A bionic robot hand suitable for automatically controlling an aircraft control stick

Abstract

The utility model belongs to the field of robot technology, and relates to a bionic manipulator suitable for automatically controlling an airplane control stick of a robot to solve the technical problem that the operation rod of an old model lacks a special manipulator. The bionic manipulator comprises a manipulator and a mounting clamp. The manipulator comprises a palm and multi-axis fingers, the multi-axis fingers are hinged to the palm, the mounting clamp is fixedly connected to the holding end of the control stick, a mounting seat for mounting the manipulator is arranged on the mounting clamp, the palm is fixedly connected to the mounting seat, and the multi-axis fingers abut against the brake lever of the control stick. The bionic manipulator realizes automatic control of the operation rod of the old model.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, and in particular relates to a bionic robotic hand suitable for automatic control of aircraft joysticks by robots. Background Technology

[0002] With societal progress and the rapid development of various industries, there is a greater demand for production tools. Robots have emerged to meet these needs, with robotic arms gradually being applied to various aspects of production and daily life. In the industrial sector, robotic arms are used in welding and painting, while in the defense sector, they are used in bomb disposal and mine clearance. Because they can perform tedious or dangerous tasks that humans are unwilling to do, robotics technology has developed rapidly, with bionic robotic arms being one of the key areas of future research.

[0003] For some older aircraft models, especially those produced during the period when my country's industrialization was not yet mature, the cockpit is densely packed with instruments and requires a lot of manual operation. These older models lack modern principles such as a "quiet, dark cockpit," relying more on mechanical instruments and manual operation. The mechanical control systems have poor compatibility, and retrofitting electronic equipment (such as integrated displays) requires significant structural modifications, resulting in high costs. Their design prioritizes functionality over human-machine collaboration efficiency, contrasting sharply with modern "glass cockpits." Based on these issues, current technology cannot fully accommodate the operation of all buttons and mechanisms within the cockpit using a single dexterous hand. Since the control sticks in older aircraft are core control components with relatively simple structures, a robotic arm capable of positioning, gripping, and securing the control sticks in older aircraft is needed. Utility Model Content

[0004] To address the aforementioned technical problems, the purpose of this utility model is to provide a bionic robotic hand suitable for the automatic control of aircraft joysticks by robots.

[0005] The present invention provides a bionic robotic hand suitable for automatic control of aircraft joysticks by robots, characterized in that it includes a robotic hand and a mounting fixture; The robotic arm includes a palm and multi-axis fingers. The multi-axis fingers are hinged to the palm. The mounting fixture is fixedly connected to the gripping end of the control stick. The mounting fixture is provided with a mounting base for mounting the robotic arm. The palm is fixedly connected to the mounting base. The multi-axis fingers abut against the brake lever of the control stick.

[0006] Compared with the prior art, the present invention has the following technical effects: The mounting fixture in this application is fixedly connected to the gripper end of the control stick, and the robotic arm is fixedly connected to the mounting base on the mounting fixture, achieving a stable installation of the robotic arm and the control stick. This allows the robotic arm to fully grip the aircraft control stick, and the multi-axis fingers abut against the brake lever of the control stick, enabling the multi-axis fingers to control the brake lever. After installation, there is no relative movement between the robotic arm and the control stick, ensuring precise control of the control stick by the hand. Attached Figure Description

[0007] The accompanying drawings, which are included to provide a further understanding of the present invention and constitute a part of this invention, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 A schematic diagram of the installation of the bionic robotic hand and joystick provided for an embodiment of this utility model; Figure 2 A schematic diagram of the robotic arm provided in an embodiment of this utility model; Figure 3 A schematic diagram of the unfolded robotic arm provided in an embodiment of this utility model; Figure 4 A schematic diagram of the mounting clamp provided in an embodiment of this utility model; Figure 5 A schematic diagram showing the insertion of the joystick according to an embodiment of this utility model.

[0008] Reference numerals: 1-Mechanical arm, 1.1-Palm, 1.2-Fixing groove, 1.3-Unlock button, 1.3.1-Spring pin, 1.4-Fingertip, 1.5-Second reducer, 1.6-Finger connector, 1.7-First reducer, 2-Mounting fixture, 2.1-First fixture, 2.2-Guide mechanism, 2.3-Fixing hole, 2.4-Contouring surface, 2.5-Second fixture, 3-Operating joystick, 3.1-Grip end, 3.2-Brake lever. Detailed Implementation

[0009] To make the technical problem to be solved, the technical solution, and the beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0010] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0011] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0012] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0013] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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 mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0014] like Figures 1 to 5 As shown, the bionic robotic arm 1 provided by this utility model for automatic control of an aircraft joystick 3 by a robot includes a robotic arm 1 and a mounting fixture 2. The robotic arm 1 includes a palm 1.1 and multi-axis fingers. The multi-axis fingers are hinged to the palm 1.1. The mounting fixture 2 is fixedly connected to the gripping end 3.1 of the control lever 3. The mounting fixture 2 is provided with a mounting base for mounting the robotic arm 1. The palm 1.1 is fixedly connected to the mounting base. The multi-axis fingers abut against the brake lever 3.2 of the control lever 3.

[0015] In practice: The bionic robotic hand provided in this application, applicable to the automatic control of aircraft joysticks by robots, includes a robotic hand 1 and a mounting fixture 2. The robotic hand 1 is fixed to the joystick 3 via the mounting fixture 2. The combination of the robotic hand 1 and the mounting fixture 2 enables the self-positioning and automatic locking of the robotic hand 1, ensuring no relative movement between the robotic hand 1 and the mounting fixture 2, and between the mounting fixture 2 and the joystick 3. The opening and closing operation of the brake lever 3.2 on the joystick 3 is completed by the opening and closing of the multi-axis fingers.

[0016] The robotic arm 1 includes a palm 1.1 and multi-axis fingers. The palm 1.1 is provided with a fixing groove 1.2, an unlocking button 1.3, and a spring pin 1.3.1. The multi-axis fingers include fingertips 1.4, a first reducer 1.7, a finger connector 1.6, and a second reducer 1.5. The unlocking button 1.3 and the spring pin 1.3.1 in the fixing groove 1.2 are the same moving part, that is, they move in the same direction. The mounting fixture 2 includes a first mounting fixture 2.1, a guide mechanism 2.2, a fixing hole 2.3, a contoured surface 2.4, and a second mounting fixture 2.5. The joystick 3 includes a gripping end 3.1 and a brake lever 3.2.

[0017] (1) Fix the mounting fixture 2 to the control lever 3: The first mounting fixture 2.1 and the second mounting fixture 2.5 have a contoured curved surface 2.4 inside. The curved surface and size are completely matched to the control lever 3 of a certain model. The first mounting fixture 2.1 and the second mounting fixture 2.5 are fastened with screws. The screws are anti-loosening type to ensure that the mounting fixture 2 and the control lever 3 are stably connected.

[0018] (2) Connection between hand 1.1 and mounting fixture 2: Before the hand 1.1 is connected to the mounting fixture 2, the hand 1.1 moves to the vicinity of the control lever 3. The hand 1.1 has a fixed groove 1.2 inside. The fixed groove 1.2 is roughly aligned with the guide mechanism 2.2 on the mounting seat of the mounting fixture 2. During the movement of the hand 1.1 to the mounting fixture 2, the guide mechanism 2.2 guides the hand 1.1 to be precisely positioned by the automatic positioning characteristics between the hand 1.1 and the mounting fixture 2. The spring pin 1.3.1 is lifted by the guide mechanism 2.2. When the two move to the designated position, the spring pin 1.3.1 coincides with the fixed hole 2.3 on the mounting seat, and the locking is completed. At this time, the robot 1 and the mounting fixture 2 together with the control lever 3 no longer move relative to each other.

[0019] (3) Grip action of robotic arm 1 and joystick 3: After the palm 1.1 and the mounting fixture 2 are automatically fixed, they cannot move relative to each other before unlocking. When it is necessary to change the state of the brake lever 3.2, the internal power motor of the finger connector 1.6 on the palm 1.1 rotates, which drives the first reducer 1.7 and the second reducer 1.5 to rotate respectively. The two reducers drive the fingertip 1.4 and the entire multi-axis finger movement respectively, completing the grip action with the brake lever 3.2.

[0020] (4) Unlocking the robot arm 1 and the mounting fixture 2: When it is necessary to separate the two, press the unlock button 1.3 on the palm 1.1. At this time, the unlock button 1.3 and the spring pin 1.3.1 move together along the same axis. When the spring pin 1.3.1 is completely separated from the fixing hole 2.3, the palm 1.1 can slide relative to the guide mechanism 2.2 in the mounting fixture 2 to complete the separation action.

[0021] The mounting fixture in this application is fixedly connected to the gripper end of the control stick, and the robotic arm is fixedly connected to the mounting base on the mounting fixture, achieving a stable installation of the robotic arm and the control stick. This allows the robotic arm to fully grip the aircraft control stick, and the multi-axis fingers abut against the brake lever of the control stick, enabling the multi-axis fingers to control the brake lever. After installation, there is no relative movement between the robotic arm and the control stick, ensuring precise control of the control stick by the hand.

[0022] Furthermore, the mounting fixture, through its contour-following design, perfectly fits and secures the mounting fixture to the control lever; the robotic arm features a two-finger design with four degrees of freedom, each rotational joint consisting of a power motor and a reducer, generating sufficient torque to ensure the hand grips the brake; the hand and fixture are self-positioned via a guide mechanism, eliminating the need for precise software control of hand movement; the mounting fixture and robotic arm have automatic positioning and locking functions, preventing relative movement between the robotic arm and the mounting fixture, ensuring precise control of the control lever by the hand, and maintaining a firm grip on the control lever even during strong vibrations.

[0023] As one possible implementation, the multi-axis fingers are multiple, each including a first reducer 1.7, a finger connector 1.6, a second reducer 1.5, and a fingertip 1.4; The first reducer 1.7 is fixedly connected to the palm 1.1, the output end of the first reducer 1.7 is fixedly connected to the fixed end of the finger connector 1.6, the second reducer 1.5 is fixedly connected to the adjusting end of the finger connector 1.6, and the fingertip 1.4 is fixedly connected to the output end of the second reducer 1.5.

[0024] The use of multiple multi-axis fingers ensures the control precision and stability of the brake lever 3.2. The synchronous control of the first reducer 1.7 and the second reducer 1.5 further ensures the operability of the multi-axis fingers and the stability of the control of the brake lever 3.2.

[0025] As one possible implementation, the mounting fixture 2 includes a first fixture 2.1 and a second fixture 2.5; both the first fixture 2.1 and the second fixture 2.5 have a contoured surface 2.4 on their opposite sides, the contoured surface 2.4 fits against the gripping end 3.1, the first fixture 2.1 and the second fixture 2.5 are fixedly connected, and the mounting base is located on the side of the first fixture 2.1 away from the second fixture 2.5.

[0026] The first clamp 2.1 and the second clamp 2.5 work together to ensure that the mounting clamp 2 and the control lever 3 are installed securely and are more convenient to install. The contoured curved surface 2.4 ensures that the mounting clamp 2 and the control lever 3 fit together, making the installation more secure and preventing any extra movement.

[0027] As one possible implementation, a fixing groove 1.2 is provided on the side of the palm 1.1 facing the second clamp 2.5, and the mounting seat is inserted into the fixing groove 1.2.

[0028] The mounting base on the second clamp 2.5 cooperates with the fixing groove 1.2 on the palm 1.1 to avoid relative movement between the palm 1.1 and the mounting base.

[0029] As one possible implementation, the robotic arm 1 also includes an elastic locking device for locking the robotic arm 1; the elastic locking device includes a return spring and a locking member (located inside the palm 1.1), the locking member is provided with an unlocking button 1.3 and a spring pin 1.3.1, the return spring and the locking member are located inside the palm 1.1, the locking member abuts against the return spring, the palm 1.1 is provided with a first guide hole communicating with the fixing groove 1.2 and a second guide hole penetrating the palm 1.1, the spring pin 1.3.1 and the unlocking button 1.3 respectively pass through the first guide hole and the second guide hole, and the mounting base is provided with a fixing hole 2.3 on the side facing the first guide hole.

[0030] The elastic locking device is designed to fix the hand 1.1, preventing the robotic arm 1 from coming off the mounting fixture 2. The robotic arm 1 can only be unlocked by using the unlock button 1.3.

[0031] As one possible implementation, a guide mechanism 2.2 is provided at the end of the mounting base away from the second clamp 2.5.

[0032] The guide mechanism 2.2 is provided to guide the robot arm 1 and the mounting fixture 2 during assembly, which facilitates the installation of the robot arm 1 and the mounting fixture 2.

[0033] In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0034] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A bionic robotic hand suitable for robotic automatic control of aircraft joysticks, characterized in that, Includes robotic arms and mounting fixtures; The robotic arm includes a palm and multi-axis fingers. The multi-axis fingers are hinged to the palm. The mounting fixture is fixedly connected to the gripping end of the control stick. The mounting fixture is provided with a mounting base for mounting the robotic arm. The palm is fixedly connected to the mounting base. The multi-axis fingers abut against the brake lever of the control stick.

2. The bionic robotic hand for automatic control of aircraft joysticks by robots according to claim 1, characterized in that, The multi-axis fingers are multiple, each including a first reducer, a finger connector, a second reducer, and a fingertip; The first reducer is fixedly connected to the palm, the output end of the first reducer is fixedly connected to the fixed end of the finger connector, the second reducer is fixedly connected to the adjusting end of the finger connector, and the fingertip is fixedly connected to the output end of the second reducer.

3. The bionic robotic hand for automatic control of aircraft joysticks by robots according to claim 1, characterized in that, The mounting fixture includes a first fixture and a second fixture; Both the first clamp and the second clamp have contoured curved surfaces on their opposite sides, which fit against the gripping end. The first clamp and the second clamp are fixedly connected, and the mounting base is located on the side of the first clamp away from the second clamp.

4. The bionic robotic hand for automatic control of aircraft joysticks by robots according to claim 3, characterized in that, A fixing groove is provided on the side of the palm facing the second clamp, and the mounting base is inserted into the fixing groove.

5. The bionic robotic hand for automatic control of aircraft joysticks by robots according to claim 4, characterized in that, The robotic arm also includes an elastic locking device for locking the robotic arm; The elastic locking device includes a return spring and a locking member. The locking member is provided with an unlock button and a spring pin. The return spring and the locking member are disposed inside the palm. The locking member abuts against the return spring. The palm is provided with a first guide hole communicating with the fixing groove and a second guide hole penetrating the palm. The spring pin and the unlock button pass through the first guide hole and the second guide hole, respectively. The mounting base is provided with a fixing hole on the side facing the first guide hole.

6. The bionic robotic hand for automatic control of aircraft joysticks by robots according to claim 3, characterized in that, A guide mechanism is provided at the end of the mounting base away from the second clamp.

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