipulator based on brain wave control is shown in figure 1 and comprises a hand part 1 and a wrist part 2 which are connected in a rotating mode, a hand arm part 3 fixedly connected with the wrist part 2, and a steering engine group arranged in the manipulator;

the hand part 1 comprises a palm piece 12 and a plurality of finger pieces 11 hinged on the palm piece 12, each finger piece 11 is provided with a plurality of finger joints, and adjacent finger joints are hinged;

the steering unit controls the independent rotation of a single knuckle, a finger piece 11 or a palm piece 12 through a connecting rope 6;

the connecting rope 6 is led out by the steering engine group and returns to the steering engine group after respectively bypassing the knuckle, the palm part 12 or the wrist part 2.

More specifically, in the present embodiment:

as shown in fig. 1 and 2, there are 5 finger members 11, which are respectively a thumb member 111, an index finger member 112, a middle finger member 113, a ring finger member 114 and a small finger member 115, which are arranged in sequence, wherein the thumb member 111 is arranged at one side of the palm member 12, and the index finger member 112, the middle finger member 113, the ring finger member 114 and the small finger member 115 are arranged at the front end of the palm member 12 in sequence. Wherein, thumb piece 111 has two knuckles: a first knuckle 1101 and a third knuckle 1103, both hingedly connected; the remaining fingers 11 all have three knuckles: a first knuckle 1101, a second knuckle 1102, and a third knuckle 1103; first knuckle 1101, second knuckle 1102 and third knuckle 1103 are glued in sequence, and the lower end of third knuckle 1103 is hinged to palm member 12. Thus, the knuckles can rotate relatively around the hinge. The first knuckle 1101 is constituted by a fingertip 1104 and a male member 1105 fixedly connected by printing glue, the second knuckle 1102 is constituted by a male member 1105 and a female member 1106 fixedly connected by printing glue, and the third knuckle 1103 is constituted by two female members 1106 fixedly connected by printing glue. Wherein the printing glue is trichloromethane (acrylic glue). The female member 1106 at one end of the third knuckle 1103 is hingedly connected to the male member 1105 at the front end of the palm member 12; the concave member 1106 at the other end is hinged with the convex member 1105 of the second finger 1102, and the two parts are connected and matched in a concave-convex matching mode, meanwhile, one part is fixed, and the other part rotates to a certain degree without other degrees of freedom; the female member 1106 of the second knuckle 1102 is hingedly connected to the male member 1105 of the first knuckle 1101 by an interference fit to ensure that there is no additional degree of freedom in movement. Thus, where the first, second and

third knuckles

1101, 1102 and 1102 are all intermediate hinges, rotation is possible, and the finger has the ability to move in multiple complex motions. The articulation of the first and

third knuckles

1101, 1103 of the thumb piece 111 is similar to that of the other finger pieces 11. By adopting the design of multiple dexterous fingers, the object can be more stably and firmly grabbed in the grabbing or pinching action, and the multi-dexterous finger has stronger mobility. Two trapezoidal bosses with abutted top surfaces are arranged in the convex section of the convex part 1105 to form a V-shaped channel together, so that the connecting rope 6 can bypass the V-shaped channel and the extending direction of the connecting rope is reversed; an opening for allowing the connecting rope 6 to pass through is further provided at the front end of the fingertip 1104 of the finger member 11, and the connecting rope 6 is turned through the opening. The independent modular design of the finger members 11 facilitates subsequent maintenance and updating.

The palm member 12 is composed of four parts, namely a first finger base 121 connected with the thumb member 111, a second finger base 122 connected with the index finger member 112 and the middle finger member 113, a third finger base 123 connected with the ring finger member 114 and a fourth finger base 124 connected with the small finger member 115, wherein the second finger base 122 is hinged with the wrist portion 2, and the first finger base 121, the third finger base 123 and the fourth finger base 124 are hinged with the second finger base 122 respectively. In this way, the palm member 12 can provide more degrees of freedom for the rotation of the finger member 11, so that the flexibility of the robot and the number of achievable movements are greatly increased. Inside the palm member 12 and knuckles are provided a plurality of channels through which the connecting strings 6 can pass.

The connection between the mechanical arm and the hand is completed through the wrist, the connection between the human arm and the hand is completed through the wrist, the wrist can enable the human hand to obtain two degrees of freedom, and the human wrist has the functions of reducing the mutual pressure of the hand or the trunk and protecting the limbs from being injured. Accordingly, in the present embodiment, the arm part 3 and the hand 1 are also connected by the wrist part 2, as shown in fig. 3. The wrist part 2 can be divided into a rotary wrist 21 hinged with the palm part 12 and a wrist 22 rotatably connected with the rotary wrist 21, the rotary wrist 21 is of a U-shaped structure, ear plates on two sides of the rotary wrist are hinged with the palm part 12, the palm part 12 rotates along a connecting line of the two ear plates, the ear plates on the two sides are simultaneously hinged with the palm part 12, and the rotary wrist can be kept on the same datum line (hinged rotating shaft) during rotation, so that the rotary wrist is more stable and reliable. When the palm member 12 moves, the rotation axis has the fixed self-rotation function, and the fingers can rotate at the same time, so that the bending action of the human hand to the arm can be simulated better and more truly. Inside the wrist 22 there is a gear train 4, driven by a first rudder unit 51, also arranged inside the wrist 22, to control the rotation of the swivel wrist 21 along the axis of the wrist portion 2. Wherein, the steering wheel that first rudder unit 51 adopted is 360 degrees steering wheels, can be accurate, the rotation of the rotatory wrist 21 of quick control. The first rudder unit 51 is fixed at the middle position of the wrist portion 2, and has a space for allowing the knuckle of the driving finger 11 and the connecting string 6 of the palm member 12 to rotate to pass through on one side thereof, and a projection for supporting the first rudder unit 51 is provided on the other side thereof. The bottom of the rotary wrist 21 is provided with an opening which can pass through the gear set 4, so that power transmission can be directly realized, the gear set 4 can be directly and quickly connected with the hand 1, and rotating torque is provided. A plurality of through holes which can allow the connecting ropes 6 to pass through are formed in the gear set 4; a passage is also provided in wrist portion 2 through which connecting cord 6 can pass.

A second rudder unit 52, a controller and a power supply are also provided in the arm section 3. The controller also comprises a signal transmission module and a control chip, wherein the signal transmission module adopts a Bluetooth module, the Bluetooth module is an HC-06 Bluetooth module of Shenzhen Wen Tai micro technology, Inc., the control chip is an ATmega328P of ATMEL, and the control chip controls each part to act after receiving a signal received by the Bluetooth module; the power supply is charged in a wireless charging mode, so that the manipulator is convenient to use; the motion of rope 6 is connected in the control of second rudder unit 52 to with the rotation of each part on this control knuckle and palm spare 12, 360 degrees steering engines also adopt in the second rudder unit 52, fix on the rudder frame through the screw, it is more reliable and more stable, the steering engine seat adopts high low layer design (height staggers), conveniently export the power of same direction, can not produce the problem of mutual interference simultaneously, all leave certain space between every steering engine, make things convenient for the heat dissipation of steering engine, and can install cooling system, further reduce the use temperature of steering engine. A channel which can pass through the connecting rope 6 is also arranged inside the arm part 3, and the connecting ropes 6 are prevented from being wound in the using process, so that the misoperation can occur.

The connecting rope 6 is composed of a plurality of strands of braided wires, and the connecting rope is woven by high-strength polypropylene yarns. In this embodiment, the connecting cord 6 is formed by knitting three strands of knitting yarns. The connecting rope 6 is led out from each steering engine of the second rudder unit 52, reaches each joint (each part hinge joint) needing to be controlled by the connecting rope 6 through the arm part 3, the wrist part 2, the gear, the palm part 12 and the knuckle respectively, and returns to each steering engine of the second rudder unit 52 along the channel and the opening hole in sequence after bypassing the joint. Each steering engine corresponds to one connecting rope 6, and each connecting rope 6 reaches the corresponding joint through the respective channel and the opening and finally returns to the corresponding steering engine. The total number of the steering engines corresponds to the number of all degrees of freedom of the manipulator, so that each knuckle, the palm member 12 and the rotary wrist 21 of the manipulator can move independently, and the whole manipulator has better flexibility and universality.

In the present embodiment, each mechanical part of the robot arm, such as: hand 1, wrist portion 2 and arm portion 3 etc. adopt 3D to print the manufacturing, can design according to actual demand, satisfy special crowd's demand more easily, in addition, the manipulator that 3D printed and obtained has more accurate inner structure, still has higher manufacturing efficiency. The 3D printing material used in this embodiment is a PLA material. Particularly, the tail end of the arm part 3 of the manipulator can adopt a labor-saving structure, so that the use of a user is more convenient.

The manipulator in this embodiment is controlled by brain waves, and after the brain waves are detected and processed, the processed digital signals are sent to the bluetooth device in the manipulator arm part 3, and then the bluetooth device sends the signals to the control chip, and the control chip controls the operation of the steering engine to drive the manipulator to act.

The working principle of the invention is as follows:

firstly, the controller receives an action signal from the outside, and after processing, the signal is sent to a steering engine or a steering engine set which needs to act, and the steering engine or the steering engine set controls the movement of the manipulator by operating the connecting rope 6 or the gear set 4.

When wrist portion 2 need rotate along the center pin of wrist portion 2, steering wheel group drive gear train 4 rotates, and gear train 4 conveys motion or torsion, and then drives wrist portion 2's rotation.

When the knuckle of the finger piece 11 needs to rotate (turns into and snatchs the gesture), the steering wheel group drive connects rope 6 motion, connect rope 6 and receive the effort of steering wheel and take place tensile, at this moment, connect rope 6 and have a pressure to the pivot of articulated department, make the connection rope 6 of pivot both sides advance, go out not on same water flat line, connect 6 one side of rope and have an excess pulling force to the pivot, the opposite side has aggravated rotation pressure to the pivot, make two articulated parts of this articulated department have the relative rotation of revolving the axle. Because the connecting rope 6 is also stretching at the same time, the whole mechanical finger is promoted to perform a plurality of rotary motions (relative rotation of three finger joints), the hand part 1 of the mechanical hand integrally forms a grabbing motion, the finger part 11 is bent, and the extrusion force formed by stretching the connecting rope 6 per se is reduced.

When the finger piece 11 needs to resume the normality, 6 reverse motion of rope are connected in the drive of steering wheel group, and the extrusion force of finger piece 11 self reduces, drives down at the inertial force of connecting rope 6 simultaneously, carries out lax motion, connects rope 6 self and carries out extrusion motion, connects rope 6 and is in the collinear state, connects the power between the rope 6 and offsets each other. The extrusion force of the connecting rope 6 to the rotating shaft is mutually offset, and the loss of the connecting rope 6 is reduced.

The principle of rotation of the palm member 12 and the finger member 11 is similar to that of rotation of the knuckles of the finger member 11.

The embodiments described above are described to facilitate an understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.

Claims

1. A bionic 3D printing manipulator based on brain wave control is characterized by comprising a hand part (1) and a wrist part (2) which are connected in a rotating mode, a hand arm part (3) fixedly connected with the wrist part (2), and a steering engine group arranged inside the manipulator;

the hand part (1) comprises a palm piece (12) and a plurality of finger pieces (11) hinged on the palm piece (12), each finger piece (11) is provided with a plurality of finger joints, and adjacent finger joints are hinged;

the steering engine group controls independent rotation of a single knuckle, a finger piece (11) or a palm piece (12) through a connecting rope (6);

the connecting rope (6) is led out by the steering engine set and returns to the steering engine set after respectively bypassing the knuckle, the palm piece (12) or the wrist part (2).

2. The bionic 3D printing manipulator based on brain wave control as claimed in claim 1, wherein the number of the finger pieces (11) is 5, and the finger pieces comprise a thumb piece (111), an index finger piece (112), a middle finger piece (113), a ring finger piece (114) and a little finger piece (115) which are arranged in sequence, wherein the thumb piece (111) is arranged at one side of the palm piece (12), and the index finger piece (112), the middle finger piece (113), the ring finger piece (114) and the little finger piece (115) are arranged at the front end of the palm piece (12);

the thumb piece (111) is provided with two knuckles comprising a first knuckle (1101) and a third knuckle (1103) which are hinged, and the rest of the finger pieces (11) are provided with three knuckles comprising a first knuckle (1101), a second knuckle (1102) and a third knuckle (1103) which are sequentially and respectively hinged; the lower end of the third knuckle (1103) is hinged with the palm piece (12).

3. The brain wave control-based biomimetic 3D printing manipulator according to claim 2, characterized in that the first knuckle (1101) comprises a fixedly connected fingertip (1104) and a male member (1105), the second knuckle (1102) comprises a fixedly connected male member (1105) and a female member (1106), and the third knuckle (1103) comprises two fixedly connected female members (1106);

the concave part (1106) at one end of the third knuckle (1103) is hinged with the convex part (1105) arranged at the front end of the palm part (12), the concave part (1106) at the other end is hinged with the convex part (1105) of the second knuckle (1102), and the concave part (1106) of the second knuckle (1102) is hinged with the convex part (1105) of the first knuckle (1101);

or the concave piece (1106) at one end of the third knuckle (1103) is hinged with the convex piece (1105) arranged at the front end of the palm piece (12), and the concave piece (1106) at the other end is hinged with the convex piece (1105) of the first knuckle (1101).

4. The bionic 3D printing manipulator based on brain wave control as claimed in claim 3, wherein a plurality of channels for the connecting rope (6) to pass through are arranged inside the palm piece (12) and the knuckle, and a V-shaped channel is arranged at the hinged position of the convex piece (1105) to realize the steering of the connecting rope (6);

the front end of the fingertip (1104) is provided with a hole for the connecting rope (6) to pass through, so that the connecting rope (6) can be turned;

the connecting rope (6) is led out by the steering engine set, respectively passes through the channels arranged in the palm piece (12) and the finger joints, is turned by the V-shaped channel or the opening of the fingertip (1104), and then returns to the steering engine set by the channels arranged in the palm piece (12) and the finger joints.

5. The bionic 3D printing manipulator based on brain wave control according to claim 4, characterized in that the connecting rope (6) is composed of several braided wires.

6. The bionic 3D printing manipulator based on brain wave control as claimed in claim 1, wherein the palm piece (12) comprises a first finger root block (121) connected with a thumb piece (111), a second finger root block (122) connected with an index finger piece (112) and a middle finger piece (113), a third finger root block (123) connected with a ring finger piece (114) and a fourth finger root block (124) connected with a small finger piece (115), the first finger root block (121), the third finger root block (123) and the fourth finger root block (124) are respectively hinged with the second finger root block (122), and the second finger root block (122) is hinged with the wrist portion (2).

7. The bionic 3D printing manipulator based on brain wave control as claimed in claim 1, wherein the wrist part (2) comprises a rotary wrist (21) and a wrist (22) which are rotatably connected; the rotary wrist (21) is U-shaped, ear plates on two sides are hinged with the palm piece (12), and the palm piece (12) rotates along the connecting line of the two ear plates by controlling the connecting rope (6) through the steering engine group;

the wrist (22) is internally provided with a gear set (4) which is driven by a steering engine set to realize that the rotary wrist (21) rotates along the axis of the wrist part (2).

8. The bionic 3D printing manipulator based on brain wave control according to claim 7, wherein the steering engine set comprises a first steering engine set (51) arranged in the wrist part (2) and a second steering engine set (52) arranged in the arm part (3); the first rudder unit (51) controls the rotation of the wrist part (2), and the second rudder unit (52) controls the rotation of the knuckle and the palm member (12).

9. The bionic 3D printing manipulator based on brain wave control as claimed in claim 8, wherein the steering engine group is mounted inside the manipulator through a steering engine base; the number of the steering engines in the steering engine set is equal to the degree of freedom of the manipulator, each steering engine in the second steering engine set (52) controls one connecting rope (6), and the steering engines in the first steering engine set (51) control the gear set (4); and the steering gears in the steering gear group are all 360-degree steering gears.

10. The bionic 3D printing manipulator based on brain wave control as claimed in claim 1, characterized in that a controller and a power supply are arranged in the arm part (3); the controller comprises a signal transmission module and a control chip, and the control chip receives signals received by the signal transmission module and controls the actions of all parts; the power supply is charged in a wireless mode.