Bionic flexible mechanical wrist device for quarantine sampling

Abstract

The invention relates to a bionic flexible mechanical wrist device for quarantine sampling. The device comprises two parallel tables which are oppositely arranged up and down, a middle U shaft and three connecting rods of curve structures are connected between the upper and lower parallel tables, the three connecting rods are symmetrically arranged on the periphery of the middle U shaft in a surrounding mode, the two ends of the middle U shaft are connected to a mechanical paw and a first motor respectively; the first motor is controlled to rotate, the middle U shaft is controlled to rotate, and the mechanical paw correspondingly rotates; the upper and lower parallel tables are each provided with upper and lower flexible lock pulley parts, the upper and lower flexible lock pulley parts are connected through two traction ropes, and the two traction ropes correspond to a front-back direction and a left-right direction; and the two traction ropes are connected to a second motor and a third motor respectively to control forward and reverse rotation of the second motor and the third motor, so that the two traction ropes are contracted or stretched, so as to realize eversion, internal rotation, ulnar side deflection and radial side deflection actions. Compared with the prior art, the device has the effects that the flexibility of a mechanical wrist can be effectively improved, and spherical pure rolling motion is achieved.

Description

technical field [0001] The invention relates to the technical field of bionic mechanical wrists, in particular to a bionic flexible mechanical wrist device for quarantine sampling. Background technique [0002] In high-risk scenarios such as customs and cold chains, it is often necessary to use non-contact methods for quarantine sampling. On the one hand, it can improve the efficiency of quarantine sampling, greatly simplify the operation process of quarantine personnel, and shorten the working time; on the other hand, it can fully avoid The risk of infection of quarantine personnel and the protection of personal safety. [0003] Most of the current non-contact quarantine sampling is operated with the help of bionic mechanical wrist, which is an automatic machine that simulates the operation of human wrist. The application of mechanical wrist can replace the flexible manual operation of human beings in harmful environments, but the existing The mechanical wrist structure ha...

AI Technical Summary

Problems solved by technology

[0003] Most of the current non-contact quarantine sampling is operated with the help of bionic mechanical wrist, which is an automatic machine that simulates the operation of human wrist. The application of mechanical wrist can replace the flexible manual operation of human beings in harmful environments, but the existing The mechanical wrist structure has certain disadvantages in use. Its lack of flexibility leads to limited movement angle and small range of motion during operation; its structure is not compact enough, which limits part of the working space; the existing mechanical wrist structure is difficult to realize The pure rolling motion of the spherical surface cannot guarantee the accuracy of the operation. Therefore, it is of great significance to develop a light, compact and flexible bionic flexible wrist

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