Multi-degree-of-freedom position-adjustable pulse diagnosis manipulator device

Abstract

A multi-degree-of-freedom position-adjustable pulse diagnosis manipulator device comprises a mechanical wrist, a mechanical palm and three mechanical fingers which are connected in sequence, the three mechanical fingers are identical in structure and serve as an index finger, a middle finger and a ring finger respectively, and each mechanical finger comprises a finger tail section, a finger middle section, a finger proximal section and a finger telescopic mechanism which are connected in sequence. According to the device, a telescopic motion freedom degree is arranged on each mechanical finger, two mechanical finger translational motion freedom degrees and three mechanical finger rotational motion freedom degrees are arranged in the mechanical palm, and a vertical motion freedom degree is arranged in the mechanical wrist, so that the whole device has nine motion freedom degrees; the position adjusting function of the pulse diagnosis manipulator is greatly increased, and the adaptability of the pulse diagnosis manipulator to individual pulse diagnosis position differences of different crowds is enhanced; in addition, the small modular design is adopted, the mechanism design and assembly difficulty are simplified, and the device has the advantages of being light in weight, small in size and convenient to move.

Description

technical field [0001] The invention relates to a technique in the field of medical auxiliary equipment, in particular to a position-adjustable pulse diagnosis manipulator with multiple degrees of freedom. Background technique [0002] Most of the existing pulse diagnosis manipulators adopt the design of single-finger and single-rotation-degree-of-freedom. Although it can simulate the pressing action of fingers in traditional Chinese medicine, because the individual differences in the three parts of the human body are not considered, the fingers at the front end of the manipulator do not have lateral and Due to the freedom of front and rear position adjustment, it is difficult to ensure that the pulse diagnosis manipulator can be accurately pressed to the three positions of Cun Guan Chi due to individual differences. Contents of the invention [0003] The present invention aims at the lack of freedom of movement of existing manipulators and the inability to cope with the i...

AI Technical Summary

Problems solved by technology

[0003] The present invention aims at the lack of freedom of movement of existing manipulators and the inability to cope with the individual differences in the three positions of different people to be checked, and proposes a multi-degree-of-freedom position-adjustable pulse diagnosis manipulator. One degree of freedom of telescopic movement, two degrees of freedom of translational movement of mechanical fingers and three degrees of freedom of rotational movement are set in the palm of the robot, and one degree of freedom of vertical movement is set in the mechanical wrist, so that the whole device has a total of nine degrees of freedom of movement, The position adjustment function of the pulse diagnosis manipulator is greatly increased, and its adaptability to the difference in individual pulse diagnosis positions of different groups of people is enhanced; in addition, the present invention adopts a small modular design, which simplifies the mechanism design and assembly difficulty. Small and easy to move

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