Wearable six-degree-of-freedom dual-finger collaborative assistive manipulator

Abstract

The application discloses a wearable six-degree-of-freedom double-finger collaborative assistive robot hand, which comprises a wrist sleeve, a gear ring, two rotating modules and two operating fingers; the rotating module comprises a sliding seat, two rotating connecting rods, a revolution motor, a revolution driving gear, a revolution gear reduction set, a revolution driven gear, a rotation motor, a rotation driving gear, a rotation gear reduction set, a rotation driven gear, a rotation shaft and a rotation bearing; the operating finger comprises a first finger joint, a second finger joint, a third finger joint, a flexion and extension motor, a lead screw, a screw cylinder, first to third pivot shafts, first to third operating connecting rods and a sliding rod. The application can realize complex daily operations by means of double-finger cooperation or cooperation with a healthy hand, has high flexibility, low cost and high adaptability, and is suitable for daily assistance of the hand disabled.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation assistive device technology, and in particular to a wearable six-degree-of-freedom two-finger collaborative assistive robotic hand. Background Technology

[0002] Hand dysfunction caused by trauma, stroke, congenital malformations, or other reasons can severely impact a patient's ability to perform daily living activities and their social participation. After hand function is impaired, patients often need assistive devices to restore or replace basic hand functions such as grasping, immobilization, and manipulation. As a core assistive component, the structural flexibility, ease of operation, safety, and cost of bionic robotic hands directly determine the patient's experience and the scope of their suitability.

[0003] Relying on caregivers to manually assist patients in completing daily tasks is limited by the caregivers' professional skills and available time, making 24 / 7 assistance impossible and incurring extremely high long-term care costs. However, using assistive robotic arms to help patients complete hand operations not only effectively reduces care costs but also helps patients achieve self-care, enhancing their independent living abilities and sense of social participation.

[0004] Currently available hand assistive and rehabilitation devices for the disabled suffer from the following intractable technical defects:

[0005] Firstly, they lack sufficient degrees of freedom and have limited functionality. Most traditional assistive robotic hands can only perform simple finger flexion and extension grasping movements, lacking multi-dimensional spatial posture adjustment capabilities. They cannot perform complex daily actions requiring multi-degree-of-freedom coordination, such as twisting bottle caps, turning pages, fixing irregular objects, and fine pinching, making them unsuitable for the all-scenario use needs of people with hand disabilities. While some multi-finger bionic robotic hands offer higher degrees of freedom, their complex structure and large size prevent them from being worn and portable.

[0006] Secondly, the drive and transmission structures have significant limitations. Existing technologies often require complex multi-link mechanisms to achieve multi-joint motion, resulting in low space utilization and difficulty in miniaturization. While cable-driven solutions are compact, they suffer from issues such as easy cable wear and stretching, low force transmission efficiency, and poor reverse self-locking capability, making it impossible to stably maintain the grasping posture. Conventional motor-driven solutions struggle to balance control stability and miniaturization; dedicated motors requiring high control precision are often large and expensive, unsuitable for civilian wearable assistive devices. Pneumatic and hydraulic drive solutions suffer from heavy devices, limited application scenarios, and inconvenient maintenance.

[0007] Third, they have poor adaptability and cannot meet personalized needs. Most existing products are full-hand replacement prostheses, which are inconvenient to wear and cannot meet the needs of users who have only partially lost hand function and need to cooperate with their healthy hand to complete operations; moreover, most products use closed control systems, which users cannot make secondary adjustments and functional expansions according to their own limb conditions and operating habits, resulting in extremely poor adaptability.

[0008] Fourth, the manufacturing and maintenance costs are high. Multi-finger bionic robotic hands often require dozens of drive components and precision transmission structures, with manufacturing costs easily reaching tens of thousands of yuan. They are also difficult and costly to maintain, making them difficult to popularize among ordinary disabled people.

[0009] In addition, most existing two-finger assistive robotic hands adopt a fixed base design, and the fingers can only flex and extend and swing at a limited angle. They cannot achieve a full revolution around the wrist or omnidirectional rotation, making it difficult to simulate the natural operating posture of the human hand and unable to complete actions that require rotational posture adjustment, such as tightening screws or turning bottle caps.

[0010] To address the numerous shortcomings of the existing technologies, this invention proposes a wearable six-degree-of-freedom two-finger collaborative assistive robotic hand. It achieves highly flexible omnidirectional operation with a minimalist structure, while also taking into account low cost, high scalability, high safety, and ease of wear, fully adapting to the daily use needs of people with hand disabilities. Summary of the Invention

[0011] The technical problem to be solved by the present invention is to address the deficiencies mentioned in the background art by providing a wearable six-degree-of-freedom two-finger collaborative assistive robotic hand, which aims to solve the problems of insufficient degrees of freedom, single function, complex structure and poor adaptability of existing assistive robotic hands.

[0012] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0013] A wearable six-degree-of-freedom two-finger collaborative assistive robotic hand includes a wristband, a gear ring, a first rotation module, a second rotation module, a first control finger, and a second control finger;

[0014] The wristband is a hollow cylinder with openings at both ends, designed to be worn on the user's forearm.

[0015] The inner wall of the toothed ring and the outer wall of the wristband are coaxially fixed together, and the first end wall of the toothed ring is provided with a coaxial first annular groove, and the second end wall of the toothed ring is provided with a coaxial second annular groove; the first annular groove is provided with a first upper slider and a second upper slider that can slide freely; the second annular groove is provided with a first lower slider and a second lower slider that can slide freely.

[0016] The first rotation module and the second rotation module have the same structure, each including a slide, a first rotation link, a second rotation link, a revolution motor, a revolution drive gear, a revolution gear reduction group, a revolution driven gear, a rotation motor, a rotation drive gear, a rotation gear reduction group, a rotation driven gear, a rotation shaft, and a rotation bearing;

[0017] The slide block is provided with a bearing mounting hole for installing the self-rotating bearing; the outer ring of the self-rotating bearing is fixedly connected to the slide block; the self-rotating shaft passes through the self-rotating bearing and is coaxially fixedly connected to the self-rotating driven gear, and the self-rotating shaft and the inner ring of the self-rotating bearing are coaxially fixedly connected.

[0018] The self-rotating motor, the self-rotating gear reduction group, the revolution gear reduction group, and the revolution motor are all fixed on the slide. The output shaft of the self-rotating motor is coaxially and fixedly connected to the self-rotating driving gear. The input gear of the self-rotating gear reduction group meshes with the self-rotating driving gear, and the output gear of the self-rotating gear reduction group meshes with the self-rotating driven gear. The output shaft of the revolution motor is coaxially and fixedly connected to the revolution driving gear. The input gear of the revolution gear reduction group meshes with the revolution driving gear, and the output gear of the revolution gear reduction group meshes with the revolution driven gear. The axis of the revolution driven gear is parallel to the self-rotating shaft.

[0019] Both the first rotating link and the second rotating link are fixedly connected to the slide block at one end;

[0020] The other end of the first rotating link of the first rotating module is fixedly connected to the first upper slider, and the other end of the second rotating link of the first rotating module is fixedly connected to the first lower slider. The orbital passive gear of the first rotating module meshes with the gear ring, so that the orbital motor of the first rotating module can drive the first rotating module to rotate freely around the gear ring.

[0021] The other end of the first rotating link of the second rotating module is fixedly connected to the second upper slider, and the other end of the second rotating link of the second rotating module is fixedly connected to the second lower slider. The orbital passive gear of the second rotating module meshes with the gear ring, so that the orbital motor of the second rotating module can drive the second rotating module to rotate freely around the gear ring.

[0022] The first and second control fingers have the same structure, each including a first joint, a second joint, a third joint, a flexion-extension motor, a lead screw, a screw cylinder, first to third pivot shafts, first to third control linkages, and a slide rod;

[0023] The lower end of the first phalanx is provided with a first pivot lug, a second pivot lug, a first pivot post, and a second pivot post. The through holes of the first pivot lug and the second pivot lug are coaxial, and the first pivot post and the second pivot post are coaxial. The first pivot lug and the second pivot lug are located outside the first pivot post and the second pivot post, and the axis of the first pivot post is located above the axis of the through hole of the first pivot lug.

[0024] The first control link and the second control link have the same structure, and both ends of them are provided with pivot holes;

[0025] The second phalanx is hollow, with a third and a fourth pivot lug at the upper end and a fifth and a sixth pivot lug at the lower end; the second phalanx is symmetrically provided with a first and a second sliding groove along its length, and both the first and second sliding grooves are through grooves;

[0026] The first pivot lug, the second pivot lug, the third pivot lug, and the fourth pivot lug are pivotally connected by the first pivot shaft, allowing the first phalanx to rotate relative to the second phalanx;

[0027] The third phalanx is hollow and has a third pivot post and a fourth pivot post at its upper end. The third pivot post and the fourth pivot post are coaxial. The upper end of the third phalanx also has a pivot hole, which is located inside the third pivot post and the fourth pivot post, and its axis is located below the axis of the third pivot post.

[0028] The fifth and sixth pivot ears are pivotally connected via the second pivot shaft and the pivot hole on the third phalanx; the first and second operating links are arranged in parallel; one end of the first operating link is pivotally connected to the first pivot post and the other end is pivotally connected to the third pivot post; one end of the second operating link is pivotally connected to the second pivot post and the other end is pivotally connected to the fourth pivot post; this allows the second phalanx to rotate relative to the third phalanx, and when the second phalanx rotates relative to the third phalanx, it drives the first phalanx to rotate relative to the second phalanx.

[0029] The screw barrel is a cylinder with a threaded blind hole at one end that mates with the lead screw, and a seventh hinge lug and an eighth hinge lug at the other end; the through holes of the seventh hinge lug and the eighth hinge lug are coaxial; a sliding groove is provided on the outer wall of the screw barrel along its length, and a screw barrel slider that can slide freely is provided in the sliding groove.

[0030] The screw barrel is disposed inside the third finger joint, and the screw barrel slider is fixedly connected to the inner wall of the third finger joint, so that the screw barrel can slide freely within the third finger joint along the length direction of the third finger joint;

[0031] The flexion-extension motor is fixed inside the third finger joint, and its output shaft is coaxially fixed to one end of the lead screw; the other end of the lead screw is threadedly connected to the screw barrel.

[0032] One end of the third operating link is vertically fixed to the midpoint of the slide rod, and the other end is provided with a pivot hole. The end with the pivot hole is pivotally connected to the seventh hinge ear and the eighth hinge ear through the third pivot shaft.

[0033] One end of the slide rod extends into and engages with the first slide groove, and the other end extends into and engages with the second slide groove; the flexion-extension motor is used to drive the lead screw to rotate, thereby causing the second phalanx to rotate relative to the third phalanx;

[0034] The lower end of the third phalanx of the first operating finger is fixedly connected to the rotation shaft of the first rotating module, and the lower end of the third phalanx of the second operating finger is fixedly connected to the rotation shaft of the second rotating module.

[0035] As a further optimization of the wearable six-degree-of-freedom two-finger collaborative assistive manipulator of the present invention, both the revolution gear reduction group and the rotation gear reduction group adopt a two-stage cylindrical gear reduction mechanism.

[0036] As a further optimization of the wearable six-degree-of-freedom two-finger collaborative assistive robotic hand of the present invention, the revolution motor, rotation motor and flexion-extension motor are all DC geared motors with Hall encoders.

[0037] As a further optimization of the wearable six-DOF two-finger collaborative assistive robotic hand of the present invention, the wristband is made of resin material.

[0038] As a further optimization of the wearable six-degree-of-freedom two-finger collaborative assistive robotic hand of the present invention, the outer wall of the wristband is provided with an adjustable Velcro strap for fixing the device to the user's forearm or hand stump.

[0039] Compared with the prior art, the present invention, employing the above technical solution, has the following technical effects:

[0040] 1. This invention achieves highly flexible six-degree-of-freedom omnidirectional operation, solving the problem of limited functionality in traditional devices. Each finger in this invention possesses three independent degrees of freedom: 360° full revolution, 360° continuous rotation, and controllable flexion and extension. With two fingers, there are a total of six degrees of freedom, allowing for adjustments to any relative position and posture. It enables both fingers to work together to perform complex daily actions such as grasping, pinching, rotating, and fixing, or to use a single finger in conjunction with the healthy hand to perform auxiliary operations, fully adapting to the all-scenario usage needs of people with hand disabilities.

[0041] 2. The drive and transmission structure has been optimized, balancing miniaturization, stability, and low cost. This invention employs a flexion-extension transmission scheme of "lead screw + solenoid + third control linkage," precisely converting the rotational motion of the flexion-extension motor into the biomimetic flexion action of the fingers. The transmission is stable, with strong reverse self-locking capability, ensuring a stable grasping posture. A two-stage gear reduction revolution drive scheme achieves high torque output within a limited space, guaranteeing the stability of the revolution motion. The use of a DC geared motor combined with an open-source main control system significantly reduces the device's size and weight compared to pneumatic and hydraulic drives, enabling a wearable portable design. Compared to dedicated precision motor solutions, it significantly reduces manufacturing costs while ensuring control stability, facilitating widespread civilian application.

[0042] 3. The mechanical transmission structure of this invention has clear positioning, no easily damaged parts in the overall structure, low maintenance cost, and long service life. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the overall assembly structure of the wearable six-degree-of-freedom two-finger collaborative assistive robotic hand described in this invention;

[0044] Figure 2 This is a schematic diagram of the assembly structure of the rotating module of the present invention;

[0045] Figure 3 This is a schematic diagram of the single-finger explosive structure of the present invention;

[0046] Figure 4 This is a schematic diagram of the assembly structure of the single operating finger of the present invention;

[0047] Figure 5 This is a schematic diagram of the state of the two-finger revolution motion of the present invention.

[0048] In the diagram, 1-wristband, 2-gear ring, 3-first rotating module, 4-second rotating module, 5-first rotating link of the first rotating module, 6-second rotating link of the first rotating module, 7-first rotating link of the second rotating module, 8-second rotating link of the second rotating module, 9-slide, 10-first rotating link, 11-second rotating link, 12-revolution motor, 13-revolution drive gear, 14-revolution gear reduction group, 15-revolution driven gear, 16-rotation motor, 1 7-Rotating drive gear, 18-Rotating gear reduction group, 19-Rotating driven gear, 20-Rotating shaft, 21-Rotating bearing, 22-First finger joint, 23-Second finger joint, 24-Third finger joint, 25-Flexing motor, 26-Lead screw, 27-Screw barrel, 28-First pivot shaft, 29-Second pivot shaft, 30-Third pivot shaft, 31-First operating linkage, 32-Second operating linkage, 33-Third operating linkage, 34-Slide rod, 35-First slide groove, 36-Second slide groove. Detailed Implementation

[0049] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings:

[0050] This invention can be implemented in many different forms and should not be considered limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully express the scope of the invention to those skilled in the art. In the drawings, components are enlarged for clarity.

[0051] It should be understood that although the terms first, second, third, etc., may be used herein to describe various elements, components, and / or parts, these elements, components, and / or parts are not limited by these terms. These terms are merely used to distinguish elements, components, and / or parts from one another. Therefore, the first element, component, and / or part discussed below may be a second element, component, or part without departing from the teachings of this invention.

[0052] In the description of this invention, it should be understood that the terms "horizontal," "vertical," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and should not be construed as limiting this invention; the terms "installation," "connection," "fixing," etc., should be interpreted broadly, for example, they can refer to a fixed connection, a detachable connection, or an integral connection, they can refer to a direct connection, an indirect connection through an intermediate medium, or a connection within two components; for those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0053] In the description of this application, unless otherwise expressly specified or limited, the terms "installation," "connection," and "linking" should be interpreted broadly, for example, as a fixed connection, an integral connection, or a detachable connection; as a mechanical connection or an electrical connection; as a direct connection or an indirect connection through an intermediate medium, or as communication between two components, etc. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0054] like Figure 1 As shown, this invention discloses a wearable six-degree-of-freedom two-finger collaborative assistive robotic hand, including a wristband, a gear ring, a first rotation module, a second rotation module, a first manipulating finger, and a second manipulating finger;

[0055] The wristband is a hollow cylinder with openings at both ends, designed to be worn on the user's forearm.

[0056] The inner wall of the toothed ring and the outer wall of the wristband are coaxially fixed together, and the first end wall of the toothed ring is provided with a coaxial first annular groove, and the second end wall of the toothed ring is provided with a coaxial second annular groove; the first annular groove is provided with a first upper slider and a second upper slider that can slide freely; the second annular groove is provided with a first lower slider and a second lower slider that can slide freely.

[0057] like Figure 2 As shown, the first rotation module and the second rotation module have the same structure, each including a slide, a first rotation link, a second rotation link, a revolution motor, a revolution drive gear, a revolution gear reduction group, a revolution driven gear, a rotation motor, a rotation drive gear, a rotation gear reduction group, a rotation driven gear, a rotation shaft, and a rotation bearing;

[0058] The slide block is provided with a bearing mounting hole for installing the self-rotating bearing; the outer ring of the self-rotating bearing is fixedly connected to the slide block; the self-rotating shaft passes through the self-rotating bearing and is coaxially fixedly connected to the self-rotating driven gear, and the self-rotating shaft and the inner ring of the self-rotating bearing are coaxially fixedly connected.

[0059] The self-rotating motor, the self-rotating gear reduction group, the revolution gear reduction group, and the revolution motor are all fixed on the slide. The output shaft of the self-rotating motor is coaxially and fixedly connected to the self-rotating driving gear. The input gear of the self-rotating gear reduction group meshes with the self-rotating driving gear, and the output gear of the self-rotating gear reduction group meshes with the self-rotating driven gear. The output shaft of the revolution motor is coaxially and fixedly connected to the revolution driving gear. The input gear of the revolution gear reduction group meshes with the revolution driving gear, and the output gear of the revolution gear reduction group meshes with the revolution driven gear. The axis of the revolution driven gear is parallel to the self-rotating shaft.

[0060] Both the first rotating link and the second rotating link are fixedly connected to the slide block at one end;

[0061] like Figure 5 As shown, the other end of the first rotating link of the first rotating module is fixedly connected to the first upper slider, and the other end of the second rotating link of the first rotating module is fixedly connected to the first lower slider. The orbital passive gear of the first rotating module meshes with the gear ring, so that the orbital motor of the first rotating module can drive the first rotating module to rotate freely around the gear ring.

[0062] The other end of the first rotating link of the second rotating module is fixedly connected to the second upper slider, and the other end of the second rotating link of the second rotating module is fixedly connected to the second lower slider. The orbital passive gear of the second rotating module meshes with the gear ring, so that the orbital motor of the second rotating module can drive the second rotating module to rotate freely around the gear ring.

[0063] like Figure 3 , Figure 4As shown, the first and second control fingers have the same structure, each including a first joint, a second joint, a third joint, a flexion-extension motor, a lead screw, a screw cylinder, first to third pivot shafts, first to third control linkages, and a slide rod;

[0064] The lower end of the first phalanx is provided with a first pivot lug, a second pivot lug, a first pivot post, and a second pivot post. The through holes of the first pivot lug and the second pivot lug are coaxial, and the first pivot post and the second pivot post are coaxial. The first pivot lug and the second pivot lug are located outside the first pivot post and the second pivot post, and the axis of the first pivot post is located above the axis of the through hole of the first pivot lug.

[0065] The first control link and the second control link have the same structure, and both ends of them are provided with pivot holes;

[0066] The second phalanx is hollow, with a third and a fourth pivot lug at the upper end and a fifth and a sixth pivot lug at the lower end; the second phalanx is symmetrically provided with a first and a second sliding groove along its length, and both the first and second sliding grooves are through grooves;

[0067] The first pivot lug, the second pivot lug, the third pivot lug, and the fourth pivot lug are pivotally connected by the first pivot shaft, allowing the first phalanx to rotate relative to the second phalanx;

[0068] The third phalanx is hollow and has a third pivot post and a fourth pivot post at its upper end. The third pivot post and the fourth pivot post are coaxial. The upper end of the third phalanx also has a pivot hole, which is located inside the third pivot post and the fourth pivot post, and its axis is located below the axis of the third pivot post.

[0069] The fifth and sixth pivot ears are pivotally connected via the second pivot shaft and the pivot hole on the third phalanx; the first and second operating links are arranged in parallel; one end of the first operating link is pivotally connected to the first pivot post and the other end is pivotally connected to the third pivot post; one end of the second operating link is pivotally connected to the second pivot post and the other end is pivotally connected to the fourth pivot post; this allows the second phalanx to rotate relative to the third phalanx, and when the second phalanx rotates relative to the third phalanx, it drives the first phalanx to rotate relative to the second phalanx.

[0070] The screw barrel is a cylinder with a threaded blind hole at one end that mates with the lead screw, and a seventh hinge lug and an eighth hinge lug at the other end; the through holes of the seventh hinge lug and the eighth hinge lug are coaxial; a sliding groove is provided on the outer wall of the screw barrel along its length, and a screw barrel slider that can slide freely is provided in the sliding groove.

[0071] The screw barrel is disposed inside the third finger joint, and the screw barrel slider is fixedly connected to the inner wall of the third finger joint, so that the screw barrel can slide freely within the third finger joint along the length direction of the third finger joint;

[0072] The flexion-extension motor is fixed inside the third finger joint, and its output shaft is coaxially fixed to one end of the lead screw; the other end of the lead screw is threadedly connected to the screw barrel.

[0073] One end of the third operating link is vertically fixed to the midpoint of the slide rod, and the other end is provided with a pivot hole. The end with the pivot hole is pivotally connected to the seventh hinge ear and the eighth hinge ear through the third pivot shaft.

[0074] One end of the slide rod extends into and engages with the first slide groove, and the other end extends into and engages with the second slide groove; the flexion-extension motor is used to drive the lead screw to rotate, thereby causing the second phalanx to rotate relative to the third phalanx;

[0075] The lower end of the third phalanx of the first operating finger is fixedly connected to the rotation shaft of the first rotating module, and the lower end of the third phalanx of the second operating finger is fixedly connected to the rotation shaft of the second rotating module.

[0076] Both the revolution gear reduction group and the rotation gear reduction group adopt a two-stage cylindrical gear reduction mechanism.

[0077] The revolution motor, rotation motor, and extension motor are all DC geared motors with Hall encoders.

[0078] The wristband is made of resin material with an inner diameter of 80mm and a 20mm sponge lining to fit the forearm size of most users. The outer wall of the wristband is equipped with adjustable Velcro straps for fixing the device to the user's forearm or hand stump.

[0079] The specific working process of this embodiment is as follows:

[0080] When adjusting the revolution position, the rotating module rotates, causing the operating finger to make a 360° revolution along the ring toothed track, adjusting the relative angle between the two fingers, for example, adjusting it to a 180° relative position for grasping cylindrical objects, or adjusting it to a 0° same-direction position for cooperating with the healthy hand to fix the object.

[0081] When adjusting the rotation posture, the rotation drive motor rotates, causing the control finger to rotate 360° around its own axis, adjusting the gripping surface posture of the finger. For example, when gripping a flat object, the contact surface of the finger is adjusted to a plane, and when gripping an irregular object, it is adjusted to the corresponding adaptive angle.

[0082] When performing a flexion-extension grasping action, the flexion-extension drive motor rotates, and through the cooperation of the lead screw, screw cylinder, third control linkage, and slide rod, it drives the fingers to complete a biomimetic flexion action. Combined with the posture adjustment of revolution and rotation, it achieves the clamping and grasping of objects.

[0083] Users can use two fingers in coordinated motions to perform daily actions such as grasping, pinching, turning pages, and holding objects. They can also use a single finger to hold an object and work with their hand to perform actions such as cutting, writing, and operating tools, fully meeting the daily assistive operation needs of people with hand disabilities.

[0084] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless defined as herein.

[0085] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A wearable six-degree-of-freedom dual-finger collaborative assistive robot hand, characterized by, It includes a wristband, a toothed ring, a first rotating module, a second rotating module, a first control finger, and a second control finger; The wristband is a hollow cylinder with openings at both ends, designed to be worn on the user's forearm. The inner wall of the toothed ring and the outer wall of the wristband are coaxially fixed together, and the first end wall of the toothed ring is provided with a coaxial first annular groove, and the second end wall of the toothed ring is provided with a coaxial second annular groove; the first annular groove is provided with a first upper slider and a second upper slider that can slide freely; the second annular groove is provided with a first lower slider and a second lower slider that can slide freely. The first rotation module and the second rotation module have the same structure, each including a slide, a first rotation link, a second rotation link, a revolution motor, a revolution drive gear, a revolution gear reduction group, a revolution driven gear, a rotation motor, a rotation drive gear, a rotation gear reduction group, a rotation driven gear, a rotation shaft, and a rotation bearing; The slide block is provided with a bearing mounting hole for installing the self-rotating bearing; the outer ring of the self-rotating bearing is fixedly connected to the slide block; the self-rotating shaft passes through the self-rotating bearing and is coaxially fixedly connected to the self-rotating driven gear, and the self-rotating shaft and the inner ring of the self-rotating bearing are coaxially fixedly connected. The self-rotating motor, the self-rotating gear reduction group, the revolution gear reduction group, and the revolution motor are all fixed on the slide. The output shaft of the self-rotating motor is coaxially and fixedly connected to the self-rotating driving gear. The input gear of the self-rotating gear reduction group meshes with the self-rotating driving gear, and the output gear of the self-rotating gear reduction group meshes with the self-rotating driven gear. The output shaft of the revolution motor is coaxially and fixedly connected to the revolution driving gear. The input gear of the revolution gear reduction group meshes with the revolution driving gear, and the output gear of the revolution gear reduction group meshes with the revolution driven gear. The axis of the revolution driven gear is parallel to the self-rotating shaft. Both the first rotating link and the second rotating link are fixedly connected to the slide block at one end; The other end of the first rotating link of the first rotating module is fixedly connected to the first upper slider, and the other end of the second rotating link of the first rotating module is fixedly connected to the first lower slider. The orbital passive gear of the first rotating module meshes with the gear ring, so that the orbital motor of the first rotating module can drive the first rotating module to rotate freely around the gear ring. The other end of the first rotating link of the second rotating module is fixedly connected to the second upper slider, and the other end of the second rotating link of the second rotating module is fixedly connected to the second lower slider. The orbital passive gear of the second rotating module meshes with the gear ring, so that the orbital motor of the second rotating module can drive the second rotating module to rotate freely around the gear ring. The first and second control fingers have the same structure, each including a first joint, a second joint, a third joint, a flexion-extension motor, a lead screw, a screw cylinder, first to third pivot shafts, first to third control linkages, and a slide rod; The lower end of the first phalanx is provided with a first pivot lug, a second pivot lug, a first pivot post, and a second pivot post. The through holes of the first pivot lug and the second pivot lug are coaxial, and the first pivot post and the second pivot post are coaxial. The first pivot lug and the second pivot lug are located outside the first pivot post and the second pivot post, and the axis of the first pivot post is located above the axis of the through hole of the first pivot lug. The first control link and the second control link have the same structure, and both ends of them are provided with pivot holes; The second phalanx is hollow, with a third and a fourth pivot lug at the upper end and a fifth and a sixth pivot lug at the lower end; the second phalanx is symmetrically provided with a first and a second sliding groove along its length, and both the first and second sliding grooves are through grooves; The first pivot lug, the second pivot lug, the third pivot lug, and the fourth pivot lug are pivotally connected by the first pivot shaft, allowing the first phalanx to rotate relative to the second phalanx; The third phalanx is hollow and has a third pivot post and a fourth pivot post at its upper end. The third pivot post and the fourth pivot post are coaxial. The upper end of the third phalanx also has a pivot hole, which is located inside the third pivot post and the fourth pivot post, and its axis is located below the axis of the third pivot post. The fifth and sixth pivot ears are pivotally connected via the second pivot shaft and the pivot hole on the third phalanx; the first and second operating links are arranged in parallel; one end of the first operating link is pivotally connected to the first pivot post and the other end is pivotally connected to the third pivot post; one end of the second operating link is pivotally connected to the second pivot post and the other end is pivotally connected to the fourth pivot post; this allows the second phalanx to rotate relative to the third phalanx, and when the second phalanx rotates relative to the third phalanx, it drives the first phalanx to rotate relative to the second phalanx. The screw barrel is a cylinder with a threaded blind hole at one end that mates with the lead screw, and a seventh hinge lug and an eighth hinge lug at the other end; the through holes of the seventh hinge lug and the eighth hinge lug are coaxial; a sliding groove is provided on the outer wall of the screw barrel along its length, and a screw barrel slider that can slide freely is provided in the sliding groove. The screw barrel is disposed inside the third finger joint, and the screw barrel slider is fixedly connected to the inner wall of the third finger joint, so that the screw barrel can slide freely within the third finger joint along the length direction of the third finger joint; The flexion-extension motor is fixed inside the third finger joint, and its output shaft is coaxially fixed to one end of the lead screw; the other end of the lead screw is threadedly connected to the screw barrel. One end of the third operating link is vertically fixed to the midpoint of the slide rod, and the other end is provided with a pivot hole. The end with the pivot hole is pivotally connected to the seventh hinge ear and the eighth hinge ear through the third pivot shaft. One end of the slide rod extends into and engages with the first slide groove, and the other end extends into and engages with the second slide groove; the flexion-extension motor is used to drive the lead screw to rotate, thereby causing the second phalanx to rotate relative to the third phalanx; The lower end of the third phalanx of the first operating finger is fixedly connected to the rotation shaft of the first rotating module, and the lower end of the third phalanx of the second operating finger is fixedly connected to the rotation shaft of the second rotating module.

2. The wearable six-degree-of-freedom dual-finger collaborative assistive manipulator of claim 1, wherein, Both the revolution gear reduction group and the rotation gear reduction group adopt a two-stage cylindrical gear reduction mechanism.

3. The wearable six-degree-of-freedom bi-finger collaborative assistive robotic hand according to claim 1, characterized in that, The revolution motor, rotation motor, and extension motor are all DC geared motors with Hall encoders.

4. The wearable six-DOF dual-finger collaborative assistive robotic hand according to claim 1, characterized in that, The wristband is made of resin.

5. The wearable six-DOF dual-finger collaborative assistive robotic hand according to claim 1, characterized in that, The outer wall of the wristband is equipped with an adjustable Velcro strap for securing the device to the user's forearm or hand stump.

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