Rigid-flexible hybrid mechanical hand for limbs

Abstract

The present application relates to the field of first-aid rescue equipment, in particular to a rigid-flexible mixed four-limb hemostasis mechanical hand, which comprises a shell, a clamping jaw assembly, an air bag assembly, a first locking assembly and a second locking assembly, wherein the shell is internally provided with a clamping jaw driving mechanism, the lower end of the shell is provided with the clamping jaw assembly on both sides, and the clamping jaw assemblies on both sides are driven to open and close through the clamping jaw driving mechanism; the inner side of each clamping jaw assembly is provided with the air bag assembly, and the end of one clamping jaw assembly is provided with the first locking assembly, and the end of the other clamping jaw assembly is provided with the second locking assembly; and when the clamping jaw assemblies on both sides are tightly gripped, the first locking assembly and the second locking assembly are locked through action. The present application realizes the hemostasis operation of the bleeding limbs of the wounded by cooperation of the clamping jaw assembly and the air bag assembly, is safe and efficient, and can be conveniently applied to robots and other equipment.

Description

Technical Field

[0001] This invention relates to the field of emergency rescue equipment, specifically a rigid-flexible hybrid limb hemostasis robotic hand. Background Technology

[0002] Delayed treatment of traumatic hemorrhage is a major cause of death among injured personnel. Timely and effective treatment of traumatic hemorrhage can significantly reduce mortality and disability rates. However, in certain situations, such as dangerous environments, medical personnel often cannot reach the injured person in time to stop the bleeding and apply bandages, thus missing the optimal treatment window. Utilizing rescue robots to replace medical personnel in dangerous environments is one effective way to reduce casualties. However, traditional hemostasis tools, such as inflatable tourniquets, chuck tourniquets, and cloth tourniquets, are difficult to directly apply to robots. Therefore, there is an urgent need for a robotic hemostasis arm suitable for robotic rescue to solve the problem of stopping bleeding in injured personnel. Summary of the Invention

[0003] The purpose of this invention is to provide a rigid-flexible hybrid limb hemostasis manipulator, which uses a gripper assembly and an airbag assembly to achieve hemostasis of the bleeding limbs of the injured person. It is safe, efficient and can be easily applied to robots and other equipment.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] A rigid-flexible hybrid limb hemostasis robotic hand includes a housing, gripper assemblies, airbag assemblies, a first locking assembly, and a second locking assembly. The housing contains a gripper drive mechanism, and gripper assemblies are located on both sides of the lower end of the housing. The gripper assemblies on both sides are driven to open and close by the gripper drive mechanism. Each gripper assembly has an airbag assembly inside, and one gripper assembly has a first locking assembly at its end, while the other gripper assembly has a second locking assembly at its end. When the two gripper assemblies clamp together, they are locked by the action of the first locking assembly and the second locking assembly.

[0006] The gripper assembly includes a drive rope and multiple gripper finger units that are sequentially hinged together by hinge shafts. Each hinge shaft between adjacent gripper finger units is provided with a rope wheel and a torsion spring. The uppermost gripper finger unit is fixedly connected to the corresponding side of the housing. Each gripper finger unit has a rope-winding pin inside. The drive rope passes through each rope wheel and rope-winding pin in sequence and is then connected to the gripper drive mechanism.

[0007] The gripper knuckle unit includes an inner digit plate and an outer digit back plate, and the corresponding sides of the digit plate and the digit back plate are connected by digit side plates. The airbag assembly is connected to the inner digit plate of each gripper knuckle unit, and the digit side plates of adjacent gripper knuckle units are mutually restrained by side plate protrusions and side plate slots.

[0008] The gripper drive mechanism includes a gripper motor, a worm, a worm wheel, and a drive shaft. The worm is connected to the power shaft of the gripper motor, the worm wheel meshes with the worm, the drive shaft is coaxial with the worm wheel, and the drive ropes of the gripper assemblies on both sides are connected to the drive shaft.

[0009] The first locking assembly includes a first push-pull electromagnet, a first locking block, and a fixed slide. Both the first push-pull electromagnet and the fixed slide are fixedly mounted on the ends of corresponding side gripper assemblies. The power side of the first push-pull electromagnet is fixedly connected to the first locking block via a first sliding shaft. A first return spring is fitted onto the first sliding shaft and is located between the first push-pull electromagnet and the first locking block. The first locking block is slidably connected to the fixed slide, and the front end of the fixed slide has a slide groove. The free end of the first locking block has a locking protrusion. The second locking assembly includes a second push-pull electromagnet... The system comprises an iron, a second locking block, and a second sliding shaft. The second push-pull electromagnet is fixedly mounted at the end of the corresponding side gripper assembly. The second sliding shaft passes through the second push-pull electromagnet and connects to the second locking block. The upper end of the second sliding shaft is provided with a second return spring and a spring limiting plate. The second return spring is fitted onto the second sliding shaft and positioned between the spring limiting plate and the second push-pull electromagnet. The second locking block is provided with a locking slot. When the gripper assembly is locked, the front end of the second locking block is inserted into the slide slot at the front end of the fixed slide. The locking protrusions on the first locking block are respectively inserted into the corresponding locking slots.

[0010] The fixed slide has slide side plates on both sides of its rear end, and the first locking block has slide grooves on both sides, with the slide side plates respectively embedded in the corresponding slide grooves.

[0011] The second locking block includes a front locking plate and a rear side plate. The locking plate is provided with a locking slot, and the side plate is fixedly connected to the second sliding shaft. When the gripper assembly is locked, the lower end of the locking plate is embedded in the slide slot of the fixed slide.

[0012] When the gripper assembly is locked, the first push-pull electromagnet is energized to drive the first locking block to move upward and expose the slide block slot. Then, the second push-pull electromagnet is energized to drive the second locking block to move downward and insert into the slide block slot. Then, the first push-pull electromagnet is de-energized, and the first locking block moves downward by the action of the first return spring, causing each locking protrusion to insert into the corresponding locking slot on the second locking block. When the gripper assembly is unlocked, the first push-pull electromagnet is energized to drive the first locking block to move upward. And when the locking protrusion of the first locking block disengages from the second locking block, the second locking block automatically moves upward by the action of the second return spring.

[0013] The airbag assembly includes an airbag, a mounting bag, and an adhesive assembly. The airbag is disposed in the mounting bag, and the mounting bag is mounted to the inner side of the corresponding side gripper assembly via the adhesive assembly. The airbag is provided with an air tube interface, and the housing is provided with an air inlet connector. The air tube interface passes through the mounting bag and is connected to the air inlet connector via a pipeline. The air inlet connector is connected to an inflation pump via a pipeline, and an inflation solenoid valve is provided on the connecting pipeline between the air inlet connector and the inflation pump. A pressure sensor is provided inside the airbag assembly.

[0014] The adhesive assembly includes a hook and loop side and a loop side, wherein the hook and loop side is located on the mounting bag and the loop side is located inside the corresponding side gripper assembly.

[0015] The advantages and positive effects of this invention are as follows:

[0016] 1. This invention utilizes a gripper assembly and an airbag assembly to achieve hemostasis of bleeding limbs of wounded patients. The gripper assembly uses a drive rope to drive each gripper finger unit, and the overall structure of the gripper is compact and small in size, allowing for fine-tuning of the patient's limb posture when the patient is unable to cooperate. Once the gripper assembly is in place, the airbag assembly inflates to apply pressure to the wrapped limb for hemostasis. Furthermore, this invention uses a flexible airbag inside the gripper assembly to contact the wounded limb for hemostasis, which is not only safe and comfortable but also allows for real-time adjustment of the airbag's inflation level to regulate the hemostatic pressure, helping to reduce or avoid secondary injuries. In addition, by adjusting the inflation level of the airbag, the hemostatic requirements of different limb parts of the wounded patient can be met. That is, this invention can stop bleeding in both thinner upper limbs and thicker lower limbs, while the rigid gripper assembly restricts the airbag assembly to inflate only towards the center of the gripper's embrace, thereby ensuring the hemostatic pressure of the airbag.

[0017] 2. When the gripper assembly is in place, the present invention uses the first and second locking components at the ends of the two gripper assemblies to achieve locking. The first locking component uses the first push-pull electromagnet to be energized and de-energized, and works with the first return spring to drive the first locking block to move. The second locking component uses the second push-pull electromagnet to be energized and de-energized, and works with the second return spring to drive the second locking block to move. It is not only simple and convenient to control, but also has a compact overall structure. It can be installed in the gripper finger unit at the end of the gripper assembly. When the present invention is locked, the lower end of the second locking block is engaged in the slide groove on the fixed slide of the first locking component, and the locking protrusion at the lower end of the first locking block is engaged in the locking slot on the second locking block. This can fully ensure that the gripper assemblies on both sides are locked securely, thereby ensuring the rigid limit of the gripper assembly when the airbag assembly is inflated.

[0018] 3. The present invention has a simple and compact overall structure and is easy to assemble and disassemble. It can be installed at the end of the robotic arm of a rescue robot and can be applied to robotic battlefield rescue, disaster relief and other occasions. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention.

[0020] Figure 2 for Figure 1 Exploded view of the middle gripper assembly.

[0021] Figure 3 for Figure 1 A schematic diagram of the gripper drive mechanism inside the middle housing.

[0022] Figure 4 This is a schematic diagram of the working state of the present invention.

[0023] Figure 5 for Figure 4 Sectional view at point A in the diagram.

[0024] Figure 6 for Figure 5 A schematic diagram showing the engagement state of the first and second locking components.

[0025] Figure 7 for Figure 1 A schematic diagram of the structure of the central airbag assembly.

[0026] Figure 8 This is a schematic diagram of the control system principle of the present invention.

[0027] Among them, 1 is the shell, 2 is the gripper assembly, 201 is the gripper finger joint unit, 202 is the finger pad, 203 is the finger back plate, 2031 is the mounting screw hole, 204 is the rope winding pin, 205 is the hinge shaft, 206 is the finger side plate, 2061 is the side plate protrusion, 2062 is the side plate slot, 207 is the torsion spring, 208 is the rope winding wheel, 3 is the connector, 4 is the air inlet connector, 5 is the airbag assembly, 501 is the air pipe interface, 502 is the airbag, 503 is the mounting bag, 504 is the hook and loop fastener surface, 505 is the loop fastener surface, 6 is the gripper drive mechanism, 601 is the worm gear, 602 is the drive shaft, 603 is the worm wheel, 604 is the mounting base, 605 is the base plate, 606 is the gripper motor, and 7 is the first The locking assembly consists of the following components: 701 is the first push-pull electromagnet, 702 is the first locking block, 7021 is the locking protrusion, 7022 is the slide groove, 703 is the fixed slide, 7031 is the slide slot, 7032 is the slide side plate, 704 is the first return spring, and 705 is the first slide shaft. The second locking assembly consists of the following components: 801 is the second push-pull electromagnet, 802 is the second locking block, 8021 is the plate part, 80211 is the locking slot, 8022 is the side plate part, 803 is the second return spring, 804 is the second slide shaft, 8041 is the spring limit plate, 901 is the control board, 902 is the driver, 903 is the inflation solenoid valve, 904 is the inflation pump, 905 is the pressure sensor, and 10 is the bleeding limb of the injured person. Detailed Implementation

[0028] The invention will now be described in further detail with reference to the accompanying drawings.

[0029] like Figures 1-8 As shown, the present invention includes a housing 1, a gripper assembly 2, an airbag assembly 5, a first locking assembly 7, and a second locking assembly 8. The housing 1 contains a gripper driving mechanism 6, and gripper assemblies 2 are located on both sides of the lower end of the housing 1. The gripper assemblies 2 on both sides are driven to open and close by the gripper driving mechanism 6. Each gripper assembly 2 has an airbag assembly 5 inside, and one gripper assembly 2 has a first locking assembly 7 at its end, while the other gripper assembly has a second locking assembly 8 at its end. Figures 4-6 As shown, when the two gripper assemblies 2 clamp together, the first locking assembly 7 and the second locking assembly 8 work together to lock the ends of the two gripper assemblies 2.

[0030] like Figure 2As shown, in this embodiment, the gripper assembly 2 includes a drive rope and multiple gripper finger units 201 that are sequentially hinged together by hinge shafts 205. Each hinge shaft 205 between adjacent gripper finger units 201 is equipped with a rope-winding wheel 208 and a torsion spring 207. The uppermost gripper finger unit 201 is fixedly connected to the corresponding side of the housing 1. The drive rope passes sequentially around each rope-winding wheel 208 and connects to a gripper drive mechanism 6 inside the housing 1. The gripper drive mechanism 6 tightens the drive rope to drive each gripper finger unit 201 of the gripper assembly 2, achieving a clamping action. When the gripper drive mechanism 6 releases the drive rope in the opposite direction, each gripper finger unit 201 returns to its original position under the action of the torsion spring 207 on the corresponding hinge shaft 205. In this embodiment, the rope-winding wheel 208 uses a bearing with a U-shaped groove on its outer side.

[0031] like Figure 2 As shown in this embodiment, the gripper finger unit 201 is provided with a rope winding pin 204 inside. The drive rope passes through each rope winding wheel 208 and the rope winding pin 204 in sequence and is connected to the gripper drive mechanism 6 to ensure the gripper assembly 2 is driven.

[0032] like Figure 2 As shown, in this embodiment, the gripper knuckle unit 201 includes an inner phalanx plate 202 and an outer knuckle back plate 203, and the corresponding sides of the phalanx plate 202 and the knuckle back plate 203 are connected by knuckle side plates 206. The airbag assembly 5 is connected to the inner phalanx plate 202 of each gripper knuckle unit 201. Additionally, as shown... Figure 2 As shown, the knuckle side plates 206 of adjacent gripper knuckle units 201 are engaged by the side plate protrusions 2061 and the side plate slots 2062 to achieve clamping and limiting, so that the gripper assembly 2 forms as shown. Figure 4 The hexagonal structure shown is such that when the lower end of the side plate protrusion 2061 abuts against the side plate slot 2062, it achieves a limiting position.

[0033] like Figure 3 As shown, in this embodiment, the gripper drive mechanism 6 includes a gripper motor 606, a worm gear 601, a worm wheel 603, and a drive shaft 602. The worm gear 601 is connected to the power shaft of the gripper motor 606, the worm wheel 603 meshes with the worm gear 601, and the drive shaft 602 is coaxially arranged with the worm wheel 603. The drive ropes of the gripper assemblies 2 on both sides are connected to the drive shaft 602. The gripper motor 606 transmits torque through the worm gear 601 and the worm wheel 603 in sequence to drive the drive shaft 602 to rotate, thereby achieving the purpose of contracting and releasing the drive rope.

[0034] like Figure 3As shown, in this embodiment, the gripper drive mechanism 6 includes a base plate 605 and a mounting base 604, wherein the mounting base 604 and the gripper motor 606 are both disposed on the base plate 605, the base plate 605 is fixedly installed in the housing 1, and the worm 601, worm wheel 603 and drive shaft 602 are all disposed in the mounting base 604.

[0035] like Figures 5-6 As shown, in this invention, one gripper assembly 2 has a first locking component 7 at its end, and the other gripper assembly 8 has a second locking component 8 at its end, as... Figure 2 As shown, the gripper finger unit 201 at the end of the gripper assembly 2 has a finger back plate 203 with mounting screw holes 2031 for installing the corresponding locking component.

[0036] like Figures 5-6 As shown, in this embodiment, the first locking assembly 7 includes a first push-pull electromagnet 701, a first locking block 702, and a fixed slide 703. Both the first push-pull electromagnet 701 and the fixed slide 703 are fixedly mounted in the gripper finger unit 201 at the end of the corresponding side gripper assembly 2. The power side of the first push-pull electromagnet 701 is fixedly connected to the first locking block 702 via a first sliding shaft 705. A first return spring 704 is mounted on the first sliding shaft 705, and the first return spring 704 is located between the first push-pull electromagnet 701 and the first locking block 702. The first locking block 702 is slidably connected to the fixed slide 703, and the free end of the first locking block 702 is provided with multiple locking protrusions 7021. Figure 6 As shown, in this embodiment, the fixed slide block 703 includes a slide block slot 7031 at the front end and slide block side plates 7032 on both sides of the rear end. The first locking block 702 has sliding grooves 7022 on both sides that slide and engage with the corresponding slide block side plates 7032, thereby achieving a sliding connection between the first locking block 702 and the fixed slide block 703. When the invention is in operation, when the first push-pull electromagnet 701 is energized, it drives the first locking block 702 to retract. When the first push-pull electromagnet 701 is de-energized, the first locking block 702 advances and returns to its original position under the action of the first return spring 704. The first push-pull electromagnet 701 is a technology known in the art and is a commercially available product.

[0037] like Figures 5-6As shown, in this embodiment, the second locking assembly 8 includes a second push-pull electromagnet 801, a second locking block 802, and a second sliding shaft 804. The second push-pull electromagnet 801 is fixedly mounted in the gripper finger unit 201 at the end of the corresponding side gripper assembly 2. The second sliding shaft 804 passes through the second push-pull electromagnet 801 and connects to the second locking block 802. The upper end of the second sliding shaft 804 is provided with a second return spring 803 and a spring limiting plate 8041. The second return spring 803 is fitted on the second sliding shaft 804 and is located between the spring limiting plate 8041 and the second push-pull electromagnet 801. The second locking block 802 is provided with a locking slot 80211. When the gripper assembly 2 of the present invention is locked, the front end of the second locking block 802 is inserted into the slide slot 7031 at the front end of the fixed slide 703 in the first locking assembly 7. The locking protrusions 7021 on the first locking block 702 in the locking assembly 7 are respectively inserted into the corresponding locking slots 80211, thereby achieving a firm lock at the ends of the two gripper assemblies 2. Specifically, the first push-pull electromagnet 701 is first energized to drive the first locking block 702 to move upward. Then, the second push-pull electromagnet 801 is energized to drive the second sliding shaft 804 to move downward and push the second locking block 802 to move downward and insert into the slide slot 7031. Then, the first push-pull electromagnet 701 is de-energized, and the first locking block 702 moves downward under the action of the first return spring 704, so that each locking protrusion 7021 is inserted into the corresponding locking slot 80211 on the second locking block 802 to achieve locking. Then, the second push-pull electromagnet 801 can be de-energized. At this time, since the locking protrusions 7021 are engaged with the corresponding locking slots 80211, the second locking block 802 cannot be retracted. The second push-pull electromagnet 801 is a technology known in the art and is a commercially available product.

[0038] like Figures 5-6 As shown, in this embodiment, the second locking block 802 is generally L-shaped, including a front locking plate portion 8021 and a rear side plate portion 8022. The locking plate portion 8021 is provided with the locking slot 80211, and the side plate portion 8022 is fixedly connected to the second sliding shaft 804. When the present invention is locked, the lower end of the locking plate portion 8021 is embedded in the sliding slot 7031 of the fixed sliding block 703.

[0039] like Figure 7 As shown, in this embodiment, the airbag assembly 5 includes an airbag 502, an installation bag 503, and an adhesive assembly. The airbag 502 is disposed in the installation bag 503, and the installation bag 503 is installed to the inner side of the corresponding side gripper assembly 2 via the adhesive assembly. The airbag 502 has an air tube interface 501 that protrudes through the installation bag 503. Figure 1As shown, the housing 1 is provided with an air inlet connector 4, which is connected to the inflation device via a pipeline, and the air pipe interface 501 is connected to the air inlet connector 4 via a pipeline. Figure 7 As shown, in this embodiment, the adhesive component includes a hook and loop fastener 504 and a loop fastener 505. The hook and loop fastener 504 is disposed on the mounting bag 503, and the loop fastener 505 is disposed on the inner side of the corresponding side gripper component 2. The present invention uses an adhesive component to facilitate the disassembly and replacement of the appropriate airbag component 5 as needed.

[0040] like Figure 8 As shown, in this embodiment, the inflation device is an air pump 904, and an inflation solenoid valve 903 is provided on the pipeline between the air pump 904 and the air inlet connector 4. A pressure sensor 905 is provided inside the airbag assembly 5. The air pump 904, inflation solenoid valve 903, pressure sensor 905, the first push-pull electromagnet 701 and the second push-pull electromagnet 801 in the two locking assemblies, and the gripper motor 606 are respectively connected to the control board 901 in the control system of this invention through corresponding lines for control. The control board 901 is equipped with a driver 902, and the driver 902 is connected to the gripper motor 606 through a line. Additionally, as shown... Figure 1 As shown, the upper end of the housing 1 is provided with a connector 3 for connecting to a robotic arm or other devices, and the control board 901, the air pump 904, and the air solenoid valve 903 can be integrated on the housing 1.

[0041] The working principle of this invention is as follows:

[0042] like Figure 1 As shown, when the invention is not in operation, each gripper finger unit 201 in the two gripper assemblies 2 is in a naturally drooping initial state under the action of the torsion spring 207 on the corresponding hinge shaft 205. When the invention is in operation, the control board 901 in the control system of the invention first sends a command to the gripper motor 606 to... Figure 4The gripper assemblies 2 on both sides are shown to grip and hold the bleeding limb 10 of the injured person. After the gripper assemblies 2 hold the limb in place, the first locking assembly 7 and the second locking assembly 8 activate to lock the gripper. During locking, the first push-pull electromagnet 701 in the first locking assembly 7 is energized by the control board 901 to drive the first locking block 702 to move upward and expose the slide seat slot 7031. Then, the second push-pull electromagnet 801 in the second locking assembly 8 is energized to drive the second sliding shaft 804 to move downward and push the second locking block 802 to move downward and insert it into the slide seat slot 7031. Then, the first push-pull electromagnet 701 is de-energized, and the first locking block 702 moves downward under the action of the first return spring 704. The locking protrusions 7021 are moved and inserted into the corresponding locking slots 80211 on the second locking block 802 to achieve locking. After the two locking components are locked, the control board 901 sends a command to open the normally closed inflation solenoid valve 903 and controls the inflation pump 904 to start inflating the airbag assembly 5. The pressure sensor 905 monitors the airbag pressure in real time. When the pressure sensor 905 reports that the hemostasis pressure has been reached, the control board 901 controls the inflation solenoid valve 903 to close and stop inflation to maintain the hemostasis pressure. Then, the control board 901 can record the hemostasis time and adjust the hemostasis pressure according to the hemostasis time and other factors. When the hemostasis operation is completed, the gripper assembly 2 unlocks as follows: Figures 5-6 As shown, when the first push-pull electromagnet 701 is energized, it drives the first locking block 702 to move upward. When the locking protrusion 7021 of the first locking block 702 disengages from the second locking block 802, the second locking block 802 automatically moves upward to return to its original position under the action of the second return spring 803 to achieve unlocking. Then, when the first push-pull electromagnet 701 is de-energized, the first locking block 702 returns to its original position under the action of the first return spring 704. At this time, the two gripper assemblies 2 can move freely.

Claims

1. A rigid-flexible hybrid limb hemostasis robotic hand, characterized in that: It includes a housing (1), a gripper assembly (2), an airbag assembly (5), a first locking assembly (7), and a second locking assembly (8). The housing (1) is provided with a gripper drive mechanism (6). The lower ends of the housing (1) are provided with gripper assemblies (2) on both sides. The gripper assemblies (2) on both sides are driven to open and close by the gripper drive mechanism (6). Each gripper assembly (2) is provided with an airbag assembly (5) on its inner side. The first locking assembly (7) is provided at the end of one gripper assembly (2), and the second locking assembly (8) is provided at the end of the other gripper assembly. When the gripper assemblies (2) on both sides are clamped, they are locked by the action of the first locking assembly (7) and the second locking assembly (8).

2. The rigid-flexible hybrid limb hemostasis robotic hand according to claim 1, characterized in that: The gripper assembly (2) includes a drive rope and a plurality of gripper finger units (201) that are sequentially hinged by hinge shafts (205). Each hinge shaft (205) between adjacent gripper finger units (201) is provided with a rope wheel (208) and a torsion spring (207). The uppermost gripper finger unit (201) is fixedly connected to the corresponding side of the housing (1). The gripper finger unit (201) is provided with a rope pin (204) inside. The drive rope passes through each rope wheel (208) and rope pin (204) in sequence and is connected to the gripper drive mechanism (6).

3. The rigid-flexible hybrid limb hemostasis manipulator according to claim 2, characterized in that: The gripper knuckle unit (201) includes an inner finger pad plate (202) and an outer knuckle back plate (203), and the corresponding sides of the finger pad plate (202) and the knuckle back plate (203) are connected by knuckle side plates (206). The airbag assembly (5) is connected to the inner finger pad plate (202) of each gripper knuckle unit (201), and the knuckle side plates (206) of adjacent gripper knuckle units (201) are mutually abutted and limited by side plate protrusions (2061) and side plate slots (2062).

4. The rigid-flexible hybrid limb hemostasis robotic hand according to claim 1, characterized in that: The gripper drive mechanism (6) includes a gripper motor (606), a worm (601), a worm wheel (603), and a drive shaft (602). The worm (601) is connected to the power shaft of the gripper motor (606), the worm wheel (603) meshes with the worm (601), the drive shaft (602) is coaxially arranged with the worm wheel (603), and the drive ropes of the gripper assemblies (2) on both sides are connected to the drive shaft (602).

5. The rigid-flexible hybrid limb hemostasis robotic hand according to claim 1, characterized in that: The first locking assembly (7) includes a first push-pull electromagnet (701), a first locking block (702), and a fixed slide (703). The first push-pull electromagnet (701) and the fixed slide (703) are both fixedly mounted on the end of the corresponding side gripper assembly (2). The power side of the first push-pull electromagnet (701) is fixedly connected to the first locking block (702) through a first sliding shaft (705). A first return spring (704) is mounted on the first sliding shaft (705). The first return spring (704) is located between the first push-pull electromagnet (701) and the first locking block (702). The first locking block (702) is slidably connected to the fixed slide (703), and the front end of the fixed slide (703) is provided with a slide groove (7031). The free end of the first locking block (702) is provided with a locking protrusion (7021). The second locking assembly (8) includes a second push-pull electromagnet (801), a second... The locking block (802) and the second sliding shaft (804) are provided, wherein the second push-pull electromagnet (801) is fixedly mounted on the end of the corresponding side gripper assembly (2), the second sliding shaft (804) passes through the second push-pull electromagnet (801) and is connected to the second locking block (802), the upper end of the second sliding shaft (804) is provided with a second return spring (803) and a spring limiting plate (8041), and the second return spring (803) is sleeved on the second sliding shaft (804) and provided at the locking block (802). Between the spring limiting plate (8041) and the second push-pull electromagnet (801), the second locking block (802) is provided with a locking slot (80211). When the gripper assembly (2) is locked, the front end of the second locking block (802) is inserted into the slide slot (7031) at the front end of the fixed slide (703), and the locking protrusions (7021) on the first locking block (702) are respectively inserted into the corresponding locking slots (80211).

6. The rigid-flexible hybrid limb hemostasis manipulator according to claim 5, characterized in that: The fixed slide (703) has slide side plates (7032) on both sides of its rear end, and the first locking block (702) has slide grooves (7022) on both sides, and the slide side plates (7032) are respectively embedded in the slide grooves (7022) on the corresponding sides.

7. The rigid-flexible hybrid limb hemostasis manipulator according to claim 5, characterized in that: The second locking block (802) includes a front locking plate (8021) and a rear side plate (8022), wherein the locking plate (8021) is provided with a locking slot (80211), and the side plate (8022) is fixedly connected to the second sliding shaft (804). When the gripper assembly (2) is locked, the lower end of the locking plate (8021) is embedded in the slide slot (7031) of the fixed slide (703).

8. The rigid-flexible hybrid limb hemostasis manipulator according to claim 5, characterized in that: When the gripper assembly (2) is locked, the first push-pull electromagnet (701) is energized to drive the first locking block (702) to move upward and expose the slide block slot (7031). Then, the second push-pull electromagnet (801) is energized to drive the second locking block (802) to move downward and insert into the slide block slot (7031). Then, the first push-pull electromagnet (701) is de-energized, and the first locking block (702) moves downward under the action of the first return spring (704) and locks each component. The protrusions (7021) are respectively inserted into the corresponding locking slots (80211) on the second locking block (802). When the gripper assembly (2) is unlocked, the first push-pull electromagnet (701) is energized to drive the first locking block (702) to move upward. After the locking protrusions (7021) of the first locking block (702) are disengaged from the second locking block (802), the second locking block (802) moves upward automatically by the action of the second return spring (803).

9. The rigid-flexible hybrid limb hemostasis manipulator according to claim 1, characterized in that: The airbag assembly (5) includes an airbag (502), an installation bag (503), and an adhesive assembly. The airbag (502) is located in the installation bag (503). The installation bag (503) is installed on the inner side of the corresponding side gripper assembly (2) through the adhesive assembly. The airbag (502) is provided with an air tube interface (501). The housing (1) is provided with an air inlet connector (4). The air tube interface (501) passes through the installation bag (503) and is connected to the air inlet connector (4) through a pipeline. The air inlet connector (4) is connected to an inflation pump (904) through a pipeline. An inflation solenoid valve (903) is provided on the connecting pipeline between the air inlet connector (4) and the inflation pump (904). A pressure sensor (905) is provided inside the airbag assembly (5).

10. The rigid-flexible hybrid limb hemostasis manipulator according to claim 9, characterized in that: The adhesive assembly includes a hook and loop fastener (504) and a loop fastener (505), wherein the hook and loop fastener (504) is disposed on the mounting bag (503) and the loop fastener (505) is disposed on the inner side of the corresponding side gripper assembly (2).

Images