CN118163081A - Simulation manipulator - Google Patents

Simulation manipulator Download PDF

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Publication number
CN118163081A
CN118163081A CN202410598026.4A CN202410598026A CN118163081A CN 118163081 A CN118163081 A CN 118163081A CN 202410598026 A CN202410598026 A CN 202410598026A CN 118163081 A CN118163081 A CN 118163081A
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CN
China
Prior art keywords
finger
section
mounting part
upper mounting
connecting rod
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Pending
Application number
CN202410598026.4A
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Chinese (zh)
Inventor
古今颖
杨春军
高佳
钟晓峰
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Tianjin Rising Technology Co ltd
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Tianjin Rising Technology Co ltd
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Application filed by Tianjin Rising Technology Co ltd filed Critical Tianjin Rising Technology Co ltd
Priority to CN202410598026.4A priority Critical patent/CN118163081A/en
Publication of CN118163081A publication Critical patent/CN118163081A/en
Pending legal-status Critical Current

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Abstract

The application provides a simulation manipulator which comprises a forearm, wherein the forearm is connected with a palm through a wrist joint driving device, the palm is respectively connected with a female finger, an index finger, a middle finger, a ring finger and a little finger through a finger driving device, and the forearm, the palm, the female finger, the middle finger, the index finger, the ring finger and the little finger are hollow and can be used for accommodating the insertion of a human body; the small arm, the palm, the female finger, the middle finger, the index finger, the ring finger and the small finger are hollow and can be used for accommodating human body insertion, the wrist joint driving device is arranged between the small arm and the palm, the finger driving device is arranged between the palm and each finger, the action can be realized when a human body is inserted or a human body is not inserted, the simulation is ensured, and the universality of the application is improved.

Description

Simulation manipulator
Technical Field
The application relates to the technical field of manipulators, in particular to a simulation manipulator.
Background
The manipulator is an automatic operation device which can simulate certain action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program; the manipulator is the earliest industrial robot and the earliest modern robot, can replace heavy labor of people to realize mechanization and automation of production, can operate in harmful environments to protect personal safety, and is widely applied to departments of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like; along with the development of technology, a simulation manipulator appears, and the simulation manipulator is a manipulator manufactured according to a human hand structure, can replace a human hand to realize various operations, has more and more functions, and can simulate various simulation actions of the human hand through the cooperation of mother fingers and remaining four fingers.
After searching, the prior art is searched as follows: the Chinese patent application number is: 202110103837.9, authorized bulletin number: in the palm folding structure of the simulation manipulator of CN112659167B, a technical scheme is disclosed, the simulation manipulator comprises a support, a palm block, a female finger supporting block and a motor, wherein the female finger supporting block is rotatably arranged on the support, the palm block is vertically rotatably arranged on the support through a rotating shaft, the motor is arranged on the support and is in transmission connection with the female finger supporting block, and a linkage structure for driving the palm block and the female finger supporting block to reversely rotate is arranged between the female finger supporting block and the palm block; according to the invention, the motor is utilized to drive the female finger supporting block to rotate on the support, the linkage structure arranged between the female finger supporting block and the upper palm block drives the upper palm block to reversely rotate on the support and the female finger supporting block, so that the folding between the female finger and the upper palm block is realized, and various operations can be conveniently carried out by the female finger and the rest four pairs of the simulation manipulator; meanwhile, the linkage is strong, the control is convenient, the structure is simple and compact, and the device can be installed and used in a small space of the simulation manipulator.
In the patent application, the linkage between the female finger and the palm is good, but the human hand cannot be inserted into the simulation manipulator; after detailed search, the applicant does not find a simulation/living manipulator which can work normally without human body insertion or with human body insertion.
Therefore, a new technical solution is needed to solve the above technical problems.
Disclosure of Invention
The application provides a simulation manipulator which comprises a forearm, wherein the forearm is connected with a palm through a wrist joint driving device, the palm is respectively connected with a female finger, an index finger, a middle finger, a ring finger and a little finger through a finger driving device, and the forearm, the palm, the female finger, the middle finger, the index finger, the ring finger and the little finger are hollow and can be used for accommodating the insertion of a human body.
As a preferable scheme, the wrist joint driving device comprises a wrist joint C-shaped connecting rod connected with a forearm and a palm, wherein the wrist joint C-shaped connecting rod comprises a wrist joint C-shaped connecting rod I and a wrist joint C-shaped connecting rod II, a wrist joint driving cylinder is fixed above the forearm, and the output end of the wrist joint driving cylinder is connected with the palm.
As a preferable scheme, the upper part and the lower part of the small arm are respectively provided with a small arm upper mounting part and a small arm lower mounting part, the small arm upper mounting part comprises a small arm upper body, a through small arm upper mounting hole I is formed in the small arm upper body, a through small arm upper mounting hole II is formed in the upper part of the small arm upper mounting hole I, a driving cylinder mounting groove is formed in the middle of the small arm upper body, and the driving cylinder mounting groove is communicated with the small arm upper mounting hole II; the lower forearm installation part comprises a lower forearm body, and a through lower forearm installation hole is formed in the lower forearm body.
As a preferable scheme, an upper palm mounting part and a lower palm mounting part are respectively arranged on the upper part and the lower part of one side of the palm, which is close to the forearm, the upper palm mounting part comprises a palm upper body, a through upper palm mounting hole I is arranged on the small palm upper body, a through upper palm mounting hole II is arranged on the upper part of the upper palm mounting hole I, a driving cylinder connecting groove is formed in the middle of the upper palm body, and the driving cylinder connecting groove is communicated with the upper palm mounting hole II; the palm lower mounting part comprises a palm lower body, and a through palm lower mounting hole is formed in the palm lower body; the upper part of one side of the palm far away from the forearm is respectively provided with a female finger upper mounting part, an index finger upper mounting part, a middle finger upper mounting part, a ring finger upper mounting part and a little finger upper mounting part; the lower part of one side of the palm far away from the forearm is respectively provided with a female finger lower mounting part, an index finger lower mounting part, a middle finger lower mounting part, a ring finger lower mounting part and a little finger lower mounting part; a wrist joint C-shaped connecting rod I is arranged between the upper forearm mounting hole I and the lower palm mounting hole, and a wrist joint C-shaped connecting rod II is arranged between the upper palm mounting hole I and the lower forearm mounting hole; the wrist joint driving cylinder is arranged in the driving cylinder mounting groove, and the output end of the wrist joint driving cylinder is connected with the driving cylinder connecting groove.
As a preferable scheme, the wrist joint C-shaped connecting rod comprises a C-shaped body, wherein the right side of the top of the C-shaped body is provided with a wrist joint upper mounting part, the wrist joint upper mounting part is provided with a wrist joint upper mounting hole, the left side of the bottom of the C-shaped body is provided with a wrist joint lower mounting part, and the wrist joint lower mounting part is provided with a wrist joint lower mounting hole; or the left side at the top of the C-shaped body is provided with a wrist joint upper mounting part, the wrist joint upper mounting part is provided with a wrist joint upper mounting hole, the right side at the bottom of the C-shaped body is provided with a wrist joint lower mounting part, and the wrist joint lower mounting part is provided with a wrist joint lower mounting hole.
As a preferable scheme, the finger driving device comprises a finger C-shaped connecting rod for connecting a palm with a female finger, an index finger, a middle finger, a ring finger and a little finger, wherein a finger driving cylinder is fixed above the palm, and the output end of the finger driving cylinder is connected with the female finger, the middle finger, the index finger, the ring finger and the little finger.
As a preferable scheme, the finger C-shaped connecting rod comprises a female finger C-shaped connecting rod, an index finger C-shaped connecting rod, a middle finger C-shaped connecting rod, a ring finger C-shaped connecting rod and a little finger C-shaped connecting rod.
As a preferable scheme, the finger C-shaped connecting rod comprises a connecting part, an upper mounting part is arranged on the right side of the top of the connecting part, an upper mounting hole is formed in the upper mounting part, a lower mounting part is arranged on the left side of the bottom of the connecting part, and a lower mounting hole is formed in the lower mounting part; or the left side of the top of the connection base is provided with an upper mounting part, the upper mounting part is provided with an upper mounting hole, the right side of the bottom of the connection base is provided with a lower mounting part, and the lower mounting part is provided with a lower mounting hole.
The small arm, the palm, the female finger, the middle finger, the index finger, the ring finger and the little finger are hollow and can be used for accommodating human body insertion, a wrist joint driving device is arranged between the small arm and the palm, and a finger driving device is arranged between the palm and each finger, so that the movement can be realized when a human body is inserted or not inserted, the simulation is ensured, and the universality of the application is improved; the wrist joint C-shaped connecting rod and the finger C-shaped connecting rod can rotate the wrist joint and the finger joint, and the C-shaped structure can enable parts such as arms, palms and fingers of a human body to penetrate into the manipulator without interference on the premise of realizing the supporting function of the connecting rod.
Drawings
FIG. 1 is a schematic view of the angle one construction of the present application;
FIG. 2 is a schematic view of the structure of the angle II of the present application;
FIG. 3 is a schematic view of the structure of the forearm of the application;
FIG. 4 is a schematic view of the structure of the angle one of the palm of the present application;
FIG. 5 is a schematic view of the structure of the second angle of the palm of the present application;
FIG. 6 is a schematic view of the structure of the angle III of the palm of the present application;
FIG. 7 is a schematic view of the structure of the present application at an angle of one of the forearm and palm connection;
FIG. 8 is a schematic view of the structure of the present application at an angle II of the forearm and palm connection;
FIG. 9 is a schematic view of the structure of the present application at an angle III of the forearm and palm connection;
FIG. 10 is a schematic diagram of the structure of the female finger of the present application;
FIG. 11 is a schematic view of the structure of the application at an angle of one for the palm and thumb connection;
FIG. 12 is a schematic view of the structure of the application at an angle two of the palm and thumb connection;
FIG. 13 is a schematic view of the structure of the index finger of the present application;
FIG. 14 is a schematic view of the structure of the application at an angle of one for the palm and index finger connection;
FIG. 15 is a schematic view of the structure of the application at an angle two of palm and index finger connection;
FIG. 16 is a schematic view of the structure of the middle finger of the present application;
FIG. 17 is a schematic view of the structure of the application at an angle of one for the palm and middle finger connection;
FIG. 18 is a schematic view of the structure of the angle two of the palm and middle finger connection of the present application;
FIG. 19 is a schematic view of the ring finger of the present application;
FIG. 20 is a schematic view of the structure of the angle one of the palm and ring finger connection of the present application;
FIG. 21 is a schematic view of the structure of the angle two of the palm and ring finger connection of the present application;
FIG. 22 is a schematic view of the structure of the little finger of the present application;
FIG. 23 is a schematic view of the structure of the application at an angle of one for the palm and little finger connection;
FIG. 24 is a schematic view of the structure of the application at an angle two for palm and little finger attachment;
FIG. 25 is a schematic view of the angle one of the wrist C-shaped connecting rod of the present application;
FIG. 26 is a schematic view of the structure of the wrist joint C-shaped connecting rod of the present application at an angle II;
FIG. 27 is a schematic view of the structure of the angle one of the finger C-shaped connecting rod of the present application;
FIG. 28 is a schematic view of the structure of the second angle of the finger C-shaped connecting rod of the present application;
1. A forearm; 2. palm; 3. a wrist joint driving device; 4. a finger driving device; 5. a female finger; 6. an index finger; 7. middle finger; 8. ring finger; 9. little finger; 10. a wrist joint C-shaped connecting rod; 11. A wrist joint C-shaped connecting rod I; 12. a wrist joint C-shaped connecting rod II; 13. a wrist joint driving cylinder; 14. a C-shaped body; 15. a wrist joint upper mounting part; 16. a mounting hole on the wrist joint; 17. a wrist joint lower mounting part; 18. a wrist joint lower mounting hole; 19. a finger C-shaped connecting rod; 20. a finger-driven cylinder; 21. a connecting base; 22. an upper mounting portion; 23. an upper mounting hole; 24. a lower mounting portion; 25. a lower mounting hole; 26. an upper forearm body; 27. the first mounting hole is formed in the forearm; 28. the small arm is provided with a second mounting hole; 29. a driving cylinder mounting groove; 30. a lower arm body; 31. a mounting hole under the small arm; 32. a palm upper body; 33. the first palm is provided with a first hole; 34. a second mounting hole is formed in the palm; 35. a driving cylinder connecting groove; 36. a lower palm body; 37. a palm lower mounting hole; 38. a female finger upper body; 39. a first mounting hole is formed in the female finger; 40. a second mounting hole is formed in the female finger; 41. a female finger driving cylinder mounting groove; 42. a female finger lower body; 43. a mounting hole under the female finger; 44. an index finger upper body; 45. the first mounting hole is formed in the index finger; 46. the second mounting hole is formed in the index finger; 47. an index finger driving cylinder mounting groove; 48. a lower body of the index finger; 49. a lower index finger mounting hole; 50. a middle finger upper body; 51. a first middle finger is provided with a first mounting hole; 52. a second middle finger is provided with a second mounting hole; 53. middle finger driving cylinder mounting groove; 54. a middle finger lower body; 55. a middle finger lower mounting hole; 56. a ring finger upper body; 57. the ring finger is provided with a first mounting hole; 58. the ring finger is provided with a second mounting hole; 59. ring finger driving cylinder mounting groove; 60. a ring finger lower body; 61. a ring finger lower mounting hole; 62. an upper body of the little finger; 63. mounting holes I on the little finger; 64. mounting holes II are formed in the little finger; 65. a little finger driving cylinder mounting groove; 66. a little finger lower body; 67. mounting holes under the little fingers; 68. a mother finger section; 69. two sections of the mother finger; 70. a first body is arranged on the female finger section; 71. a second body is arranged on the first female finger section; 72. a first mounting hole is formed in the female finger section; 73. a second mounting hole is formed in the female finger section; 74. a female finger section driving cylinder connecting groove; 75. mounting holes III on the female finger sections; 76. mounting holes IV on the female finger sections; 77. a female finger section driving cylinder mounting groove; 78. a lower body of the female finger; 79. a first mounting hole is arranged below the female finger section; 80. a second mounting hole is arranged below the first section of the female finger; 81. the two sections of the female finger are provided with a body; 82. a first mounting hole is formed in the second section of the female finger; 83. mounting holes II are formed in the two sections of the female finger; 84. a female finger two-section driving cylinder connecting groove; 85. a female finger two-section lower body; 86. a mounting hole is arranged below the two sections of the female finger; 87. female finger C-shaped connecting rod I; 88. female finger C-shaped connecting rod II; 89. a first female finger driving cylinder; 90. female finger C-shaped connecting rod III; 91. female finger C-shaped connecting rod IV; 92. a second female finger driving cylinder; 93. a section of index finger; 94. two sections of index finger; 95. three sections of index finger; 96. the first body is arranged on the first index finger section; 97. the first index finger section is provided with a second body; 98. the first mounting hole is formed in the index finger section; 99. a second mounting hole is formed in the first index finger section; 100. a first index finger section driving cylinder connecting groove; 101. a third mounting hole is formed in one section of the index finger; 102. a fourth mounting hole is formed in one section of the index finger; 103. a first index finger section driving cylinder mounting groove; 104. the first index finger is lower than the first body; 105. the first index finger is arranged on the second body; 106. a first mounting hole is arranged below a first index finger section; 107. a second mounting hole is arranged below the first index finger; 108. the first body is arranged on the second index finger section; 109. the second index finger section is provided with a second body; 110. the first mounting hole is formed in the second section of the index finger; 111. the second index finger section is provided with a second mounting hole; 112. a connecting groove of the index finger two-section driving cylinder; 113. the index finger is provided with a mounting hole on the two sections; 114. the index finger is connected with the lower body; 115. a lower mounting hole of the index finger; 116. the index finger three sections are provided with a body; 117. the three sections of the index finger are provided with mounting holes; 118. three lower parts of the index finger body; 119. three lower mounting holes of the index finger; 120. a first index finger C-shaped connecting rod; 121. an index finger C-shaped connecting rod II; 122. the index finger drives the first cylinder; 123. the index finger C-shaped connecting rod III; 124. a forefinger C-shaped connecting rod is four; 125. a second index finger driving cylinder; 126. a forefinger C-shaped connecting rod five; 127. a forefinger C-shaped connecting rod is six; 128. middle finger section; 129. middle finger two sections; 130. middle finger three sections; 131. the middle finger section is provided with a first installation body; 132. the middle finger section is provided with a second body; 133. the middle finger section is provided with a first mounting hole; 134. the middle finger section is provided with a second mounting hole; 135. middle finger section driving cylinder connecting groove; 136. the middle finger section is provided with a third mounting hole; 137. the middle finger section is provided with a mounting hole IV; 138. middle finger section driving cylinder mounting groove; 139. middle finger lower body one; 140. middle finger lower body two; 141. middle finger section lower mounting hole I; 142. middle finger section lower mounting hole II; 143. the middle finger two sections are provided with a first body; 144. a second body is arranged on the second middle finger section; 145. the middle finger is provided with a first mounting hole on the second section; 146. the middle finger is provided with a second mounting hole; 147. a middle finger two-section driving cylinder connecting groove; 148. mounting holes are formed in the middle finger two sections; 149. a middle second middle finger lower body; 150. a middle finger two-section lower mounting hole; 151. the middle finger three sections are provided with a body; 152. mounting holes are formed in the middle finger three sections; 153. middle finger three-section lower body; 154. middle finger three-section lower mounting hole; 155. middle finger C-shaped connecting rod I; 156. middle finger C-shaped connecting rod II; 157. middle finger driving cylinder I; 158. middle finger C-shaped connecting rod III; 159. middle finger C-shaped connecting rod IV; 160. middle finger driving cylinder II; 161. middle finger C-shaped connecting rod five; 162. middle finger C-shaped connecting rod six; 163. ring finger section; 164. ring finger two sections; 165. ring finger three sections; 166. the ring finger section is provided with a first body; 167. the second body is arranged on the ring finger section; 168. the ring finger section is provided with a first mounting hole; 169. a second mounting hole is formed in the ring finger section; 170. ring finger section driving cylinder connecting groove; 171. third mounting holes are formed in the ring finger section; 172. mounting holes IV on the ring finger section; 173. ring finger section driving cylinder mounting groove; 174. ring finger section body one; 175. a second ring finger lower body; 176. a first mounting hole below the ring finger section; 177. a second mounting hole below the ring finger section; 178. the second ring finger section is provided with a first body; 179. a second body is arranged on the second ring finger section; 180. the ring finger second section is provided with a first mounting hole; 181. the second ring finger section is provided with a second mounting hole; 182. a ring finger two-section driving cylinder connecting groove; 183. mounting holes are formed in the ring finger two sections; 184. a second ring finger lower body; 185. a second ring finger mounting hole; 186. the third ring finger section is provided with a body; 187. mounting holes are formed in three sections of ring finger; 188. a third-section lower body of the ring finger; 189. ring finger C-shaped connecting rod one; 190. ring finger C type connecting rod two; 191. ring finger driving cylinder one; 192. ring finger C-shaped connecting rod three; 193. ring finger C-shaped connecting rod four; 194. ring finger driving cylinder II; 195. three lower mounting holes of ring finger; 196. ring finger C-shaped connecting rod five; 197. ring finger C-shaped connecting rod six; 198. a little finger section; 199. two sections of little finger; 200. three sections of little finger; 201. the first body is arranged on the little finger section; 202. a second body is arranged on the little finger section; 203. a first mounting hole is formed in the small finger section; 204. a second mounting hole is formed in the small finger section; 205. a small finger section driving cylinder connecting groove; 206. mounting holes III on the small finger sections; 207. mounting holes IV on the small finger sections; 208. a little finger section driving cylinder mounting groove; 209. a little finger is arranged on the lower body I; 210. a second body below the little finger section; 211. a first mounting hole is arranged below the little finger section; 212. a second mounting hole is arranged below the little finger section; 213. the second little finger section is provided with a first body; 214. a second body is arranged on the second little finger section; 215. the second little finger section is provided with a first mounting hole; 216. mounting holes II are formed in the two small finger sections; 217. a small finger two-section driving cylinder connecting groove; 218. mounting holes are formed in the two sections of the little finger; 219. a little finger two-section lower body; 220. mounting holes under two sections of little finger; 221. the body is arranged on the three sections of the little finger; 222. mounting holes on the three sections of the little finger; 223. a little finger three-section lower body; 224. mounting holes under three sections of little fingers; 225. a little finger C-shaped connecting rod I; 226. a small finger C-shaped connecting rod II; 227. a first little finger drives a cylinder; 228. a little finger C-shaped connecting rod III; 229. a little finger C-shaped connecting rod is four; 230. a second little finger driving cylinder; 231. a little finger C-shaped connecting rod; 232. and a small finger C-shaped connecting rod six.
Detailed Description
The following describes embodiments of the present invention in detail with reference to fig. 1 to 28. It should be noted that the detailed description herein is presented for purposes of illustration and explanation only and is not intended to limit the invention.
Example 1
As shown in fig. 1 and 2, the present embodiment provides a simulated manipulator, which includes a forearm 1, wherein the forearm 1 is connected with a palm 2 through a wrist joint driving device 3, the palm 2 is respectively connected with a thumb 5, an index finger 6, a middle finger 7, a ring finger 8 and a little finger 9 through a finger driving device 4, and the forearm 1, the palm 2, the thumb 5, the middle finger 6, the index finger 7, the ring finger 8 and the little finger 9 are hollow and can be used for accommodating insertion of a human body; the application can select the insertion or not of a human hand, has simulation and further improves the universality, and the wrist joint driving device 3 and the finger driving device 4 can ensure the flexible rotation of the wrist joint and each finger between the forearm 1 and the palm 2, so that the application has simple structure and convenient use, and is used for realizing automatic simulation control, remote control operation, medical treatment and auxiliary movement, learning control of a learning robot and the like when a human body is inserted; when no human body is inserted, the device is used for realizing various simulation motions and grabbing applications requiring autonomous motions, and the like.
Example two
The present embodiment describes the wrist driving device 3, the finger driving device 4, specifically: as shown in fig. 1, fig. 2 and fig. 25-fig. 28, the wrist joint driving device 3 comprises a wrist joint C-shaped connecting rod 10 for connecting the forearm 1 and the palm 2, wherein the wrist joint C-shaped connecting rod 10 comprises a wrist joint C-shaped connecting rod 11 and a wrist joint C-shaped connecting rod 12, namely, the forearm 1 and the palm 2 are connected through two wrist joint C-shaped connecting rods 10, the structure of the wrist joint C-shaped connecting rod 11 and the structure of the wrist joint C-shaped connecting rod 12 are the same, different description modes are that in order to distinguish different numbers and different installation positions, a wrist joint driving cylinder 13 is fixed above the forearm 1, and the output end of the wrist joint driving cylinder 13 is connected with the palm 2; wherein, the wrist joint driving cylinder 13 adopts one of a pneumatic cylinder, a hydraulic cylinder, a mechanical cylinder and an electric cylinder; more specifically: the wrist joint C-shaped connecting rod 10 comprises a C-shaped body 14, wherein a wrist joint upper mounting part 15 is arranged on the right side of the top of the C-shaped body 14, a wrist joint upper mounting hole 16 is formed in the wrist joint upper mounting part 15, a wrist joint lower mounting part 17 is arranged on the left side of the bottom of the C-shaped body 14, and a wrist joint lower mounting hole 18 is formed in the wrist joint lower mounting part 17; or the left side at the top of the C-shaped body 14 is provided with a wrist joint upper mounting part 15, the wrist joint upper mounting part 15 is provided with a wrist joint upper mounting hole 16, the right side at the bottom of the C-shaped body 14 is provided with a wrist joint lower mounting part 17, and the wrist joint lower mounting part 17 is provided with a wrist joint lower mounting hole 18.
The finger driving device 4 comprises a finger C-shaped connecting rod 19 for connecting the palm 2 with the female finger 5, the index finger 6, the middle finger 7, the ring finger 8 and the little finger 9, and a finger driving cylinder 20 for respectively driving the female finger 5, the index finger 6, the middle finger 7, the ring finger 8 and the little finger 9 is fixed above the palm 2, and the output end of the finger driving cylinder 20 is connected with the female finger 5, the middle finger 6, the index finger 7, the ring finger 8 and the little finger 9; the finger C-shaped connecting rod 19 comprises a connecting base 21, an upper mounting part 22 is arranged on the right side of the top of the connecting base 21, an upper mounting hole 23 is formed in the upper mounting part 22, a lower mounting part 24 is arranged on the left side of the bottom of the connecting base 21, and a lower mounting hole 25 is formed in the lower mounting part 24; or an upper mounting part 22 is arranged on the left side of the top of the connecting part 21, an upper mounting hole 23 is arranged on the upper mounting part 22, a lower mounting part 24 is arranged on the right side of the bottom of the connecting part 21, and a lower mounting hole 25 is arranged on the lower mounting part 24; the finger C-shaped connecting rod 19 comprises a female finger C-shaped connecting rod, an index finger C-shaped connecting rod, a middle finger C-shaped connecting rod, a ring finger C-shaped connecting rod and a little finger C-shaped connecting rod.
Example III
The present embodiment specifically describes the connection of the forearm 1 and the palm 2, specifically: as shown in fig. 3 to 9, the upper part and the lower part of the forearm 1 are respectively provided with a forearm upper mounting part and a forearm lower mounting part, and the forearm upper mounting part, the forearm lower mounting part and the forearm are connected in a welding, bonding and other modes, can also be connected in an integrated forming mode, is not particularly limited, and can be selected by a technician according to specific conditions; the upper small arm mounting part comprises a small arm upper body 26, a first through small arm mounting hole 27 is formed in the small arm upper body 26, a second through small arm mounting hole 28 is formed in the upper part of the first small arm mounting hole 27, a driving cylinder mounting groove 29 is formed in the middle of the small arm upper body 26, and the driving cylinder mounting groove 29 is communicated with the second small arm mounting hole 28; the lower forearm installation part comprises a lower forearm body 30, and a through lower forearm installation hole 31 is arranged on the lower forearm body 30; preferably, for ease of arm insertion, one side of the forearm 1 is open; the upper part and the lower part of one side of the palm 2, which is close to the forearm 1, are respectively provided with a palm upper mounting part and a palm lower mounting part, the palm upper mounting part, the palm lower mounting part and the palm 2 are connected in a welding, bonding and other modes, and can also be connected in an integrated forming mode, so that the palm upper mounting part, the palm lower mounting part and the palm 2 are particularly not limited, and a technician can select according to specific conditions; the palm upper mounting part comprises a palm upper body 32, a first through palm upper mounting hole 33 is formed in the small palm upper body 32, a second through palm upper mounting hole 34 is formed in the upper part of the first palm upper mounting hole 33, a driving cylinder connecting groove 35 is formed in the middle of the palm upper body 32, and the driving cylinder connecting groove 35 is communicated with the second palm upper mounting hole 34; the palm lower mounting part comprises a palm lower body 36, and a through palm lower mounting hole 37 is arranged on the palm lower body 36; the upper part of one side of the palm 2 far away from the forearm 1 is respectively provided with a female finger upper mounting part, an index finger upper mounting part, a middle finger upper mounting part, a ring finger upper mounting part and a little finger upper mounting part; the lower part of one side of the palm 2 far away from the forearm 1 is respectively provided with a female finger lower mounting part, an index finger lower mounting part, a middle finger lower mounting part, a ring finger lower mounting part and a little finger lower mounting part.
The concrete connection mode is as follows: a wrist joint C-shaped connecting rod I11 is arranged between the forearm upper mounting hole I27 and the palm lower mounting hole 37, and a wrist joint C-shaped connecting rod II 12 is arranged between the palm upper mounting hole I33 and the forearm lower mounting hole 31; the wrist joint C-shaped connecting rod I11 and the wrist joint C-shaped connecting rod II 12 are arranged in pairs, a wrist joint driving cylinder 13 is installed in a driving cylinder installation groove 29, and the wrist joint C-shaped connecting rod I and the wrist joint C-shaped connecting rod II are fixed by installing a fixed shaft in a second installation hole 28 on a forearm; the output end of the wrist joint driving cylinder 13 is connected with a driving cylinder connecting groove 35, and the output end of the driving cylinder connecting groove 35 is rotationally connected with a second mounting hole 34 on the palm through a rotating shaft and the like; the wrist joint driving cylinder 13 is started to push the palm 2 to rotate, because the wrist joint C-shaped connecting rod I11 and the wrist joint C-shaped connecting rod II 12 are arranged, on the premise of realizing the support function of the wrist joint C-shaped connecting rod, the parts such as arms, palms and fingers of a human body can penetrate into the manipulator without interference, and the palm 2 and the forearm 1 can not interfere when rotating, so that the flexibility of the motion of the palm 2 is improved.
Example IV
The present embodiment describes a female finger upper mounting portion, an index finger upper mounting portion, a middle finger upper mounting portion, a ring finger upper mounting portion, a little finger upper mounting portion, a female finger lower mounting portion, an index finger lower mounting portion, a middle finger lower mounting portion, a ring finger lower mounting portion, a little finger lower mounting portion, specifically:
The female finger upper mounting part comprises a female finger upper body 38, a first through female finger upper mounting hole 39 is formed in the female finger upper body 38, a second through female finger upper mounting hole 40 is formed in the upper portion of the first female finger upper mounting hole 39, a female finger driving cylinder mounting groove 41 is formed in the middle of the female finger upper body 38, and the female finger driving cylinder mounting groove 41 is communicated with the second female finger upper mounting hole 40; the female finger lower mounting portion includes a female finger lower body 42, and a through female finger lower mounting hole 43 is provided in the female finger lower body 42. The index finger upper mounting part comprises an index finger upper body 44, a first through index finger upper mounting hole 45 is formed in the index finger upper body 44, a second through index finger upper mounting hole 46 is formed in the upper portion of the first through index finger upper mounting hole 45, an index finger driving cylinder mounting groove 47 is formed in the middle of the index finger upper body 44, and the index finger driving cylinder mounting groove 47 is communicated with the second through index finger upper mounting hole 46; the forefinger lower mounting portion comprises a forefinger lower body 48, and a through forefinger lower mounting hole 49 is arranged on the forefinger lower body 48. The middle finger upper mounting part comprises a middle finger upper body 50, a first middle finger upper mounting hole 51 which is communicated is arranged on the middle finger upper body 50, a second middle finger upper mounting hole 52 which is communicated is arranged on the upper part of the first middle finger upper mounting hole 51, a middle finger driving cylinder mounting groove 53 is formed in the middle part of the middle finger upper body 50, and the middle finger driving cylinder mounting groove 53 is communicated with the second middle finger upper mounting hole 52; the middle finger lower mounting portion includes a middle finger lower body 54, and a through middle finger lower mounting hole 55 is provided in the middle finger lower body 54. The ring finger upper mounting part comprises a ring finger upper body 56, a first through ring finger upper mounting hole 57 is formed in the ring finger upper body 56, a second through ring finger upper mounting hole 58 is formed in the upper part of the first ring finger upper mounting hole 57, a ring finger driving cylinder mounting groove 59 is formed in the middle of the ring finger upper body 56, and the ring finger driving cylinder mounting groove 59 is communicated with the second ring finger upper mounting hole 58; the ring finger lower mounting portion includes a ring finger lower body 60, and a through ring finger lower mounting hole 61 is provided in the ring finger lower body 60. The small finger upper mounting part comprises a small finger upper body 62, a through small finger upper mounting hole I63 is formed in the small finger upper body 62, a through small finger upper mounting hole II 64 is formed in the upper part of the small finger upper mounting hole I63, a small finger driving cylinder mounting groove 65 is formed in the middle of the small finger upper body 62, and the small finger driving cylinder mounting groove 65 is communicated with the small finger upper mounting hole II 64; the little finger lower mounting part comprises a little finger lower body 66, and a through little finger lower mounting hole 67 is arranged on the little finger lower body 66.
Example five
The present embodiment specifically describes the connection between the palm 2 and each finger, specifically:
The female finger 5 includes a female finger section 68 and a female finger section 69 connected in sequence, and the female finger section 68 is connected with the female finger upper mounting portion and the female finger lower mounting portion of the palm 2, more specifically: the upper part and the lower part of the female finger section 68 are respectively provided with a female finger section upper mounting part and a female finger section lower mounting part, the female finger section upper mounting part comprises a female finger section upper mounting body I70 and a female finger section upper mounting body II 71, the female finger section upper mounting body I70 is provided with a through female finger section upper mounting hole I72, the upper part of the female finger section upper mounting hole I72 is provided with a through female finger section upper mounting hole II 73, the middle part of the female finger section upper mounting body I70 is provided with a female finger section driving cylinder connecting groove 74, the female finger section driving cylinder connecting groove 74 is communicated with the second mounting hole 73 on the female finger section; the second installation body 71 on the first finger section is provided with a third through installation hole 75 on the first finger section, the upper part of the third through installation hole 75 on the first finger section is provided with a fourth through installation hole 76 on the first finger section, the middle part of the second installation body 71 on the first finger section is provided with a first driving cylinder installation groove 77 on the first finger section, and the first driving cylinder installation groove 77 on the first finger section is communicated with the fourth through installation hole 76 on the first finger section; the female finger section lower mounting part comprises a female finger section lower body 78, and a first female finger section lower mounting hole 79 and a second female finger section lower mounting hole 80 which are communicated are arranged on the female finger section lower body 78; the upper part and the lower part of the female second-finger joint 69 are respectively provided with a female second-finger upper mounting part and a female second-finger lower mounting part, the female second-finger upper mounting part comprises a female second-finger upper mounting body 81, a through female second-finger upper mounting hole 82 is arranged on the female second-finger upper mounting body 81, a through female second-finger upper mounting hole 83 is arranged on the upper part of the female second-finger upper mounting hole 82, a female second-finger driving cylinder connecting groove 84 is formed in the middle of the female second-finger upper mounting body 81, and the female second-finger driving cylinder connecting groove 84 is communicated with the female second-finger upper mounting hole 83; the female second-section lower mounting part comprises a female second-section lower body 85, and a through female second-section lower mounting hole 86 is formed in the female second-section lower body 85; preferably, for better simulation of a human hand, the top of the two female digits 69 are closed. The specific installation between the palm 2 and the female finger 5 is as follows: a first female finger C-shaped connecting rod 87 is arranged between the first female finger upper mounting hole 39 and the first female finger lower mounting hole 79, a second female finger C-shaped connecting rod 88 is arranged between the first female finger upper mounting hole 72 and the first female finger lower mounting hole 43, the first female finger C-shaped connecting rod 87 and the second female finger C-shaped connecting rod 88 are used in pairs, a first female finger driving cylinder 89 is arranged in the female finger driving cylinder mounting groove 41, and the output end of the first female finger driving cylinder 89 is connected with the first female finger driving cylinder connecting groove 74; a female finger C-shaped connecting rod III 90 is arranged between the female finger section upper mounting hole III 75 and the female finger section lower mounting hole 86, a female finger C-shaped connecting rod IV 91 is arranged between the female finger section upper mounting hole I82 and the female finger section lower mounting hole II 80, the female finger C-shaped connecting rod III 90 and the female finger C-shaped connecting rod IV 91 are used in pairs, a female finger driving cylinder II 92 is arranged in the female finger section driving cylinder mounting groove 77, and the output end of the female finger driving cylinder II 92 is connected with the female finger section driving cylinder connecting groove 84; the first female finger driving cylinder 89 is started to push the first female finger 68 to rotate, the second female finger driving cylinder 92 is started to push the second female finger 69 to rotate, because the first female finger C-shaped connecting rod 87, the second female finger C-shaped connecting rod 88, the third female finger C-shaped connecting rod 90 and the fourth female finger C-shaped connecting rod 91 are arranged, on the premise of realizing the support function of the first female finger C-shaped connecting rod, the parts such as arms, palms and fingers of a human body can penetrate into the manipulator without interference, and when the palms 2 and the female fingers 5 rotate, interference can not be generated, so that the flexibility of the movements of the female fingers 5 is improved.
The index finger 6 comprises an index finger first section 93, an index finger second section 94 and an index finger third section 95 which are sequentially connected, wherein the index finger first section 93 is connected with an index finger upper mounting part and an index finger lower mounting part on the palm 2; specifically, a first index finger upper mounting part and a second index finger upper mounting part are mounted on the upper portion of the first index finger 93, a first index finger lower mounting part and a second index finger lower mounting part are arranged on the lower portion of the first index finger 93, the first index finger upper mounting part comprises a first index finger upper mounting body 96, a first through index finger upper mounting hole 98 is formed in the first index finger upper mounting body 96, a second through index finger upper mounting hole 99 is formed in the upper portion of the first index finger upper mounting hole 98, an index finger driving cylinder connecting groove 100 is formed in the middle of the first index finger upper mounting body 96, and the index finger driving cylinder connecting groove 100 is communicated with the second index finger upper mounting hole 99; the second index finger upper mounting part comprises a second index finger upper mounting body 97, the second index finger upper mounting body 97 is provided with a third through index finger upper mounting hole 101, the upper part of the third through index finger upper mounting hole 101 is provided with a fourth through index finger upper mounting hole 102, the middle part of the second index finger upper mounting body 97 is provided with a second index finger driving cylinder mounting groove 103, and the second index finger driving cylinder mounting groove 103 is communicated with the fourth through index finger upper mounting hole 102; the first index finger section lower mounting part comprises a first index finger section lower body 104, the first index finger section lower body 104 is provided with a first through index finger section lower mounting hole 106, the second index finger section lower mounting part comprises a second index finger section lower body 105, and the second index finger section lower body 105 is provided with a second through index finger section lower mounting hole 107; the upper part of the index finger second section 94 is provided with an index finger second section upper mounting part I and an index finger second section upper mounting part II, the lower part of the index finger second section 94 is provided with an index finger second section lower mounting part, the index finger second section upper mounting part I comprises an index finger second section upper mounting body I108, the index finger second section upper mounting body I108 is provided with a through index finger second section upper mounting hole I110, the upper part of the index finger second section upper mounting hole I110 is provided with a through index finger second section upper mounting hole II 111, the middle part of the index finger second section upper mounting body I108 is provided with an index finger second section driving cylinder connecting groove 112, and the index finger second section driving cylinder connecting groove 112 is communicated with the index finger second section upper mounting hole II 111; the second index finger section upper mounting part comprises a second index finger section upper mounting body 109, and the second index finger section upper mounting body 109 is provided with a through index finger section upper mounting hole 113; the index finger two-section lower mounting part comprises an index finger two-section lower body 114, and a through index finger two-section lower mounting hole 115 is arranged on the index finger two-section lower body 114; the upper part and the lower part of the index finger three section 95 are respectively provided with an index finger three section upper installation part and an index finger three section lower installation part, wherein the index finger three section upper installation part comprises an index finger three section upper installation body 116, and the index finger three section upper installation body 116 is provided with a through index finger three section upper installation hole 117; the lower index finger three section mounting portion comprises an lower index finger three section body 118, and a through lower index finger three section mounting hole 119 is arranged on the lower index finger three section body 118, preferably, in order to improve the simulation, the top of the index finger three section 95 is closed. The specific installation between the palm 2 and the index finger 6 is as follows: an index C-shaped connecting rod I120 is arranged between the index upper mounting hole I45 and the index lower mounting hole I106, an index C-shaped connecting rod II 121 is arranged between the index upper mounting hole I98 and the index lower mounting hole 49, the index C-shaped connecting rod I120 and the index C-shaped connecting rod II 121 are in the same structure and are used in pairs, an index driving cylinder I122 is arranged in the index driving cylinder mounting groove 47, and the output end of the index driving cylinder I122 is connected with the index one-section driving cylinder connecting groove 100; an index finger C-shaped connecting rod III 123 is arranged between the index finger one-section upper mounting hole III 101 and the index finger two-section lower mounting hole 115, an index finger C-shaped connecting rod IV 124 is arranged between the index finger two-section upper mounting hole I110 and the index finger one-section lower mounting hole II 107, the index finger C-shaped connecting rod III 123 and the index finger C-shaped connecting rod IV 124 are used in pairs, an index finger driving cylinder II 125 is arranged in the index finger one-section driving cylinder mounting groove 103, and the output end of the index finger driving cylinder II 125 is connected with the index finger two-section driving cylinder connecting groove 112; an index C-shaped connecting rod five 126 is arranged between the index second-section upper mounting hole 113 and the index third-section lower mounting hole 119, an index C-shaped connecting rod six 127 is arranged between the index third-section upper mounting hole 117 and the index second-section lower mounting hole 115, the index C-shaped connecting rod five 126 and the index C-shaped connecting rod six 127 are used in pairs, the index driving cylinder one 122 is started, the index first section 93 is pushed to rotate, the index driving cylinder two 125 is started, the index second section 94 is pushed to rotate, and the index second section 94 drives the index third-section 95 to rotate because the index C-shaped connecting rod one 120, the index C-shaped connecting rod two 121, the index C-shaped connecting rod three 123, The setting of four 124 of forefinger C type connecting rod, five 126 of forefinger C type connecting rod, six 127 of forefinger C type connecting rod under the prerequisite that realizes forefinger C type connecting rod supporting function, can let parts such as human arm, palm, finger penetrate inside the manipulator, and the interference each other, and when palm 2 and forefinger 6 take place to rotate, also can not produce the interference, improves the flexibility of forefinger 6 action.
The middle finger 7 comprises a middle finger section 128, a middle finger two section 129 and a middle finger three section 130 which are sequentially connected, wherein the middle finger section 128 is connected with a middle finger upper mounting part and a middle finger lower mounting part on the palm 2; the upper part of the middle finger section 128 is provided with a middle finger section upper mounting part I and a middle finger section upper mounting part II, the lower part of the middle finger section 128 is provided with a middle finger section lower mounting part I and a middle finger section lower mounting part II, the middle finger section upper mounting part I comprises a middle finger section upper mounting body I131, the middle finger section upper mounting body I131 is provided with a through middle finger section upper mounting hole I133, the upper part of the middle finger section upper mounting hole I133 is provided with a through middle finger section upper mounting hole II 134, the middle part of the middle finger section upper mounting body I131 is provided with a middle finger section driving cylinder connecting groove 135, and the middle finger section driving cylinder connecting groove 135 is communicated with the middle finger section upper mounting hole II 134; the second middle finger section upper mounting part comprises a second middle finger section upper mounting body 132, a third through middle finger section upper mounting hole 136 is formed in the second middle finger section upper mounting body 132, a fourth through middle finger section upper mounting hole 137 is formed in the upper portion of the third through middle finger section upper mounting hole 136, a second middle finger section driving cylinder mounting groove 138 is formed in the middle of the second middle finger section upper mounting body 132, and the second middle finger section driving cylinder mounting groove 138 is communicated with the fourth through middle finger section upper mounting hole 137; the middle finger section lower mounting part I comprises a middle finger section lower body I139, a through middle finger section lower mounting hole I141 is formed in the middle finger section lower body I139, the middle finger section lower mounting part II comprises a middle finger section lower body II 140, and a through middle finger section lower mounting hole II 142 is formed in the middle finger section lower body II 140; the upper part of the middle finger two section 129 is provided with a middle finger two section upper mounting part I and a middle finger two section upper mounting part II, the lower part of the middle finger two section 129 is provided with a middle finger two section lower mounting part, the middle finger two section upper mounting part I comprises a middle finger two section upper mounting body I143, the middle finger two section upper mounting body I143 is provided with a through middle finger two section upper mounting hole I145, the upper part of the middle finger two section upper mounting hole I145 is provided with a through middle finger two section upper mounting hole II 146, the middle part of the middle finger two section upper mounting body I143 is provided with a middle finger two section driving cylinder connecting groove 147, and the middle finger two section driving cylinder connecting groove 147 is communicated with the middle finger two section upper mounting hole II 146; the second middle finger section upper mounting part comprises a second middle finger section upper mounting body 144, and a through second middle finger section upper mounting hole 148 is formed in the second middle finger section upper mounting body 144; the middle finger two-section lower mounting part comprises a middle finger two-section lower body 149, and a through middle finger two-section lower mounting hole 150 is arranged on the middle finger two-section lower body 149; the upper part and the lower part of the middle finger three section 130 are respectively provided with a middle finger three section upper installation part and a middle finger three section lower installation part, wherein the middle finger three section upper installation part comprises a middle finger three section upper installation body 151, and a through middle finger three section upper installation hole 152 is arranged on the middle finger three section upper installation body 151; the middle finger three-section lower mounting part comprises a middle finger three-section lower body 153, and a through middle finger three-section lower mounting hole 154 is arranged on the middle finger three-section lower body 153, preferably, in order to improve the simulation, the top of the middle finger three-section 130 is closed. The specific installation between the palm 2 and the middle finger 7 is as follows: a middle finger C-shaped connecting rod I155 is arranged between the middle finger upper mounting hole I51 and the middle finger lower mounting hole I141, a middle finger C-shaped connecting rod II 156 is arranged between the middle finger upper mounting hole I133 and the middle finger lower mounting hole 55, the middle finger C-shaped connecting rod I155 and the middle finger C-shaped connecting rod II 156 are used in pairs, a middle finger driving cylinder I157 is arranged in the middle finger driving cylinder mounting groove 53, and the output end of the middle finger driving cylinder I157 is connected with the middle finger section driving cylinder connecting groove 135; a middle finger C-shaped connecting rod III 158 is arranged between the middle finger section upper mounting hole III 136 and the middle finger section lower mounting hole 150, a middle finger C-shaped connecting rod IV 159 is arranged between the middle finger section upper mounting hole I145 and the middle finger section lower mounting hole II 142, the middle finger C-shaped connecting rod III 158 and the middle finger C-shaped connecting rod IV 159 are used in pairs, a middle finger driving cylinder II 160 is arranged in the middle finger section driving cylinder mounting groove 138, and the output end of the middle finger driving cylinder II 160 is connected with the middle finger section driving cylinder connecting groove 147; a middle finger C-shaped connecting rod five 161 is arranged between the middle finger two-section upper mounting hole 148 and the middle finger three-section lower mounting hole 154, a middle finger C-shaped connecting rod six 162 is arranged between the middle finger three-section upper mounting hole 152 and the middle finger two-section lower mounting hole 150, and the middle finger C-shaped connecting rod five 161 and the middle finger C-shaped connecting rod six 162 are used in pairs; the middle finger driving cylinder I157 is started to push the middle finger section 128 to rotate, the middle finger driving cylinder II 160 is started to push the middle finger section 129 to rotate, and the middle finger section 129 drives the middle finger section 130 to rotate, because the middle finger C-shaped connecting rod I155, the middle finger C-shaped connecting rod II 156, the middle finger C-shaped connecting rod III 158, the middle finger C-shaped connecting rod IV 159, the middle finger C-shaped connecting rod V161 and the middle finger C-shaped connecting rod VI 162 are arranged, under the premise of supporting the middle finger C-shaped connecting rod, the parts such as arms, palms and fingers of a human body can penetrate into the manipulator without interference, and when the palms 2 and the middle fingers 7 rotate, no interference is generated, and the flexibility of the movement of the middle finger 7 is improved.
The ring finger 8 comprises a ring finger section 163, a ring finger second section 164 and a ring finger third section 165 which are sequentially connected, wherein the ring finger section 163 is connected with an upper ring finger mounting part and a lower ring finger mounting part on the palm 2; specifically, the upper part of the ring finger section 163 is provided with a first ring finger section upper mounting part and a second ring finger section upper mounting part, and the lower part of the ring finger section 163 is provided with a first ring finger section lower mounting part and a second ring finger section lower mounting part; the first ring finger section upper mounting part comprises a first ring finger section upper mounting body 166, the first ring finger section upper mounting body 166 is provided with a through ring finger section upper mounting hole 168, the upper part of the first ring finger section upper mounting hole 168 is provided with a through ring finger section upper mounting hole 169, the middle part of the first ring finger section upper mounting body 166 is provided with a ring finger section driving cylinder connecting groove 170, and the ring finger section driving cylinder connecting groove 170 is communicated with the ring finger section upper mounting hole 169; the second ring finger section upper mounting part comprises a second ring finger section upper mounting body 167, a third ring finger section upper mounting hole 171 which is communicated is formed in the second ring finger section upper mounting body 167, a fourth ring finger section upper mounting hole 172 which is communicated is formed in the upper part of the third ring finger section upper mounting hole 171, a ring finger section driving cylinder mounting groove 173 is formed in the middle of the second ring finger section upper mounting body 167, and the ring finger section driving cylinder mounting groove 173 is communicated with the fourth ring finger section upper mounting hole 172; the first ring finger section lower mounting part comprises a first ring finger section lower body 174, a first ring finger section lower body 174 is provided with a through ring finger section lower mounting hole 176, the second ring finger section lower mounting part comprises a second ring finger section lower body 175, and the second ring finger section lower body 175 is provided with a through ring finger section lower mounting hole 177; the upper part of the ring finger second section 164 is provided with a ring finger second section upper mounting part I and a ring finger second section upper mounting part II, the lower part of the ring finger second section 164 is provided with a ring finger second section lower mounting part, the ring finger second section upper mounting part I comprises a ring finger second section upper mounting body I178, the ring finger second section upper mounting body I178 is provided with a through ring finger second section upper mounting hole I180, the upper part of the ring finger second section upper mounting hole I180 is provided with a through ring finger second section upper mounting hole II 181, the middle part of the ring finger second section upper mounting body I178 is provided with a ring finger second section driving cylinder connecting groove 182, and the ring finger second section driving cylinder connecting groove 182 is communicated with the ring finger second section upper mounting hole II 181; the second ring finger section mounting part II comprises a second ring finger section mounting body 179, and a through ring finger section mounting hole 183 is formed in the second ring finger section mounting body 179; the ring finger two-section lower mounting part comprises a ring finger two-section lower body 184, and a through ring finger two-section lower mounting hole 185 is arranged on the ring finger two-section lower body 184; the upper part and the lower part of the third ring finger section 165 are respectively provided with an upper ring finger section installation part and a lower ring finger section installation part, the upper ring finger section installation part comprises an upper ring finger section installation body 186, and the upper ring finger section installation body 186 is provided with a through upper ring finger section installation hole 187; the third ring finger lower mounting portion comprises a third ring finger lower body 188, and a through third ring finger lower mounting hole 195 is arranged on the third ring finger lower body 188, preferably, in order to improve the simulation, the top of the third ring finger 165 is closed. The specific installation between the palm 2 and the ring finger 8 is as follows: a ring finger C-shaped connecting rod I189 is arranged between the ring finger upper mounting hole I57 and the ring finger lower mounting hole I176, a ring finger C-shaped connecting rod II 190 is arranged between the ring finger upper mounting hole I168 and the ring finger lower mounting hole 61, the ring finger C-shaped connecting rod I189 and the ring finger C-shaped connecting rod II 190 are used in pairs, a ring finger driving cylinder I191 is arranged in the ring finger driving cylinder mounting groove 59, and the output end of the ring finger driving cylinder I191 is connected with the ring finger one-section driving cylinder connecting groove 170; a third ring finger C-shaped connecting rod 192 is arranged between the third ring finger section upper mounting hole 171 and the second ring finger section lower mounting hole 185, a fourth ring finger C-shaped connecting rod 193 is arranged between the first ring finger section upper mounting hole 180 and the second ring finger section lower mounting hole 177, the third ring finger C-shaped connecting rod 192 and the fourth ring finger C-shaped connecting rod 193 are used in pairs, a second ring finger driving cylinder 194 is arranged in the first ring finger section driving cylinder mounting groove 173, and the output end of the second ring finger driving cylinder 194 is connected with the second ring finger section driving cylinder connecting groove 182; a third ring finger C-shaped connecting rod five 196 is arranged between the third ring finger upper mounting hole 183 and the third ring finger lower mounting hole 195, a third ring finger C-shaped connecting rod six 197 is arranged between the third ring finger upper mounting hole 187 and the third ring finger lower mounting hole 185, and the third ring finger C-shaped connecting rod five 196 and the third ring finger C-shaped connecting rod six 197 are used in pairs; the first ring finger driving cylinder 191 is started to push the first ring finger 163 to rotate, the second ring finger driving cylinder 194 is started to push the second ring finger 164 to rotate, the second ring finger 164 drives the third ring finger 165 to rotate, because the first ring finger C-shaped connecting rod 189, the second ring finger C-shaped connecting rod 190, the third ring finger C-shaped connecting rod 192, the fourth ring finger C-shaped connecting rod 193, the fifth ring finger C-shaped connecting rod 196 and the sixth ring finger C-shaped connecting rod 197 are arranged, on the premise of realizing the support function of the ring finger C-shaped connecting rod, the parts of the arm, the palm, the finger and the like of a human body can penetrate into the manipulator without interference, and the palm 2 and the ring finger 8 do not interfere when rotating, so that the flexibility of the ring finger action is improved.
The little finger 9 comprises a little finger section 198, a little finger two section 199 and a little finger three section 200 which are connected in sequence, and the little finger section 198 is connected with a little finger upper mounting part and a little finger lower mounting part on the palm 2; specifically: the upper part of the little finger section 198 is provided with a little finger section upper mounting part I and a little finger section upper mounting part II, the lower part of the little finger section 198 is provided with a little finger section lower mounting part I and a little finger section lower mounting part II, the little finger section upper mounting part I comprises a little finger section upper mounting body I201, the little finger section upper mounting body I201 is provided with a through little finger section upper mounting hole I203, the upper part of the little finger section upper mounting hole I203 is provided with a through little finger section upper mounting hole II 204, the middle part of the little finger section upper mounting body I201 is provided with a little finger section driving cylinder connecting groove 205, and the little finger section driving cylinder connecting groove 205 is communicated with the little finger section upper mounting hole II 204; the second finger section upper mounting part comprises a second finger section upper mounting body 202, the second finger section upper mounting body 202 is provided with a third through finger section upper mounting hole 206, the upper part of the third through finger section upper mounting hole 206 is provided with a fourth through finger section upper mounting hole 207, the middle part of the second finger section upper mounting body 202 is provided with a second finger section driving cylinder mounting groove 208, and the second finger section driving cylinder mounting groove 208 is communicated with the fourth finger section upper mounting hole 207; the first little finger lower installation part comprises a first little finger lower body 209, a first through little finger lower installation hole 211 is formed in the first little finger lower body 209, the second little finger lower installation part comprises a second little finger lower body 210, and a second through little finger lower installation hole 212 is formed in the second little finger lower body 210; the upper part of the little finger two section 199 is provided with a little finger two section upper mounting part I and a little finger two section upper mounting part II, the little part of the little finger two section 199 is provided with a little finger two section lower mounting part, the little finger two section upper mounting part I comprises a little finger two section upper mounting body I213, the little finger two section upper mounting body I213 is provided with a through little finger two section upper mounting hole I215, the upper part of the little finger two section upper mounting hole I215 is provided with a through little finger two section upper mounting hole II 216, the middle part of the little finger two section upper mounting body I213 is provided with a little finger two section driving cylinder connecting groove 217, and the little finger two section driving cylinder connecting groove 217 is communicated with the little finger two section upper mounting hole II 216; the second mounting part of the second little finger section comprises a second mounting body 214 of the second little finger section, and a through second mounting hole 218 of the second little finger section is arranged on the second mounting body 214 of the second little finger section; the little finger two-section lower mounting part comprises a little finger two-section lower body 219, and a through little finger two-section lower mounting hole 220 is arranged on the little finger two-section lower body 219; the upper part and the lower part of the little finger three section 200 are respectively provided with a little finger three section upper installation part and a little finger three section lower installation part, the little finger three section upper installation part comprises a little finger three section upper installation body 221, and the little finger three section upper installation body 221 is provided with a through little finger three section upper installation hole 222; the small finger three-section lower mounting part comprises a small finger three-section lower body 223, and a through small finger three-section lower mounting hole 224 is arranged on the small finger three-section lower body 223; preferably, to enhance the simulation, the top of the little finger three section 200 is closed. The specific installation between the palm 2 and the little finger 9 is as follows: a little finger C-shaped connecting rod I225 is arranged between the little finger upper mounting hole I63 and the little finger lower mounting hole I211, a little finger C-shaped connecting rod II 226 is arranged between the little finger upper mounting hole I203 and the little finger lower mounting hole 67, a little finger driving cylinder I227 is arranged in the little finger driving cylinder mounting groove 65, and the output end of the little finger driving cylinder I227 is connected with the little finger section driving cylinder connecting groove 205; a small finger C-shaped connecting rod III 228 is arranged between the small finger section upper mounting hole III 206 and the small finger section lower mounting hole 220, a small finger C-shaped connecting rod IV 229 is arranged between the small finger section upper mounting hole I215 and the small finger section lower mounting hole II 212, a small finger driving cylinder II 230 is arranged in the small finger section driving cylinder mounting groove 208, and the output end of the small finger driving cylinder II 230 is connected with the small finger section driving cylinder connecting groove 217; a small finger C-shaped connecting rod five 231 is arranged between the small finger two-section upper mounting hole 218 and the small finger three-section lower mounting hole 224, and a small finger C-shaped connecting rod six 232 is arranged between the small finger three-section upper mounting hole 222 and the small finger two-section lower mounting hole 220; the first little finger driving cylinder 227 is started to push the second little finger section 198 to rotate, the second little finger driving cylinder 230 is started to push the second little finger section 199 to rotate, and the second little finger section 199 drives the third little finger section 200 to rotate, because the arrangement of the first little finger C-shaped connecting rod 225, the second little finger C-shaped connecting rod 226, the third little finger C-shaped connecting rod 228, the fourth little finger C-shaped connecting rod 229, the fifth little finger C-shaped connecting rod 231 and the sixth little finger C-shaped connecting rod 232 can lead parts of human arms, palms, fingers and the like to penetrate into the manipulator without interference on the premise of realizing the supporting function of the C-shaped little finger connecting rod, and when the palms 2 and the little fingers 9 rotate, no interference is generated, and the flexibility of the action of the little finger 9 is improved.
In summary, the forearm 1, the palm 2, the female finger 5, the middle finger 6, the index finger 7, the ring finger 8 and the little finger 9 are hollow and can be used for accommodating human body insertion, the wrist joint driving device 3 is arranged between the forearm 1 and the palm 2, and the finger driving devices are arranged between the palm 2 and each finger, so that actions can be realized when human body insertion or no human body insertion exists, the simulation is ensured, and meanwhile, the universality of the application is improved; the application has two movement functions, one is the 'active driving' of the wrist joint driving device and the finger driving device, and the other is the 'passive driving' of the arm, palm and finger movement driving; the wrist joint C-shaped connecting rod and the finger C-shaped connecting rod can rotate the wrist joint and the finger joint, and the C-shaped structure can enable parts such as arms, palms and fingers of a human body to penetrate into the manipulator without interference on the premise of realizing the supporting function of the connecting rod; when a human body is inserted, automatic simulation control, remote control operation, medical treatment and auxiliary movement are performed, and learning control of a learning robot is performed; when no human body is inserted, various simulation motions of autonomous motion and grabbing application are required.
The above devices, connection relationships, etc. which are not specifically described belong to the prior art, and the present invention is not specifically described herein.
Standard parts used in the document of the application can be purchased from market, and can be customized according to the description of the specification and the drawing, the specific connection modes of the parts adopt conventional means such as welding, rivets, bonding and the like which are mature in the prior art, and the machines, the parts and the equipment adopt conventional models in the prior art.
The preferred embodiments of the present application have been described in detail above with reference to the accompanying drawings, but the present application is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present application within the scope of the technical concept of the present application, and all the simple modifications belong to the protection scope of the present application.
In addition, the specific features described in the above embodiments may be combined in any suitable manner, and various possible combinations of the present application are not described separately in order to avoid unnecessary repetition, unless otherwise contradicted.
Moreover, any combination of the various embodiments of the application can be made without departing from the spirit of the application, and the application is also to be regarded as the disclosure of the application.

Claims (8)

1. The simulation manipulator comprises a small arm (1), and is characterized in that the small arm (1) is connected with a palm (2) through a wrist joint driving device (3), the palm (2) is respectively connected with a female finger (5), an index finger (6), a middle finger (7), a ring finger (8) and a little finger (9) through a finger driving device (4), and the small arm (1), the palm (2), the female finger (5), the index finger (6), the middle finger (7), the ring finger (8) and the little finger (9) are hollow and can be used for accommodating the insertion of a human body; the wrist joint driving device (3) comprises a wrist joint C-shaped connecting rod (10) for connecting a small arm (1) and a palm (2), wherein the wrist joint C-shaped connecting rod (10) comprises a wrist joint C-shaped connecting rod I (11) and a wrist joint C-shaped connecting rod II (12), a wrist joint driving cylinder (13) is fixed above the small arm (1), and the output end of the wrist joint driving cylinder (13) is connected with the palm (2); the upper part and the lower part of the small arm (1) are respectively provided with a small arm upper mounting part and a small arm lower mounting part, the small arm upper mounting part comprises a small arm upper body (26), a through small arm upper mounting hole I (27) is formed in the small arm upper body (26), a through small arm upper mounting hole II (28) is formed in the upper part of the small arm upper mounting hole I (27), a driving cylinder mounting groove (29) is formed in the middle of the top of the small arm upper body (26), and the driving cylinder mounting groove (29) is communicated with the small arm upper mounting hole II (28); the lower forearm installation part comprises a lower forearm body (30), and a through lower forearm installation hole (31) is formed in the lower forearm body (30).
2. The simulation manipulator according to claim 1, wherein an upper palm mounting part and a lower palm mounting part are respectively arranged on the upper part and the lower part of one side, close to the forearm (1), of the palm (2), the upper palm mounting part comprises an upper palm body (32), a first through upper palm mounting hole (33) is arranged on the upper palm body (32), a second through upper palm mounting hole (34) is arranged on the upper part of the first through upper palm mounting hole (33), a driving cylinder connecting groove (35) is formed in the middle part of the top of the upper palm body (32), and the driving cylinder connecting groove (35) is communicated with the second through upper palm mounting hole (34); the palm lower mounting part comprises a palm lower body (36), and a through palm lower mounting hole (37) is formed in the palm lower body (36); the palm (2) is provided with a female finger upper mounting part, an index finger upper mounting part, a middle finger upper mounting part, a ring finger upper mounting part and a little finger upper mounting part on one side far away from the forearm (1) respectively; the lower part of one side of the palm (2) far away from the forearm (1) is respectively provided with a female finger lower mounting part, an index finger lower mounting part, a middle finger lower mounting part, a ring finger lower mounting part and a little finger lower mounting part; a wrist joint C-shaped connecting rod I (11) is arranged between the forearm upper mounting hole I (27) and the palm lower mounting hole (37), and a wrist joint C-shaped connecting rod II (12) is arranged between the palm upper mounting hole I (33) and the forearm lower mounting hole (31); the wrist joint driving cylinder (13) is arranged in the driving cylinder mounting groove (29), and the output end of the wrist joint driving cylinder (13) is connected with the driving cylinder connecting groove (35).
3. The simulation manipulator according to claim 1, wherein the wrist joint C-shaped connecting rod (10) comprises a C-shaped body (14), a wrist joint upper mounting part (15) is arranged on the right side of the top of the C-shaped body (14), a wrist joint upper mounting hole (16) is formed in the wrist joint upper mounting part (15), a wrist joint lower mounting part (17) is arranged on the left side of the bottom of the C-shaped body (14), and a wrist joint lower mounting hole (18) is formed in the wrist joint lower mounting part (17); or the left side at the top of the C-shaped body (14) is provided with a wrist joint upper mounting part (15), a wrist joint upper mounting hole (16) is formed in the wrist joint upper mounting part (15), the right side at the bottom of the C-shaped body (14) is provided with a wrist joint lower mounting part (17), and a wrist joint lower mounting hole (18) is formed in the wrist joint lower mounting part (17).
4. The simulation manipulator according to claim 1, wherein the finger driving device (4) comprises a finger C-shaped connecting rod (19) for connecting the palm (2) with the female finger (5), the index finger (6), the middle finger (7), the ring finger (8) and the little finger (9), a finger driving cylinder (20) is fixed above the palm (2), and the output end of the finger driving cylinder (20) is connected with the female finger (5), the index finger (6), the middle finger (7), the ring finger (8) and the little finger (9).
5. A simulated manipulator according to claim 4, wherein the finger C-shaped connecting rod (19) comprises a female finger C-shaped connecting rod, an index finger C-shaped connecting rod, a middle finger C-shaped connecting rod, a ring finger C-shaped connecting rod, a little finger C-shaped connecting rod.
6. A simulated manipulator according to claim 4, wherein the finger C-shaped connecting rod (19) comprises a connecting base (21), an upper mounting part (22) is arranged on the right side of the top of the connecting base (21), an upper mounting hole (23) is arranged on the upper mounting part (22), a lower mounting part (24) is arranged on the left side of the bottom of the connecting base (21), and a lower mounting hole (25) is arranged on the lower mounting part (24); or the left side of the top of the connecting base part (21) is provided with an upper mounting part (22), the upper mounting part (22) is provided with an upper mounting hole (23), the right side of the bottom of the connecting base part (21) is provided with a lower mounting part (24), and the lower mounting part (24) is provided with a lower mounting hole (25).
7. A simulated manipulator according to claim 2, wherein the female finger (5) comprises a female finger section (68) and a female finger section (69), the female finger section (68) being connected to the palm (2) and the female finger section (69), respectively; a first female finger C-shaped connecting rod (87) is arranged between the lower part of the female finger section (68) and the upper female finger mounting part of the palm (2), a second female finger C-shaped connecting rod (88) is arranged between the upper part of the female finger section (68) and the lower part of the female finger section (69), a third female finger C-shaped connecting rod (90) is arranged between the upper part of the female finger section (68) and the lower part of the female finger section (69), and a fourth female finger C-shaped connecting rod (91) is arranged between the upper part of the female finger section (69) and the lower part of the female finger section (68); a first female finger driving cylinder (89) is arranged between the palm (2) and the female finger section (68), and a second female finger driving cylinder (92) is arranged between the female finger section (68) and the female finger section (69).
8. The simulation manipulator according to claim 2, wherein the index finger (6) comprises an index finger section (93), an index finger second section (94) and an index finger third section (95) which are sequentially connected, the upper part of the index finger section (93) is provided with an index finger section upper mounting part I and an index finger section upper mounting part II, and the lower part of the index finger section is provided with an index finger section lower mounting part I and an index finger section lower mounting part II; the upper part of the index finger two section (94) is provided with an index finger two section upper mounting part I and an index finger two section upper mounting part II, and the lower part of the index finger two section is provided with an index finger two section lower mounting part; the upper part and the lower part of the index finger three sections (95) are respectively provided with an index finger three-section upper installation part and an index finger three-section lower installation part; an index C-shaped connecting rod I (120) is arranged between the index finger upper mounting part and the index finger lower mounting part I, an index finger C-shaped connecting rod II (121) is arranged between the index finger upper mounting part I and the index finger lower mounting part, an index finger C-shaped connecting rod III (123) is arranged between the index finger upper mounting part II and the index finger lower mounting part II, an index finger C-shaped connecting rod IV (124) is arranged between the index finger upper mounting part I and the index finger lower mounting part II, an index finger C-shaped connecting rod V (126) is arranged between the index finger upper mounting part II and the index finger three lower mounting part, and an index finger C-shaped connecting rod VI (127) is arranged between the index finger three upper mounting part and the index finger two lower mounting part; an index finger driving cylinder I (122) is arranged between the index finger upper mounting part and the index finger section upper mounting part I, and an index finger driving cylinder II (125) is arranged between the index finger section upper mounting part II and the index finger section upper mounting part I;
The middle finger (7) comprises a middle finger section (128), a middle finger two section (129) and a middle finger three section (130) which are connected in sequence, wherein the upper part of the middle finger section (128) is provided with a middle finger section upper mounting part I and a middle finger section upper mounting part II, and the lower part of the middle finger section (128) is provided with a middle finger section lower mounting part I and a middle finger section lower mounting part II; the upper part of the middle second knuckle (129) is provided with a first middle second knuckle upper mounting part and a second middle second knuckle upper mounting part, and the lower part of the middle second knuckle (129) is provided with a second middle second knuckle lower mounting part; the upper part and the lower part of the middle finger three section (130) are respectively provided with a middle finger three section upper installation part and a middle finger three section lower installation part; a middle finger C-shaped connecting rod I (155) is arranged between the middle finger upper mounting part and the middle finger lower mounting part I, a middle finger C-shaped connecting rod II (156) is arranged between the middle finger upper mounting part I and the middle finger lower mounting part II, a middle finger C-shaped connecting rod III (158) is arranged between the middle finger upper mounting part II and the middle finger lower mounting part II, a middle finger C-shaped connecting rod IV (159) is arranged between the middle finger upper mounting part I and the middle finger lower mounting part II, a middle finger C-shaped connecting rod V (161) is arranged between the middle finger upper mounting part II and the middle finger three lower mounting part, and a middle finger C-shaped connecting rod VI (162) is arranged between the middle finger three upper mounting part and the middle finger two lower mounting part; a middle finger driving cylinder I (157) is arranged between the middle finger upper mounting part and the middle finger section upper mounting part I, and a middle finger driving cylinder II (160) is arranged between the middle finger section upper mounting part II and the middle finger section upper mounting part I;
The ring finger (8) comprises a ring finger section (163), a ring finger second section (164) and a ring finger third section (165) which are sequentially connected, wherein the upper part of the ring finger section (163) is provided with a ring finger section upper mounting part I and a ring finger section upper mounting part II, and the lower part of the ring finger section is provided with a ring finger section lower mounting part I and a ring finger section lower mounting part II; the upper part of the ring finger second section (164) is provided with a ring finger second section upper mounting part I and a ring finger second section upper mounting part II, and the lower part of the ring finger second section is provided with a ring finger second section lower mounting part; the upper part and the lower part of the third ring finger section (165) are respectively provided with an upper ring finger section installation part and a lower ring finger section installation part; a third ring finger C-shaped connecting rod (192) is arranged between the second ring finger upper mounting part and the second ring finger lower mounting part, a fourth ring finger C-shaped connecting rod (193) is arranged between the first ring finger upper mounting part and the second ring finger lower mounting part, a fifth ring finger C-shaped connecting rod (196) is arranged between the second ring finger upper mounting part and the third ring finger lower mounting part, and a sixth ring finger C-shaped connecting rod (197) is arranged between the third ring finger upper mounting part and the second ring finger lower mounting part; a first ring finger driving cylinder (191) is arranged between the first ring finger upper mounting part and the first ring finger upper mounting part, and a second ring finger driving cylinder (194) is arranged between the second ring finger upper mounting part and the first ring finger upper mounting part;
The small finger (9) comprises a small finger section (198), a small finger second section (199) and a small finger third section (200) which are connected in sequence, wherein the upper part of the small finger section (198) is provided with a small finger section upper mounting part I and a small finger section upper mounting part II, and the lower part of the small finger section (198) is provided with a small finger section lower mounting part I and a small finger section lower mounting part II; the upper part of the little second knuckle (199) is provided with a little second knuckle upper mounting part I and a little second knuckle upper mounting part II, and the lower part of the little second knuckle (199) is provided with a little second knuckle lower mounting part; the upper part and the lower part of the little finger three section (200) are respectively provided with a little finger three section upper installation part and a little finger three section lower installation part; a little finger C-shaped connecting rod I (225) is arranged between the little finger upper mounting part and the little finger lower mounting part I, a little finger C-shaped connecting rod II (226) is arranged between the little finger upper mounting part I and the little finger lower mounting part II, a little finger C-shaped connecting rod III (228) is arranged between the little finger upper mounting part II and the little finger lower mounting part II, a little finger C-shaped connecting rod IV (229) is arranged between the little finger upper mounting part I and the little finger lower mounting part II, a little finger C-shaped connecting rod V (231) is arranged between the little finger upper mounting part II and the little finger three lower mounting part II, and a little finger C-shaped connecting rod VI (232) is arranged between the little finger three upper mounting part and the little finger two lower mounting part II; a little finger driving cylinder I (227) is arranged between the little finger upper mounting part and the little finger section upper mounting part I, and a little finger driving cylinder II (230) is arranged between the little finger section upper mounting part II and the little finger section upper mounting part I.
CN202410598026.4A 2024-05-15 2024-05-15 Simulation manipulator Pending CN118163081A (en)

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CN202410598026.4A CN118163081A (en) 2024-05-15 2024-05-15 Simulation manipulator

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Application Number Priority Date Filing Date Title
CN202410598026.4A CN118163081A (en) 2024-05-15 2024-05-15 Simulation manipulator

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105726263A (en) * 2016-04-19 2016-07-06 西安交通大学 Wearable hand exoskeleton rehabilitation training robot
CN106363648A (en) * 2016-09-26 2017-02-01 哈尔滨工业大学 Parallel sliding guide rod type rehabilitation manipulator measuring mechanism
CN109514544A (en) * 2018-12-27 2019-03-26 浙江工业大学 A kind of bionic mechanical hand
CN217434330U (en) * 2022-06-17 2022-09-16 重庆理工大学 Hand gripping auxiliary mechanism and upper limb assistance exoskeleton
CN117243792A (en) * 2023-09-26 2023-12-19 天津大学 Multi-limb hand robot system
CN117774333A (en) * 2023-09-19 2024-03-29 江苏金昱陵建设工程有限公司 Power exoskeleton for pipeline hot melting auxiliary construction for chemical building engineering
CN118001095A (en) * 2024-02-28 2024-05-10 天津大学 Elbow joint fracture postoperative rehabilitation robot based on static progressive stretching

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105726263A (en) * 2016-04-19 2016-07-06 西安交通大学 Wearable hand exoskeleton rehabilitation training robot
CN106363648A (en) * 2016-09-26 2017-02-01 哈尔滨工业大学 Parallel sliding guide rod type rehabilitation manipulator measuring mechanism
CN109514544A (en) * 2018-12-27 2019-03-26 浙江工业大学 A kind of bionic mechanical hand
CN217434330U (en) * 2022-06-17 2022-09-16 重庆理工大学 Hand gripping auxiliary mechanism and upper limb assistance exoskeleton
CN117774333A (en) * 2023-09-19 2024-03-29 江苏金昱陵建设工程有限公司 Power exoskeleton for pipeline hot melting auxiliary construction for chemical building engineering
CN117243792A (en) * 2023-09-26 2023-12-19 天津大学 Multi-limb hand robot system
CN118001095A (en) * 2024-02-28 2024-05-10 天津大学 Elbow joint fracture postoperative rehabilitation robot based on static progressive stretching

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