Foldable intelligent hand and assembling method thereof

Abstract

The invention relates to the technical field of foldable intelligent hands, in particular to a foldable intelligent hand and an assembling method thereof.The foldable intelligent hand comprises a fixing sleeve, a bending unit, a control box and a clamping claw, one end of the fixing sleeve is connected with the control box through the bending unit, a camera and the clamping claw are installed at the other end of the control box, and an auxiliary clamping unit is installed in the middle of the clamping claw; an anti-skid pad is installed on one side of the auxiliary clamping unit, a micro motor is fixedly connected to the upper end of the auxiliary clamping unit, a rotating shaft is fixedly connected to the top end of a main shaft of the micro motor, and a gear is fixedly welded to the outer side of the rotating shaft. The auxiliary clamping unit comprises a fixing box, in the bottle clamping process, the shape of the anti-skid pad can be changed according to the edge scanned by the camera so that the anti-skid pad can be matched with the scanning amplitude, then the bottle can be stably clamped, the clamping position is prevented from being located at the thick and thin connection position of the bottle, and the clamping precision is improved. And therefore, the stability of the intelligent hand in the clamping process is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of foldable smart hands, and in particular to a foldable smart hand and an assembly method thereof. Background Art

[0002] The foldable smart hand is a smart prosthesis that can be folded when not in use. The design and manufacture of this smart prosthesis involves advanced technologies in multiple fields such as biomedical engineering, robotics, materials science and computer science. Its purpose is to improve the quality of life of amputees and help them better integrate into society. Smart hands can control the movements of prostheses through the user's muscle signals. Some advanced models can even be controlled through brain-computer interface technology, allowing users to control prostheses with their "mind". High-end smart prostheses also have tactile feedback systems that allow users to feel the pressure and texture of the prosthesis when it touches an object, thereby improving the user's control accuracy and user experience of the prosthesis. When not in use, the foldable smart hand can be folded up to reduce space and facilitate carrying and storage. The existing smart hand that clamps objects by two clamping claws, when clamping irregular objects such as wine bottles and beverage bottles, will slip if the clamping position is located at the junction of the thick and thin parts of the bottle, affecting normal grasping. Therefore, a foldable smart hand and an assembly method thereof are proposed to address the above problem. Summary of the invention

[0003] The purpose of the present invention is to provide a foldable smart hand and an assembly method thereof, so as to solve the problem that in the process of clamping irregular objects such as wine bottles and beverage bottles by using two clamping claws of the existing smart hand, if the clamping position is located at the position where the thick and thin parts of the bottle meet, there is a slipping problem, which affects the normal grasping.

[0004] To achieve the above object, the present invention provides the following technical solutions: A foldable smart hand and an assembly method thereof, comprising a fixing sleeve, a bending unit, a control box and a clamping gripper, wherein one end of the fixing sleeve is connected to the control box through the bending unit, the other end of the control box is equipped with a camera and a clamping gripper, an auxiliary clamping unit is installed in the middle of the clamping gripper, one side of the auxiliary clamping unit is equipped with an anti-slip pad, the upper end of the auxiliary clamping unit is fixedly connected to a micro motor, the top end of the micro motor main shaft is fixedly connected to a rotating shaft, and a gear is welded and fixed to the outer side of the rotating shaft; the auxiliary clamping unit comprises a fixing box, one side of the fixing box is provided with a front end groove, and the fixing box A cavity is opened inside, a square hole is opened at one end of the cavity, and an adjustment mechanism is installed inside the square hole; the adjustment mechanism includes an adjusting bent plate, a sliding cavity is opened inside one end of the adjusting bent plate, a fixed plate is slidably connected to the inner side of the sliding cavity, a fixing groove is opened on one side of the fixed plate, a control mechanism is installed on one side of the fixed plate, and positioning blocks, electromagnets and telescopic springs are installed on both sides of the control mechanism; the control mechanism includes a control block, a tooth plate is fixedly connected to one end of the control block, a friction rod is fixedly connected to the other end of the control block, and side plates are fixedly connected to both sides of the control block.

[0005] As a further optimization of the present invention, there are two cameras, two clamping claws and two auxiliary clamping units, and the camera is arranged on the inner side of the clamping claw. There is a one-to-one correspondence between the camera, the clamping claw and the auxiliary clamping unit.

[0006] As a further optimization of the present invention, the upper and lower ends of the fixed box are fixedly connected to the upper and lower ends of the anti-slip pad, the anti-slip pad is fixedly connected to the top of the adjustment bent plate, the adjustment bent plate is L-shaped, and the adjustment bent plate is slidably connected to the fixed box through a square hole.

[0007] As a further optimization of the present invention, there are multiple adjustment mechanisms arranged inside the cavity, and the adjustment mechanisms correspond one to one with the square holes and the gears, and the adjustment mechanisms are parallel to each other.

[0008] As a further optimization of the present invention, the fixing plate is fixedly connected to the inner wall of one side of the cavity, the fixing groove opened inside the fixing plate is adapted to the friction rod, and there are multiple fixing plates, and the fixing plates correspond one to one with the adjusting bent plates.

[0009] As a further optimization of the present invention, the control block is slidably connected inside the adjusting bent plate, a plurality of the control blocks are provided, the control blocks correspond one to one with the adjusting bent plates, and the toothed plates correspond one to one with the gears.

[0010] As a further optimization of the present invention, one end of the side plate is fixedly connected to the telescopic spring, the other end of the telescopic spring is fixedly connected to the positioning block, an electromagnet is installed at one end of the side plate, the other end of the electromagnet is installed at the positioning block, and two electromagnets are installed between the side plate and the positioning block, one of the electromagnets is fixedly connected to the side plate, and the other electromagnet is fixedly connected to the positioning block.

[0011] As a further optimization of the present invention, there are two positioning blocks arranged at one end of any control block, the positioning blocks are fixedly connected inside the adjusting bent plate, and the positioning blocks are parallel to the side plates.

[0012] As a further optimized content of the present invention, wherein: the rotating shaft and the gear are both installed inside the fixed box, and the rotating shaft is rotationally connected to the fixed box.

[0013] As a further optimized content of the present invention, the following steps are included: Step I: assembling the entire device on the user's arm for use: During the assembly process, the user's arm is fixed by the fixing sleeve for connection. After the connection is completed, the bending unit is controlled to restore the clamping grip to the normal use position for operation. During the operation of the device, power is supplied by the internal power supply; Step II: clamping the object by the clamping gripper: controlling the clamping gripper to open, and then moving the clamping gripper to a position outside the object to clamp the object; S1: The camera scans the side shape of the clamped object: When the object moves to the position between the clamping grippers, the camera scans the side shape of the clamped object and transmits the scanning result to the control box. After receiving the signal, the control box converts it into a control signal to control the electromagnet and the micro motor to work at the same time: S2: The micro motor drives the rotating shaft to rotate and adjusts the position of the adjustment mechanism: the micro motor drives the rotating shaft to rotate the gear according to the received signal control. During this process, the electromagnet generates a repulsive force according to the control signal, and pushes out the control block to make the tooth plate contact with the gear, thereby driving the adjustment bent plate to move. When the adjustment bent plate moves to the required position, the corresponding electromagnet is powered off, and the control block, pushed by the telescopic spring, makes the friction rod contact with the fixed groove, thereby cooperating with the fixed plate to position the adjustment bent plate. At this time, by adjusting the position of the top of the bent plate, the anti-slip pad can form a curve with the same shape as the camera scanning shape, thereby stably clamping the object, especially in the process of clamping the conical object, the stability of the clamping can be guaranteed; Step III: After the clamping is completed, the object is put down from the clamping grip: After the clamping is completed, the clamping grip is controlled to open and the object is put down. At the same time, the micro motor rotates here and cooperates with the electromagnet to reset the adjustment bending plate.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, by providing an auxiliary clamping unit, in the process of clamping the bottle, the shape of the anti-skid pad can be changed according to the edge scanned by the camera to make it match the scanning amplitude, so that the bottle can be stably clamped to prevent the clamping position from being located at the position where the bottle is thick and thin, which may cause the problem of slipping, and further improve the stability of the smart hand during the clamping process; 2. In the present invention, the adjustment mechanism of the auxiliary clamping unit can be adjusted in multiple ways, so that the device can adapt to the clamping requirements of objects of different shapes and sizes, improve the flexibility and application range of the smart hand, and enable it to play a role in a variety of scenarios. At the same time, the smart hand is fixed on the user's arm through a fixed sleeve and powered by an internal power supply, so that no external power supply is required during the operation of the device, which improves the convenience of use. At the same time, the opening and clamping actions of the clamping grip can be operated through the control box, which simplifies the user's operation process and makes the use of the smart hand more intuitive and convenient; 3. In the present invention, the side shape of the clamped object is scanned by a camera, and the scanning result is transmitted to the control box, which then converts it into a control signal to control the electromagnet and the micro motor to work simultaneously, thereby achieving precise control of the clamped object. This intelligent design improves the accuracy of the operation and optimizes the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the internal structure of the auxiliary clamping unit of the present invention; Figure 3 This is a schematic diagram of the fixed box structure of the present invention; Figure 4 It is a schematic diagram of the structure of the regulating mechanism of the present invention; Figure 5 For the present invention Figure 4 Schematic diagram of the structure at A in the middle; Figure 6 It is a schematic diagram of the control mechanism structure of the present invention.

[0016] In the figure: 1. Fixing sleeve; 2. Bending unit; 3. Control box; 4. Camera; 5. Gripping gripper; 6. Auxiliary clamping unit; 61. Fixed box; 62. Cavity; 63. Front end groove; 64, adjustment mechanism; 641, adjustment bending plate; 642, sliding cavity; 643, fixing plate; 644, fixing groove; 645, control mechanism; 6451, control block; 6452, tooth plate; 6453, friction rod; 6454, side plate; 646, positioning block; 647, electromagnet; 648, telescopic spring; 65. Square hole; 7. Anti-slip pad; 8. Micro motor; 9. Rotating shaft; 10. Gear. DETAILED DESCRIPTION

[0017] See also Figure 1-6 , the present invention provides a technical solution: A foldable smart hand and an assembly method thereof, comprising a fixing sleeve 1, a bending unit 2, a control box 3 and a clamping grip 5, wherein one end of the fixing sleeve 1 is connected to the control box 3 through the bending unit 2, the other end of the control box 3 is installed with a camera 4 and a clamping grip 5, an auxiliary clamping unit 6 is installed in the middle of the clamping grip 5, an anti-slip pad 7 is installed on one side of the auxiliary clamping unit 6, a micro motor 8 is fixedly connected to the upper end of the auxiliary clamping unit 6, a rotating shaft 9 is fixedly connected to the top end of the main shaft of the micro motor 8, and a gear 10 is welded and fixed to the outer side of the rotating shaft 9; the auxiliary clamping unit 6 comprises a fixing box 61, a front end groove 63 is provided on one side of the fixing box 61, a cavity 62 is provided inside the fixing box 61, and a square hole 65 is provided at one end of the cavity 62. An adjusting mechanism 64 is installed inside the square hole 65; the adjusting mechanism 64 includes an adjusting bent plate 641, a sliding cavity 642 is opened inside one end of the adjusting bent plate 641, a fixed plate 643 is slidably connected to the inside of the sliding cavity 642, a fixing groove 644 is opened on one side of the fixed plate 643, a control mechanism 645 is installed on one side of the fixed plate 643, and positioning blocks 646, electromagnets 647 and telescopic springs 648 are installed on both sides of the control mechanism 645; the control mechanism 645 includes a control block 6451, a tooth plate 6452 is fixedly connected to one end of the control block 6451, a friction rod 6453 is fixedly connected to the other end of the control block 6451, and side plates 6454 are fixedly connected to both sides of the control block 6451.

[0018] As a technical solution for further implementation of this scheme, two cameras 4, two clamping grippers 5 and two auxiliary clamping units 6 are provided, and the camera 4 is arranged inside the clamping gripper 5. There is a one-to-one correspondence between the camera 4, the clamping gripper 5 and the auxiliary clamping unit 6. Through the above arrangement, it is convenient to scan the side of the clamped object; As a further technical solution of the present invention, the upper and lower ends of the fixed box 61 are fixedly connected to the upper and lower ends of the anti-skid pad 7, and the anti-skid pad 7 is fixedly connected to the top of the adjustment bent plate 641. The adjustment bent plate 641 is L-shaped, and the adjustment bent plate 641 is slidably connected to the fixed box 61 through the square hole 65. Through the above arrangement, the stability of the connection between the upper and lower ends of the anti-skid pad 7 and the fixed box 61 can be further improved; As a further technical solution of this scheme, there are multiple adjustment mechanisms 64 arranged inside the cavity 62, and the adjustment mechanisms 64 correspond to the square holes 65 and the gears 10 one by one, and the adjustment mechanisms 64 are parallel to each other. Through the above arrangement, the stability of the overall operation of the equipment can be further improved; As a further technical solution for implementing the present invention, the fixing plate 643 is fixedly connected to the inner wall of one side of the cavity 62, the fixing groove 644 provided inside the fixing plate 643 is adapted to the friction rod 6453, and a plurality of fixing plates 643 are provided, and the fixing plates 643 correspond to the adjusting bent plates 641 one by one. Through the above arrangement, the contact position between the fixing plate 643 and the adjusting bent plate 641 can be fixed; As a technical solution for further implementation of this solution, the control block 6451 is slidably connected inside the adjusting bent plate 641. A plurality of control blocks 6451 are provided. The control blocks 6451 correspond to the adjusting bent plate 641 one by one, and the tooth plate 6452 corresponds to the gear 10 one by one. Through the above arrangement, the plurality of control blocks 6451 provided can locate the position of the adjusting bent plate 641. As a technical solution for further implementation of this solution, one end of the side plate 6454 is fixedly connected to the telescopic spring 648, and the other end of the telescopic spring 648 is fixedly connected to the positioning block 646. An electromagnet 647 is installed at one end of the side plate 6454, and the other end of the electromagnet 647 is installed at the positioning block 646. There are two electromagnets 647 installed between the side plate 6454 and the positioning block 646, one of which is fixedly connected to the side plate 6454, and the other is fixedly connected to the positioning block 646. Through the above arrangement, the position of the control block 6451 is limited; As a further technical solution for implementing the present invention, two positioning blocks 646 are provided at one end of any control block 6451, and the positioning blocks 646 are fixedly connected inside the adjustment bent plate 641, and the positioning blocks 646 are parallel to the side plates 6454. The above arrangement can ensure the stability of the control block 6451 during movement during actual use; As a technical solution for further implementing the present invention, the rotating shaft 9 and the gear 10 are both installed inside the fixed box 61, and the rotating shaft 9 and the fixed box 61 are rotationally connected. Through the above arrangement, the rotating shaft 9 and the gear 10 can be protected.

[0019] As a further technical solution for implementing the present scheme, the following steps are included: Step I: Assemble the device as a whole on the user's arm for use: During the assembly process, the user's arm is fixed by the fixing sleeve 1 for connection. After the connection is completed, the bending unit 2 is controlled to restore the clamping grip 5 to the normal use position for operation. During the operation of the device, power is supplied by the internal power supply; Step II: clamping the object by the clamping gripper 5: controlling the clamping gripper 5 to open, and then moving the clamping gripper 5 to a position outside the object to clamp the object; S1: The camera 4 scans the side shape of the clamped object: When the object moves to the position between the clamping gripper 5, the camera 4 scans the side shape of the clamped object and transmits the scanning result to the control box 3. After receiving the signal, the control box 3 converts it into a control signal to control the electromagnet 647 and the micro motor 8 to work simultaneously: S2: The micro motor 8 drives the rotating shaft 9 to rotate and adjusts the position of the adjustment mechanism 64: the micro motor 8 drives the rotating shaft 9 to rotate the gear 10 according to the received signal control. During this process, the electromagnet 647 generates a repulsive force according to the control signal, and pushes out the control block 6451, so that the tooth plate 6452 contacts the gear 10, thereby driving the adjustment bent plate 641 to move. When the adjustment bent plate 641 moves to the required position, the corresponding electromagnet 647 is powered off, and the control block 6451, under the push of the telescopic spring 648, makes the friction rod 6453 contact the fixed groove 644, and then cooperates with the fixed plate 643 to position the adjustment bent plate 641. At this time, by adjusting the position of the top of the bent plate 641, the anti-slip pad 7 can form a curve with the same shape as the scanning shape of the camera 4, so that the object can be stably clamped, especially in the process of clamping conical objects, the stability of clamping can be guaranteed; Step III: After the clamping is completed, the object is put down from between the clamping grippers 5: After the clamping is completed, the clamping grippers 5 are controlled to open and the object is put down. At the same time, the micro motor 8 rotates here and cooperates with the electromagnet 647 to reset the adjustment bent plate 641.

[0020] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. The above is only a preferred implementation of the present invention. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, ordinary technicians in this technical field can make several improvements, modifications or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, should be regarded as the protection scope of the present invention.

Claims

1. A foldable smart hand, comprising a fixing sleeve (1), a bending unit (2), a control box (3) and a gripping gripper (5), characterized in that: One end of the fixing sleeve (1) is connected to a control box (3) via a bending unit (2); the other end of the control box (3) is installed with a camera (4) and a clamping gripper (5); an auxiliary clamping unit (6) is installed in the middle of the clamping gripper (5); an anti-slip pad (7) is installed on one side of the auxiliary clamping unit (6); a micro motor (8) is fixedly connected to the upper end of the auxiliary clamping unit (6); a rotating shaft (9) is fixedly connected to the top end of the main shaft of the micro motor (8); a gear (10) is welded and fixed to the outer side of the rotating shaft (9); The auxiliary clamping unit (6) comprises a fixing box (61), a front end groove (63) is formed on one side of the fixing box (61), a cavity (62) is formed inside the fixing box (61), a square hole (65) is formed at one end of the cavity (62), and an adjustment mechanism (64) is installed inside the square hole (65); The adjusting mechanism (64) comprises an adjusting bent plate (641), a sliding cavity (642) is provided inside one end of the adjusting bent plate (641), a fixing plate (643) is slidably connected inside the sliding cavity (642), a fixing groove (644) is provided on one side of the fixing plate (643), a control mechanism (645) is installed on one side of the fixing plate (643), and positioning blocks (646), electromagnets (647) and telescopic springs (648) are installed on both sides of the control mechanism (645); The control mechanism (645) comprises a control block (6451), one end of the control block (6451) being fixedly connected to a tooth plate (6452), the other end of the control block (6451) being fixedly connected to a friction rod (6453), and both sides of the control block (6451) being fixedly connected to side plates (6454).

2. The foldable smart hand according to claim 1, characterized in that: The camera (4), the clamping claw (5) and the auxiliary clamping unit (6) are each provided with two, the camera (4) is arranged on the inner side of the clamping claw (5), and the camera (4), the clamping claw (5) and the auxiliary clamping unit (6) correspond one to one.

3. The foldable smart hand according to claim 1, characterized in that: The upper and lower ends of the fixed box (61) are fixedly connected to the upper and lower ends of the anti-skid pad (7); the anti-skid pad (7) is fixedly connected to the top of the adjustable curved plate (641); the adjustable curved plate (641) is L-shaped; the adjustable curved plate (641) is slidably connected to the fixed box (61) via the square hole (65).

4. The foldable smart hand according to claim 1, characterized in that: A plurality of adjusting mechanisms (64) are arranged inside the cavity (62), and there is a one-to-one correspondence between the adjusting mechanisms (64), the square holes (65), and the gears (10), and the adjusting mechanisms (64) are parallel to each other.

5. The foldable smart hand according to claim 1, characterized in that: The fixing plate (643) is fixedly connected to the inner wall of one side of the cavity (62); a fixing groove (644) provided inside the fixing plate (643) is adapted to the friction rod (6453); a plurality of fixing plates (643) are provided, and the fixing plates (643) correspond one to one to the adjusting bent plates (641).

6. The foldable smart hand according to claim 1, characterized in that: The control block (6451) is slidably connected inside the adjusting bent plate (641), a plurality of the control blocks (6451) are provided, the control blocks (6451) correspond one-to-one to the adjusting bent plates (641), and the toothed plates (6452) correspond one-to-one to the gears (10).

7. The foldable smart hand according to claim 1, characterized in that: One end of the side plate (6454) is fixedly connected to the telescopic spring (648), and the other end of the telescopic spring (648) is fixedly connected to the positioning block (646). An electromagnet (647) is installed at one end of the side plate (6454), and the other end of the electromagnet (647) is installed at the positioning block (646). Two electromagnets (647) are installed between the side plate (6454) and the positioning block (646), one of which is fixedly connected to the side plate (6454), and the other of which is fixedly connected to the positioning block (646).

8. The foldable smart hand according to claim 1, characterized in that: Two positioning blocks (646) are provided at one end of any of the control blocks (6451), and the positioning blocks (646) are fixedly connected inside the adjustment bent plate (641), and the positioning blocks (646) are parallel to the side plates (6454).

9. The foldable smart hand according to claim 1, characterized in that: The rotating shaft (9) and the gear (10) are both installed inside the fixed box (61), and the rotating shaft (9) is rotationally connected to the fixed box (61).

10. A foldable smart hand according to any one of claims 1 to 9, characterized in that: The method comprises the following steps: Step I: assembling the entire device on the user's arm for use: during the assembly process, the user's arm is fixed by the fixing sleeve (1) for connection; after the connection is completed, the bending unit (2) is controlled to restore the clamping gripper (5) to a normal use position for operation; during the operation of the device, power is supplied by an internal power supply; Step II: clamping the object by the clamping gripper (5): controlling the clamping gripper (5) to open, and then moving the clamping gripper (5) to a position outside the object to clamp the object; S1: The camera (4) scans the side shape of the clamped object: When the object moves to the position between the clamping grippers (5), the camera (4) scans the side shape of the clamped object and transmits the scanning result to the control box (3). After receiving the signal, the control box (3) converts it into a control signal to control the electromagnet (647) and the micro motor (8) to work simultaneously: S2: The micro motor (8) drives the rotating shaft (9) to rotate, and adjusts the position of the adjusting mechanism (64): The micro motor (8) drives the rotating shaft (9) to rotate the gear (10) according to the received signal control. During this process, the electromagnet (647) generates a repulsive force according to the control signal, and pushes the control block (6451) out, so that the tooth plate (6452) contacts the gear (10), thereby driving the adjusting bent plate (641) to move. When the adjusting bent plate (641) moves to the required position, the corresponding The electromagnet (647) is powered off, and the control block (6451) is pushed by the telescopic spring (648) to make the friction rod (6453) contact the fixed groove (644), thereby cooperating with the fixed plate (643) to position the adjustment bent plate (641). At this time, by adjusting the position of the top of the bent plate (641), the anti-slip pad (7) can form a curve with the same shape as the scanning shape of the camera (4), thereby stably clamping the object, especially ensuring the stability of the clamping during the clamping of the conical object; Step III: After the clamping is completed, the object is placed between the clamping grippers (5): After the clamping is completed, the clamping grippers (5) are controlled to open and the object is placed between them. At the same time, the micro motor (8) rotates here and cooperates with the electromagnet (647) to reset the adjustment bent plate (641).

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