CN214352490U - Node trigger type under-actuated bionic manipulator - Google Patents

Abstract

The utility model provides a node triggers formula under-actuated bionic manipulator, it has touch sensor, pressure sensor, gravity sensor, small-size steering wheel, miniature step motor, controller and five bionic fingers, wherein every bionic finger includes three joints, has corresponding embedding recess between the joint for the nested of joint, all there is the through aperture in every joint center, is used for laying steel wire and wire, miniature step motor is installed to first joint department, can make the finger crooked through drawing corresponding steel wire; each joint is connected with a spring, and the elasticity of the spring can enable the fingers to be restored to a stretched state; and a control processor is arranged in the bionic palm and used for receiving and processing information and outputting a control signal. The utility model discloses the crooked of the bionical finger of accessible touch sensor signal control straightens and the bending, through the dynamics of the object of taking of pressure sensor and the steerable finger of weighing sensor, it has characteristics such as convenient operation, simple manufacture, motion flexibility, low cost.

Description

Node trigger type under-actuated bionic manipulator

Technical Field

The utility model relates to a recovered mechanical equipment field of medical treatment, especially a node triggers formula underactuated bionic manipulator.

Background

In daily life, the hand is used as an important component of human limbs and has an important auxiliary effect on the labor and the survival of human beings, the loss of the hand activity function can cause great trouble to the labor and the life of the human beings, the bionic hand provides convenience for the hand disabled people, the basic functions of the hand are realized, and the influence caused by the hand disabled is greatly reduced.

Because of the large demand of the artificial limbs of the hand, many companies develop various artificial limbs to provide artificial limbs with different functions for people with different degrees of hand disability, such as i-Limb abroad and 'if next' in China. But most of the bionic hands are expensive at present and cannot be borne by ordinary families. The bionic hand control is easy to be interfered by other factors, for example, the bionic hand of the i-Limb company is used, the bionic hand is mainly controlled by collecting myoelectricity of a human body, the bionic hand is more flexible than other types of mechanical hands, but the myoelectricity recognition rate is not high, the bionic hand is easy to be interfered by other factors, and great inconvenience is brought to a user. Still some bionic hands have single function relatively, only have one to two degrees of freedom, can not handle various common problems in the life in a flexible way, and the practicality is not high. In order to solve the above problems, the inventor proposes a new bionic manipulator.

Disclosure of Invention

For solving the above problem, the utility model provides a can receive relevant information, the crooked closure of independently controlling the palm through articular touch sensor, and then the bionic machinery hand of object of taking.

In order to achieve the above effects, the utility model discloses a following technical scheme realizes:

a node trigger type under-actuated bionic manipulator is provided with five bionic fingers, a touch sensor, a pressure sensor, a gravity sensor, a small-sized steering engine, a micro stepping motor and a controller.

The root bionic finger comprises three joints, a corresponding embedding groove is formed between every two joints and used for nesting between every two joints, and a through small hole is formed in the center of each joint and used for laying a steel wire and a lead. A micro stepping motor is arranged at the first joint and connected with a steel wire, and the micro stepping motor can bend the finger by controlling the length of the steel wire; each joint is connected with a spring, and the elasticity of the spring can enable the fingers to return to the original straightening state.

The small steering engine is connected with the bionic palm and the miniature stepping motor and used for controlling the bionic thumb to rotate by a fixed angle towards the inside and the outside of the palm, and the miniature stepping motor is connected with the bionic finger and used for controlling the bionic finger to bend.

The controller is connected with the touch sensor, the pressure sensor, the gravity sensor, the small-sized steering engine and the miniature stepping motor and is used for receiving and processing information and outputting control signals.

The bionic thumb small-sized steering engine and the bionic thumb micro stepping motor are characterized in that the controller controls the inner side and the outer side and the up and down swing of the bionic thumb according to the information of the inter-finger inner side touch sensor and the information of the bionic thumb fingertip sensor, and further controls the motion state of the bionic thumb for taking and releasing objects.

The controller can enable the bionic manipulator to carry out proper operation by acquiring different information of the bionic thumb side touch sensor, the inter-finger outer side touch sensor and the inter-finger inner side touch sensor.

The controller controls the movement of the micro stepping motor according to the information of the touch sensor, the weighing sensor and the pressure sensor on the inner side of the finger space, so that the object is taken or released, and the pressure of the taken object is adjusted.

The bionic manipulator can automatically adjust the pressure of the manipulator through the weighing sensor and the pressure sensor, so that various different objects can be easily taken; when the object is taken, the thumb can rotate inside and outside the palm or up and down for a fixed angle according to information sensed by the other four fingers, and then the object is better taken in a matched manner.

The utility model discloses the accessible corresponds the bending that position touch sensor signal control corresponds bionical finger and straightens, through the steerable dynamics of the object of taking of pressure sensor and gravity sensor to avoid the pressure undersize and the unable object of taking, perhaps pressure is too big the object crushing. When the object needs to be released, the bionic thumb only needs to be contacted with the touch sensor on the lateral surface of the bionic thumb and the outer side between the fingers.

Compared with the existing bionic manipulator, the utility model has the advantages of it is following: the bionic manipulator is automatically controlled according to the requirements of a user, so that basic operation in life can be completed; simple manufacture, high flexibility, strong operability and low manufacturing cost.

Drawings

Fig. 1 is a schematic view of the front of the present invention.

Fig. 2 is a schematic diagram of the back of the present invention.

Fig. 3 is a schematic view of the finger joint of the present invention.

In the figure:

1. a small-sized steering engine;

2. a bionic thumb side touch sensor;

3. a weighing sensor;

4. a pressure sensor;

5. an inter-digital outer touch sensor;

6. a steel wire;

7. a micro stepper motor;

8. a spring;

9. an inter-digital inner touch sensor;

10. a bionic thumb fingertip sensor;

11. a bionic palm center touch sensor;

12. and a controller.

Detailed Description

The following detailed description of various aspects of the present invention will be made with reference to the accompanying drawings.

As shown in fig. 1, a small-sized steering engine 1 is arranged at the joint of a first joint of the bionic thumb and the palm, and the module is used for controlling the bionic thumb to rotate inwards and outwards for a fixed angle, so that the bionic palm is adjusted to a proper taking angle; a first joint of the bionic thumb is provided with a micro stepping motor 7, and the module is used for controlling the bionic thumb to rotate up and down by a fixed angle so as to adapt to the size of an object taken by the bionic palm. Each joint is connected with a spring 8, and the module can make the fingers return to an initial straight state; the micro stepping motor 7 at the first node of each finger is connected with the steel wire 6 in each finger, and the module is used for controlling the bending of the fingers so as to control the object to be taken.

The method comprises the specific implementation steps that other four bionic fingers except a bionic thumb contact an object firstly, when the touch sensor 9 on the inner side between the fingers senses information, the corresponding micro stepping motor 7 in the bionic finger is started, the steel wire 6 is pulled to bend the finger, the small steering engine 1 of the thumb rotates the corresponding angle to the inner side of the bionic palm according to the sensing information of the other four bionic fingers and is matched with the other bionic fingers to take the object, and the micro stepping motor 7 of the bionic thumb rotates up and down for a fixed angle according to the size of the object; the judgment method is as follows: when the bionic thumb tip touch sensor 10 and the other inter-digital inner side touch sensors 9 sense information at the same time, the controller 12 judges that the size of the object exceeds the maximum taking range of the bionic manipulator, and the thumb expands outwards; when the finger tips of the bionic thumbs do not sense information, judging that the object is not grabbed, and enabling the bionic thumbs to be inwardly gathered; the bionic thumb inter-finger inner side touch sensor 9 and other bionic finger inter-finger inner side touch sensors 9 or the bionic palm center touch sensor 11 and the bionic finger inter-finger inner side touch sensor 9 sense information at the same time, the object is judged to be successfully taken, the weighing sensor 3 senses object weight information at the moment, the required pressure is fed back and calculated for the system, the system passes through the information of the pressure sensor 4, the bending degree of fingers is readjusted, and then the object taking pressure is adjusted. When the bionic thumb side touch sensor 2 or the other bionic finger inter-finger outside touch sensors 5 sense information, the micro stepping motor 7 moves reversely, the fingers restore to the initial state through the tension of the spring 8, and the object is released at the moment.

The aforesaid does the utility model discloses a direction embodiment, nevertheless the utility model discloses a design concept is not limited to this, and the ordinary use is here thought right the utility model discloses carry out immaterial change, all belong to right the utility model discloses the infringement action of protection scope.

Claims (4)

1. A node trigger type under-actuated bionic manipulator is characterized by comprising a small steering engine (1), a bionic thumb side touch sensor (2), a weighing sensor (3), a pressure sensor (4), an inter-finger outer side touch sensor (5), a steel wire (6), a micro stepping motor (7), a spring (8), an inter-finger inner side touch sensor (9), a bionic thumb fingertip sensor (10), a bionic palm center touch sensor (11) and a controller (12); the bionic finger comprises three joints, a corresponding embedded groove is formed between each joint and used for nesting the joints, and a through small hole is formed in the center of each joint and used for laying a steel wire (6) and a lead; a micro stepping motor (7) is arranged at the first joint, the micro stepping motor (7) is connected with the steel wire (6), and the micro stepping motor (7) can bend the finger by controlling the length of the steel wire (6); each joint is connected with a spring (8), and the elasticity of the spring (8) can make the fingers return to the original straightening state; the small steering engine (1) is connected with the bionic palm and the miniature stepping motor (7) and used for controlling the bionic thumb to rotate inwards and outwards by a fixed angle.

2. The node triggering type under-actuated bionic manipulator is characterized in that the bionic thumb small-sized steering engine (1), the bionic thumb micro stepping motor (7) and the controller (12) control the inner side and outer side and up and down swing of the bionic thumb according to the information of the inter-finger inner side touch sensor (9) and the bionic thumb fingertip sensor (10) so as to control the motion state of the bionic thumb for taking and releasing objects.

3. A node-triggered under-actuated bionic manipulator according to claim 1, wherein the controller (12) can make the bionic manipulator operate properly by acquiring different information of the bionic thumb side touch sensor (2), the outer finger touch sensor (5) and the inner finger touch sensor (9).

4. The node-triggered under-actuated bionic manipulator is characterized in that the controller (12) controls the movement of the micro stepping motor (7) according to the information of the inter-finger inner side touch sensor (9), the weighing sensor (3) and the pressure sensor (4) so as to take or release an object and adjust the pressure of the taken object.

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