A rope-driven bionic robotic gripper and rehabilitation nursing device

Abstract

The invention relates to a rope-driven bionic mechanical claw and a rehabilitation nursing device. The rope-driven bionic mechanical claw comprises a linear guide rail and a driving mechanism, whereintwo sliding blocks are arranged on the linear guide rail, each sliding block is provided with a multi-joint assembly, each multi-joint assembly comprises a plurality of knuckles which are hinged endto end in sequence, the knuckle closest to each sliding block is fixedly connected with the corresponding sliding block, the distance between the two sliding blocks can be adjusted so as to change thedistance between the two multi-joint assemblies, the knuckles in the same multi-joint assembly can rotate mutually so as to clamp and loosen an object in a clamping space, the driving mechanism can drive the two sliding blocks to move oppositely along the linear guide rail and drive the adjacent knuckles to rotate mutually, and the connection relation between the driving mechanism and the slidingblocks and the connection relation between the driving mechanism and the knuckles are set in the mode by which the driving mechanism can drive the multiple knuckles in the multi-joint assemblies to rotate mutually after the knuckles at the sliding blocks make contact with the object, so that the multi-joint assemblies are bent and complete clamping of the object.

Description

technical field [0001] The invention belongs to the technical field of manipulators, and in particular relates to a rope-driven bionic manipulator claw and a rehabilitation nursing device. Background technique [0002] my country has entered an aging society. At present, the rehabilitation nursing for long-term bedridden disabled persons who have lost the ability to take care of themselves is mainly completed by the patient's family members or nurses. The workload is huge, and the shortage of nurses and high nursing costs have become a serious burden for families and society. . Therefore, the study of a bionic robotic gripper imitating the human hand, which can directly grasp the upper or lower limbs of a person to perform rehabilitation or nursing actions, plays an important role in the construction of a highly flexible, highly versatile, and human-machine friendly rehabilitation nursing robot system. [0003] Different from the industrial field or other applications, takin...

AI Technical Summary

Problems solved by technology

[0007] The inventor understands that relevant researches such as CN108748254, CN103231385, CN101474795, and CN105150235 respectively disclose corresponding mechanical grippers, but these patents generally have the following problems: the distance between the root of the finger and the root of the finger cannot be changed, and the grasping Smaller size range and lower system stiffness for cylindrical objects

In CN101474795 and CN103231385, there is a definite kinematic relationship between two or more knuckles due to the action of gears or driving ropes, and the flexibility is relatively poor

The overall volume of the mechanical claws in CN108748254 and CN105150235 is relatively large, which is not conducive to installation and flexible application

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