CN210210372U

CN210210372U - Towed auxiliary machinery hand

Info

Publication number: CN210210372U
Application number: CN201920989841.8U
Authority: CN
Inventors: Shouzheng Wang; 王守正
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-06-26
Filing date: 2019-06-26
Publication date: 2020-03-31
Anticipated expiration: 2029-06-26

Abstract

The utility model provides a traction-type auxiliary mechanical hand, which comprises a mechanical hand and an mechanical arm, wherein the mechanical hand comprises a palm, a first finger and a plurality of second fingers, a first fixed anchor point is arranged at the end of the first knuckle, a second fixed anchor point is arranged at the end of the third knuckle of each second finger, and a third fixed anchor point is arranged at the end of the palm; the arm includes arm connecting rod, third connecting piece, fixed band, first pull wire, third pull wire and with the second pull wire that the second finger corresponds the setting, the one end setting of first pull wire is in first fixed anchor point, the other end pass first traction frame is provided with first traction ring, the one end setting of second pull wire is in the fixed anchor point of second, the other end passes second traction frame is provided with second traction ring, the one end setting of third pull wire is in the fixed anchor point of third, the other end passes third traction frame is provided with the third traction ring.

Description

Towed auxiliary machinery hand

Technical Field

The utility model relates to an instrument correlation field of supplementary gripping article and delivery particularly, relates to a towed supplementary manipulator.

Background

In the modern life, the science and technology are different day by day, the manipulator is an automatic operation device which can imitate 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, can replace heavy labor of people to realize mechanization and automation of production, can be operated in a harmful environment to protect the safety of human bodies, and is widely used, the existing manipulator can be divided into a hydraulic type, a pneumatic type, an electric type and a mechanical type according to a driving mode, all of which need to complete various expected operations through early programming, has a complex structure, needs electric driving, is not suitable for daily use, has the conditions that the length of the human hand is short, the articles to be taken cannot be taken, or the taking environment of a small amount of articles to be taken is severe and the like in the actual daily use process, and the existing manipulator is used, has large investment and wastes resources, therefore, the two-finger gripping device is used for controlling the two fingers to be kneaded through the connecting rod, the connecting line and the hand holding clamp, so that the gripping action is realized, but the gripping device has few force application points and small gripping force, and the gripped object is easy to drop, low in adaptation degree with hands and low in flexibility.

SUMMERY OF THE UTILITY MODEL

The utility model provides a new towed auxiliary machinery hand, the technical problem that solve are that current grabbing device application of force is little, and the gripping dynamics is little, and is low with staff adaptation degree, the lower problem of flexibility ratio.

In view of the above, the present invention provides a novel pull-type auxiliary manipulator, which comprises a manipulator and a manipulator arm, wherein the manipulator arm comprises a palm, and a first finger and a plurality of second fingers connected to the palm, the first finger comprises a first knuckle, a second knuckle and a first connecting member, the end of the first knuckle is foldably connected to the top end of the second knuckle through the first connecting member, the end of the second knuckle is foldably connected to the top end of the palm through the first connecting member, the end of the bending surface of the first knuckle is provided with a first fixed anchor point, the bending surface of the second knuckle is provided with a first through hole, a first thread bearing shaft is arranged in the first through hole, each of the second fingers comprises a third knuckle, a fourth knuckle, a fifth knuckle and a second connecting member, the end of the third knuckle is foldably connected to the top end of the fourth knuckle through the second connecting member, the tail end of the fourth knuckle is connected to the top end of the fifth knuckle in a foldable mode through the second connecting piece, the tail end of the fifth knuckle is connected to the top end of the palm in a foldable mode through the second connecting piece, a second fixing anchor point is arranged at the tail end of the bending surface of the third knuckle, second through holes are formed in the bending surfaces of the fourth knuckle and the fifth knuckle, second thread bearing shafts are arranged in the second through holes, a first through groove is formed in the palm, and a third fixing anchor point is arranged on the bending surface of the tail end of the palm; the mechanical arm comprises an arm connecting rod, a third connecting piece, a fixing band, a first traction line, a third traction line and a second traction line arranged corresponding to the second finger, the top end of the arm connecting rod is connected to the tail end of the palm through the third connecting piece in a foldable manner, the fixing band is arranged at the tail end of the arm connecting rod, a second through slot is arranged in the arm connecting rod, a positioning support is arranged in the middle of the arm connecting rod, a second traction frame is arranged at the top of the positioning support, a third traction frame is arranged in the middle of the positioning support, a first traction frame is arranged at the tail end of the positioning support, the bottom of the positioning support is rotatably connected with the arm connecting rod through a fixed rotating shaft, one end of the first traction line is arranged at the first fixed anchor point, and the other end of the first traction line penetrates through the first traction frame and is provided with a first, the one end setting of second pull wire is in the fixed anchor point of second, the other end passes the second traction frame is provided with the second and pulls the ring, the one end setting of third pull wire is in the fixed anchor point of third, the other end passes the third traction frame is provided with the third and pulls the ring, first pull wire and second pull wire run through first through-wire groove with the setting of second through-wire groove, the third pull wire runs through the setting of second through-wire groove.

In any one of the above technical solutions, preferably, the top and the end of the first knuckle, the second knuckle, the third knuckle, the fourth knuckle and the fifth knuckle are provided with arc grooves, and both ends of the arc grooves are provided with mounting grooves.

In any one of the above technical solutions, preferably, the first connecting piece, the second connecting piece and the third connecting piece each include a torsion spring, and the torsion springs are disposed in the mounting grooves.

In any one of the above technical solutions, preferably, the first connecting member includes a first spring, a first rotating shaft and a second rotating shaft, the back surfaces of the first knuckle and the second knuckle are both provided with a first engaging groove, the first spring is disposed in the first engaging groove, one end of the first spring is fixedly disposed at the end of the back surface of the first knuckle, the other end of the first spring is fixedly disposed at the top end of the back surface of the palm, the end of the first knuckle is foldably connected to the top end of the second knuckle through the first rotating shaft, the end of the second knuckle is foldably connected to one side of the top end of the palm through the second rotating shaft, the second connecting member includes a second spring, a third rotating shaft, a fourth rotating shaft and a fifth rotating shaft, the back surfaces of the third knuckle, the fourth knuckle and the fifth knuckle are all provided with a second engaging groove, and the second spring is disposed in the second engaging groove, the fixed setting of one end of second spring is in the end at the third knuckle back, the other end is fixed to be set up the top at the palm back, the end of third knuckle passes through third pivot collapsible connection in the top of fourth knuckle, the end of fourth knuckle passes through fourth pivot collapsible connection in the top of fifth knuckle, the end of fifth knuckle passes through fifth pivot collapsible connection in top one side of palm, the third connecting piece includes third spring and sixth pivot, the fixed setting of one end of third spring is in the palm back, the other end is fixed to be set up the top one side of arm connecting rod, the end of palm passes through the sixth pivot connect in the top of arm connecting rod.

In any one of the above technical solutions, preferably, the first rotating shaft, the second rotating shaft, the third rotating shaft, the fourth rotating shaft, the fifth rotating shaft and the sixth rotating shaft are all respectively disposed in the mounting groove.

In any one of the above technical solutions, preferably, sliding bins are disposed in the first through-line slot and the second through-line slot.

In any one of the above technical solutions, preferably, a first placing groove is formed at a tail end of the arm connecting rod, and the fixing straps are evenly arranged in the first placing groove.

In any one of the above technical solutions, preferably, a second placing groove is further disposed on the arm connecting rod, the positioning bracket is disposed in the second placing groove, and the fixed rotating shaft is disposed at the bottom of the second placing groove.

Compared with the prior art, the utility model has the advantages of:

(1) the first finger and the plurality of second fingers are arranged at the manipulator, so that force application points are increased, and the condition that the object to be grabbed falls off after being grabbed is effectively avoided;

(2) the first finger is provided with a first knuckle and a second knuckle, and each second finger is provided with a third knuckle, a fourth knuckle and a fifth knuckle, so that the bendable angle of the manipulator is enlarged, and the flexibility of the manipulator is effectively improved;

(3) a user can sleeve the hand in the first traction ring, the second traction ring and the third traction ring which are arranged on the positioning support to act, and the hand is transmitted to the manipulator arranged at the top end of the arm connecting rod through the first traction wire, the second traction wire and the third traction wire, so that the flexible action of the manipulator is controlled, the adaptation degree of the manipulator to the hand is high, and the use is convenient;

(4) effective length of arm connecting rod, the user of being convenient for takes with the help of the manipulator and treats when the article of taking has the article of certain potential safety hazard itself, also the user of being convenient for takes and is located the comparatively abominable article of waiting to take of environment of taking.

Drawings

Fig. 1 shows a schematic side view of a pull-assisted robot according to an embodiment of the present invention;

fig. 2 is a perspective view illustrating a first traction wire, a second traction wire, and a third traction wire based on the pull-type auxiliary robot of fig. 1;

fig. 3 shows a schematic view of a rear structure of the pull-assist robot based on fig. 1;

FIG. 4 is a schematic diagram showing a side view of the robot arm of FIG. 1;

FIG. 5 shows a schematic top view of the second knuckle of FIG. 1;

FIG. 6 shows a side view schematic based on the second knuckle of FIG. 1;

FIG. 7 is a schematic front view of the second finger of FIG. 1;

FIG. 8 shows a schematic diagram of a back structure based on the second finger of FIG. 1;

fig. 9 is a schematic side view of a pull-assist robot according to another embodiment of the present invention.

Wherein, the names corresponding to the reference numbers in the drawings are: the robot comprises a mechanical arm 101, a mechanical arm 102, a palm 103, a first knuckle 104, a second knuckle 105, a first fixing anchor point 106, a first through hole 107, a first thread bearing shaft 108, a third knuckle 109, a fourth knuckle 110, a fifth knuckle 111, a second fixing anchor point 112, a first through groove 113, a third fixing anchor point 114, an arm connecting rod 115, a fixing strap 116, a first pull wire 117, a second pull wire 118, a third pull wire 119, a second through groove 120, a first placing groove 121, a second placing groove 122, a fixing rotating shaft 123, a positioning bracket 124, a second pull frame 125, a third pull frame 126, a first pull frame 127, a first pull ring 128, a second pull ring 129, a third pull ring 130, an arc-shaped groove 131, a mounting groove 132, a first spring 133, a first rotating shaft 134, a second rotating shaft 135, a second spring 136, a third rotating shaft 137, a fourth rotating shaft 138, a fifth rotating shaft 139, a third spring 140, a sixth rotating shaft 141, a first rotating shaft 141, a second rotating shaft 135, a third rotating shaft 135, first engaging groove 142, torsion spring 143.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

The present invention will be further described with reference to fig. 1 to 9.

As shown in fig. 1 to 9, a pull-type auxiliary manipulator comprises a manipulator 101 and a manipulator 102, wherein the manipulator 101 comprises a palm 103, and a first finger and a plurality of second fingers, the first finger and the plurality of second fingers are connected with the palm 103, the first finger is matched with the thumb of a human hand, and the plurality of second fingers are respectively matched with the little finger, the ring finger, the middle finger and the index finger of the human hand; the first finger comprises a first knuckle 104, a second knuckle 105 and a first connecting piece, the end of the first knuckle 104 is foldably connected to the top end of the second knuckle 105 through the first connecting piece, the end of the second knuckle 105 is foldably connected to the top end of the palm 103 through the first connecting piece, the end of the bending surface of the first knuckle 104 is provided with a first fixing anchor point 106, the bending surface of the second knuckle 105 is provided with a first through hole 107, a first thread bearing shaft 108 is arranged in the first through hole 107, each second finger comprises a third knuckle 109, a fourth knuckle 110, a fifth knuckle 111 and a second connecting piece, the end of the third knuckle 109 is foldably connected to the top end of the fourth knuckle 110 through the second connecting piece, and the end of the fourth knuckle 110 is foldably connected to the top end of the fifth knuckle 111 through the second connecting piece, the tail end of the fifth knuckle 111 is foldably connected to the top end of the palm 103 through the second connecting piece, the tail end of the bent surface of the third knuckle 109 is provided with a second fixing anchor point 112, the bent surfaces of the fourth knuckle 110 and the fifth knuckle 111 are both provided with a second through hole (not shown in the figure), the second through hole is internally provided with a second thread bearing shaft (not shown in the figure), the palm 103 is internally provided with a first through hole 113, and the bent surface of the tail end of the palm 103 is provided with a third fixing anchor point 114; the mechanical arm 102 comprises an arm connecting rod 115, a third connecting piece, a fixing strap 116, a first pulling wire 117, a third pulling wire 119 and a second pulling wire 118 arranged corresponding to the second finger, the top end of the arm connecting rod 115 is connected to the tail end of the palm 103 in a foldable manner through the third connecting piece, the fixing strap 116 is arranged at the tail end of the arm connecting rod 115, a second through-slot 120 is arranged inside the arm connecting rod 115, a first placing slot 121 is arranged at the tail end of the arm connecting rod 115, the fixing straps 116 are uniformly arranged in the first placing slot 121, the first placing slot 121 can be arranged according to the arm of a human hand, so that a user can place the arm in the first placing slot 121 to apply force, and the fitting degree of the arm with the human hand is improved; the arm connecting rod 115 is further provided with a second placing groove 122, the positioning support 124 is arranged in the second placing groove 122, the fixed rotating shaft 123 is arranged at the bottom of the second placing groove 122, so that the positioning support 124 can be rotated by the aid of the fixed rotating shaft 123, a second traction frame 125 is arranged at the top of the positioning support 124, a third traction frame 126 is arranged at the middle of the positioning support 124, a first traction frame 127 is arranged at the tail end of the positioning support 124, the bottom of the positioning support 124 is rotatably connected with the arm connecting rod 115 through the fixed rotating shaft 123, one end of the first traction wire 117 is arranged at the first fixed anchor point 106, the other end of the first traction wire passes through the first traction frame 127 and is provided with a first traction ring 128, one end of the second traction wire 118 is arranged at the second fixed anchor point 112, and the other end of the second traction wire passes through the second traction frame 125 and is provided with a second traction ring 129, one end of the third traction wire 119 is arranged at the third fixing anchor point 114, the other end of the third traction wire passes through the third traction frame 126 and is provided with a third traction ring 130, the first traction wire 117 and the second traction wire 118 are arranged through the first through groove 113 and the second through groove 120, and the third traction wire 119 is arranged through the second through groove 120; as shown in fig. 6, arc grooves 131 are formed in the tops and the ends of the first knuckle 104, the second knuckle 105, the third knuckle 109, the fourth knuckle 110 and the fifth knuckle 111, mounting grooves 132 are formed in the two ends of each arc groove 131, the arc grooves 131 facilitate the first knuckle 104, the second knuckle 105, the third knuckle 109, the fourth knuckle 110 and the fifth knuckle 111 to bend and reduce abrasion, sliding bins (not shown in the drawings) are arranged in the first through groove 113 and the second through groove 120, the sliding bins facilitate the first traction wire 117 and the second traction wire 118 to slide in the first through groove 113, and the third traction wire 119 to slide in the second through groove 120, so that friction can be effectively reduced, and the service lives of the first traction wire 117, the second traction wire 118 and the third traction wire 119 can be prolonged.

In the actual use process, the user places the arm in the first placing groove 121, and then fixes the arm by the fixing strap 116, the palm 103 of the hand is inserted through the third traction ring 130 at the third traction frame 126, the little finger, the ring finger, the middle finger and the index finger of the hand are inserted into the second traction ring 129 at the second traction frame 125, and the thumb of the hand is inserted into the first traction ring 128 at the first traction frame 127, at this time, the pull-type auxiliary manipulator is completely worn.

In a first embodiment, as shown in fig. 1 and fig. 2 specifically, when the first connecting piece includes a first spring 133, a first rotating shaft 134 and a second rotating shaft 135, the second connecting piece includes a second spring 136, a third rotating shaft 137, a fourth rotating shaft 138 and a fifth rotating shaft 139, and the third connecting piece includes a third spring 140 and a sixth rotating shaft 141, first engaging grooves 142 are respectively formed in the back surfaces of the first finger section 104 and the second finger section 105, and the first spring 133 is arranged in the first engaging grooves 142, so that the first spring 133 can be effectively prevented from being exposed and scraping against external articles; one end of the first spring 133 is fixedly disposed at the end of the back of the first knuckle 104, and the other end is fixedly disposed at the top end of the back of the palm 103, the end of the first knuckle 104 is foldably connected to the top end of the second knuckle 105 through the first rotating shaft 134, and the end of the second knuckle 105 is foldably connected to the top end side of the palm 103 through the second rotating shaft 135; second engaging grooves (not shown in the figure) are formed in the back surfaces of the third knuckle 109, the fourth knuckle 110 and the fifth knuckle 111, and the second spring 136 is arranged in the second engaging groove, so that the second spring 136 can be effectively prevented from being exposed and rubbing against external articles; one end of the second spring 136 is fixedly disposed at the end of the back of the third knuckle 109, and the other end is fixedly disposed at the top end of the back of the palm 103, the end of the third knuckle 109 is foldably connected to the top end of the fourth knuckle 110 through the third rotating shaft 137, the end of the fourth knuckle 110 is foldably connected to the top end of the fifth knuckle 111 through the fourth rotating shaft 138, the end of the fifth knuckle 111 is foldably connected to the top end side of the palm 103 through the fifth rotating shaft 139, one end of the third spring 140 is fixedly disposed at the back of the palm 103, the other end is fixedly disposed at the top end side of the arm connecting rod 115, the end of the palm 103 is connected to the top end of the arm connecting rod 115 through the sixth rotating shaft 141, wherein the first rotating shaft 134, the second rotating shaft 135, the third rotating shaft 137, and the third rotating shaft 115, The fourth rotating shaft 138, the fifth rotating shaft 139 and the sixth rotating shaft 141 are respectively disposed in the mounting groove 132.

As described above, when the thumb of the hand bends, the first pulling rope connected to the first pulling ring 128 is driven to move, so as to drive the first knuckle 104 and the second knuckle 105 of the first finger of the manipulator 101 to bend, during the bending process, the first rotating shaft 134 and the second rotating shaft 135 rotate, the first spring 133 stretches, and when the thumb of the hand withdraws and applies force, the first rotating shaft 134 and the second rotating shaft 135 recover to the original position under the action of the resilience of the first spring 133, so as to drive the first knuckle 104 and the second knuckle 105 to not bend any more, and recover the original shape of the first finger; similarly, when the index finger, the middle finger, the ring finger or the little finger of the hand bends, the second traction rope connected with the second traction ring 129 is driven to move, so as to drive the third knuckle 109, the fourth knuckle 110 and the fifth knuckle 111 of the second finger of the manipulator 101 to bend, in the bending process, the third rotating shaft 137, the fourth rotating shaft 138 and the fifth rotating shaft 139 rotate, the second spring 136 stretches, and when the hand withdraws for applying force, the third rotating shaft 137, the fourth rotating shaft 138 and the fifth rotating shaft 139 recover to the original position under the rebound effect of the second spring 136, so as to drive the third knuckle 109, the fourth knuckle 110 and the fifth knuckle 111 not to bend any more, and recover the original shape of the second finger; when the palm 103 of the hand bends, the third pulling rope connected to the third pulling ring 130 is driven to move, so as to drive the palm 103 to bend towards the arm connecting rod 115, in the bending process, the sixth rotating shaft 141 rotates, the third spring 140 stretches, and when the palm 103 of the hand withdraws and applies a force, the sixth rotating shaft 141 restores to the original position under the action of the resilience of the third spring 140, so as to drive the palm 103 to restore to the original position.

In the second embodiment, as shown in fig. 9, when the first connecting element, the second connecting element and the third connecting element all include the torsion spring 143, the torsion spring 143 is disposed in the mounting groove 132, and the torsion spring 143 has a return force function, so that when the user applies a force, the first finger and the second finger of the manipulator 101 bend along with the force application direction, and when the user stops applying the force, the first finger and the second finger automatically rebound, which is labor-saving.

As described above, when the thumb of the hand is bent, the first traction rope connected to the first traction ring 128 is driven to move, so as to drive the first knuckle 104 and the second knuckle 105 of the first finger of the manipulator 101 to bend, during the bending process, the torsion spring 143 rotates, and when the thumb of the hand is withdrawn to apply a force, the torsion spring 143 returns to the original position, so as to drive the first knuckle 104 and the second knuckle 105 to not bend any more, so as to return to the original position of the first finger; similarly, when the index finger, the middle finger, the ring finger or the little finger of the hand performs a bending motion, the second traction rope connected with the second traction ring 129 is driven to move, so as to drive the third knuckle 109, the fourth knuckle 110 and the fifth knuckle 111 of the second finger of the manipulator 101 to bend, during the bending process, the torsion spring 143 rotates, and when the hand withdraws to apply a force, the torsion spring 143 returns to the original position, so as to drive the third knuckle 109, the fourth knuckle 110 and the fifth knuckle 111 not to bend any more, so as to return to the original shape of the second finger; when the palm 103 of the hand bends, the third traction rope connected with the third traction ring 130 is driven to move, so as to drive the palm 103 to bend towards the arm connecting rod 115, in the bending process, the torsion spring 143 rotates, and when the palm 103 of the hand withdraws to apply force, the torsion spring 143 restores to the original position, so as to drive the palm 103 to restore to the original position.

In the above process, the palm 103, the first finger and the plurality of second fingers of the manipulator 101 are controlled to bend by the force applied by the human hand, so as to grasp the object to be grasped, that is, when the force applied by the human hand is applied, the first finger and the second fingers bend to grasp the object to be grasped, when the force is withdrawn by the human hand, the first finger and the second fingers recover to the original positions and release the object to be grasped, and in the grasping process, the user can control the bending degree of the palm 103, the first finger and the second finger according to the force applied by the human hand, so as to control the actual grasping force of the manipulator 101; the first traction wire 117, the second traction wire 118 and the third traction wire 119 may be in line with a brake wire or a throttle wire of the vehicle; the pull-type auxiliary robot may be made of an insulating material depending on the use environment, for example, if the pull-type auxiliary robot is used in the power industry, the arm connecting rod 115 of the robot arm 102 may be made of a different length depending on the use environment.

The technical scheme of the utility model is described in detail in the above with the accompanying drawings, the technical scheme of the utility model provides a novel traction type auxiliary manipulator, a first finger and a plurality of second fingers are arranged at the manipulator, the force application point is increased, and the condition that the object to be grabbed is dropped after being grabbed is effectively avoided; the first finger is provided with a first knuckle and a second knuckle, and each second finger is provided with a third knuckle, a fourth knuckle and a fifth knuckle, so that the bendable angle of the manipulator is enlarged, and the flexibility of the manipulator is effectively improved; a user can sleeve the hand in the first traction ring, the second traction ring and the third traction ring which are arranged on the positioning support to act, and the hand is transmitted to the manipulator arranged at the top end of the arm connecting rod through the first traction wire, the second traction wire and the third traction wire, so that the flexible action of the manipulator is controlled, the adaptation degree of the manipulator to the hand is high, and the use is convenient; effective length of arm connecting rod, the user of being convenient for takes with the help of the manipulator and treats when the article of taking has the article of certain potential safety hazard itself, also the user of being convenient for takes and is located the comparatively abominable article of waiting to take of environment of taking.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A pull-type auxiliary manipulator, comprising:

the manipulator comprises a palm, a first finger and a plurality of second fingers, wherein the first finger is connected with the palm, the first finger comprises a first knuckle, a second knuckle and a first connecting piece, the tail end of the first knuckle is connected with the top end of the second knuckle in a foldable manner through the first connecting piece, the tail end of the second knuckle is connected with the top end of the palm in a foldable manner through the first connecting piece, a first fixed anchor point is arranged at the tail end of a bending surface of the first knuckle, a first through hole is arranged on the bending surface of the second knuckle, a first bearing shaft is arranged in the first through hole, each second finger comprises a third knuckle, a fourth knuckle, a fifth knuckle and a second connecting piece, the tail end of the third knuckle is connected with the top end of the fourth knuckle in a foldable manner through the second connecting piece, and the tail end of the fourth knuckle is connected with the top end of the fifth knuckle in a foldable manner through the second connecting piece, the tail end of the fifth knuckle is connected to the top end of the palm in a foldable mode through the second connecting piece, a second fixing anchor point is arranged at the tail end of the bent surface of the third knuckle, second through holes are formed in the bent surfaces of the fourth knuckle and the fifth knuckle, a second thread bearing shaft is arranged in each second through hole, a first through groove is formed in the palm, and a third fixing anchor point is arranged on the bent surface of the tail end of the palm;

the mechanical arm comprises an arm connecting rod, a third connecting piece, a fixing band, a first traction line, a third traction line and a second traction line arranged corresponding to the second finger, wherein the top end of the arm connecting rod is connected to the tail end of the palm in a foldable manner through the third connecting piece, the fixing band is arranged at the tail end of the arm connecting rod, a second through slot is formed in the arm connecting rod, a positioning support is arranged in the middle of the arm connecting rod, a second traction frame is arranged at the top of the positioning support, a third traction frame is arranged in the middle of the positioning support, a first traction frame is arranged at the tail end of the positioning support, the bottom of the positioning support is rotatably connected with the arm connecting rod through a fixed rotating shaft, one end of the first traction line is arranged at the first fixed anchor point, and the other end of the first traction line penetrates through the first traction frame and is provided with a, the one end setting of second pull wire is in the fixed anchor point of second, the other end passes the second traction frame is provided with the second and pulls the ring, the one end setting of third pull wire is in the fixed anchor point of third, the other end passes the third traction frame is provided with the third and pulls the ring, first pull wire and second pull wire run through first through-wire groove with the setting of second through-wire groove, the third pull wire runs through the setting of second through-wire groove.

2. The pull-type auxiliary manipulator of claim 1, wherein arc-shaped grooves are formed in the tops and the tail ends of the first knuckle, the second knuckle, the third knuckle, the fourth knuckle and the fifth knuckle, and mounting grooves are formed in two ends of each arc-shaped groove.

3. The pull-assisted manipulator of claim 2, wherein the first, second and third connectors each comprise a torsion spring disposed within the mounting slot.

4. The pull-type auxiliary manipulator according to claim 2, wherein the first connecting member includes a first spring, a first rotating shaft and a second rotating shaft, the back surfaces of the first knuckle and the second knuckle are each provided with a first engaging groove, the first spring is disposed in the first engaging groove, one end of the first spring is fixedly disposed at the end of the back surface of the first knuckle, the other end of the first spring is fixedly disposed at the top end of the back surface of the palm, the end of the first knuckle is foldably connected to the top end of the second knuckle through the first rotating shaft, the end of the second knuckle is foldably connected to one side of the top end of the palm through the second rotating shaft, the second connecting member includes a second spring, a third rotating shaft, a fourth rotating shaft and a fifth rotating shaft, the back surfaces of the third knuckle, the fourth knuckle and the fifth knuckle are each provided with a second engaging groove, the second spring sets up in the second block inslot, the fixed setting of one end of second spring is in the end at the third dactylus back, the other end is fixed to be set up the top at the palm back, the end of third dactylus passes through third pivot collapsible connection in the top of fourth dactylus, the end of fourth dactylus passes through fourth pivot collapsible connection in the top of fifth dactylus, the end of fifth dactylus passes through fifth pivot collapsible connection in top one side of palm, the third connecting piece includes third spring and sixth pivot, the fixed setting of one end of third spring is in the palm back, the other end is fixed to be set up the top one side of arm connecting rod, the end of palm passes through the sixth pivot connect in the top of arm connecting rod.

5. The pull-type auxiliary manipulator according to claim 4, wherein the first rotating shaft, the second rotating shaft, the third rotating shaft, the fourth rotating shaft, the fifth rotating shaft and the sixth rotating shaft are disposed in the mounting grooves respectively.

6. The pull-assisted manipulator of claim 1, wherein sliding bins are disposed within the first and second through-wire slots.

7. The pull-type auxiliary manipulator according to claim 1, wherein a first placing groove is formed at the end of the arm connecting rod, and the fixing band is uniformly arranged in the first placing groove.

8. The pull-type auxiliary manipulator according to claim 1, wherein a second placing groove is further formed in the arm connecting rod, the positioning bracket is arranged in the second placing groove, and the fixed rotating shaft is arranged at the bottom of the second placing groove.