CN216543340U - A bionic 3D printing manipulator based on brainwave control - Google Patents

Abstract

The utility model relates to a manipulator, in particular to a bionic 3D printing manipulator based on brain wave control, which comprises a hand part, a wrist part, an arm part and a steering engine group, wherein the hand part and the wrist part are rotationally connected, the arm part is fixedly connected with the wrist part, and the steering engine group is arranged in the manipulator; the hand part comprises a palm piece and a plurality of finger pieces hinged on the palm piece, each finger piece is provided with a plurality of finger joints, and adjacent finger joints are hinged; the steering unit controls the independent rotation of a single knuckle, a finger piece or a palm piece through a connecting rope; the connecting rope is led out by the steering engine set and returns to the steering engine set after respectively bypassing the knuckle, the palm part or the wrist part. Compared with the prior art, the utility model can accurately and quickly control the finger to rotate; each joint can be independently controlled, so that the joint is more flexible; each joint is controlled by one rope, so that the operation is simple and convenient; the wireless charging mode is adopted for charging, and the brain waves are used for controlling, so that the use is more convenient and simpler.

Description

Translated fromChinese

一种基于脑电波控制的仿生3D打印机械手A bionic 3D printing manipulator based on brainwave control

技术领域technical field

本实用新型涉及一种机械手，具体涉及一种基于脑电波控制的仿生3D打印机械手。The utility model relates to a manipulator, in particular to a bionic 3D printing manipulator based on brain wave control.

背景技术Background technique

机械手是一种能模仿人手和臂的某些动作功能，用以按固定程序抓取、搬运物件或操作工具的自动操作装置。其构造和性能上兼有人和机械手机器各自的优点，可以通过编程来完成各种预期的作业。A manipulator is an automatic operation device that can imitate certain action functions of human hands and arms to grab, carry objects or operate tools according to a fixed program. Its structure and performance combine the advantages of both human and robotic machines, and can be programmed to complete various expected operations.

机械手是最早出现的工业机器人，也是最早出现的现代机器人，它可代替人的繁重劳动以实现生产的机械化和自动化，能在有害环境下操作以保护人身安全，因而广泛应用于机械制造、冶金、电子、轻工和原子能等部门。The manipulator is the earliest industrial robot and the earliest modern robot. It can replace the heavy labor of humans to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, Electronics, light industry and atomic energy sectors.

对目前国内外的工业机器人的机械臂来说，都是针对用于工业制造和设计领域的应用，为了某种特定需求的功能，而设计的夹钳式或平行移动式机械臂，这种结构控制简单，方便操作，对于一种大范围大负荷的机械臂，具有很高的实用性。For the mechanical arms of industrial robots at home and abroad, they are all designed for applications in the field of industrial manufacturing and design, and are designed for a specific function. The control is simple, the operation is convenient, and it has high practicability for a large-scale and large-load manipulator.

但这种也存在以下几个方面的缺点：But this also has the following disadvantages:

1、它的定位和拿捏是通过加大压力，提高摩檫力完成，不存在任何几何和力学封闭链，在一些物体的抓取中，很难有较高的精确性、稳定与可靠性。1. Its positioning and grasping are accomplished by increasing the pressure and increasing the friction force. There is no geometric and mechanical closed chain. It is difficult to have high accuracy, stability and reliability in the grasping of some objects.

2、它限制了机械手精确定位抓取功能。传统机械臂通过调整末端前置位置，调整机械手位置状态。但通常这种机械手整体尺寸较大，工作位置调整和机械手控制坐标位置调整较为繁琐复杂，因此在工作区域很难达到稳定可靠的控制精度。2. It limits the precise positioning and grasping function of the manipulator. The traditional manipulator adjusts the position state of the manipulator by adjusting the front end position. However, the overall size of this kind of manipulator is usually large, and the adjustment of the working position and the adjustment of the coordinate position of the manipulator is cumbersome and complicated, so it is difficult to achieve stable and reliable control accuracy in the working area.

3、缺少精细小巧灵活可靠的精确抓取控制，只能完成形状规则，力学要求不高的物品。3. The lack of precise, compact, flexible and reliable grasping control can only complete items with regular shapes and low mechanical requirements.

4、不能适应物体外形的变化。对于个体极小或者外观独特的实物，很难抓取，减少了物体的捕获成功率。4, can not adapt to changes in the shape of the object. For objects with extremely small individuals or unique appearances, it is difficult to grasp, which reduces the success rate of object capture.

中国专利CN110604637A公开了仿生手指和机械手，包括：底座；第一指节，与底座通过第一铰接部可转动地连接；第二指节，与第一指节通过第二铰接部可转动地连接；第三指节，与第二指节通过第三铰接部可转动地连接；第一连杆，一端与底座通过第四铰接部可转动地连接，另一端与第二指节通过第五铰接部可转动地连接；以及第二连杆，一端与第一指节通过第六铰接部可转动地连接，另一端与第三指节通过第七铰接部可转动地连接。该专利提出的仿生手指中，指节与指节之间的角度变化通过连杆实现，该种机械手通常造价高、结构复杂，并且在使用时存在运动迟缓的问题。Chinese patent CN110604637A discloses a bionic finger and a manipulator, including: a base; a first knuckle, which is rotatably connected to the base through a first hinge part; a second knuckle, which is rotatably connected to the first knuckle through a second hinge part The third phalanx is rotatably connected with the second phalanx through the third hinge part; the first link is rotatably connected with the base through the fourth hinge part at one end, and the other end is connected with the second phalanx through the fifth hinge and a second link, one end of which is rotatably connected with the first knuckle through a sixth hinge part, and the other end is rotatably connected with the third knuckle through a seventh hinge part. In the bionic finger proposed by the patent, the angle change between the knuckles is realized by connecting rods. This kind of manipulator is usually expensive, complicated in structure, and has the problem of slow movement during use.

中国专利CN109822605A公开了一种仿生手指及机械手，包括：至少两个指节，相邻两个指节中的一个设置有第一关节部，另一个设置有第二关节部，第二关节部可拆卸地转动设置于第一关节部中，第一关节部设置有第一卡接面；牵引绳，依次连接每个指节，驱动相邻两个指节沿牵引方向转动；扭簧，可拆卸地设置于第二关节部中，驱动相邻两个指节沿复位方向转动，包括第一扭臂和第二扭臂；及转轴，沿轴向开设有固定槽，且一端设置有第二卡接面，转轴能够穿过第一关节部、第二关节部和扭簧，使第二扭臂卡入固定槽，第一扭臂与第二关节部抵接，第二卡接面与第一卡接面卡接。该专利提出的仿生手指结构复杂，需要采用扭簧的弹性恢复力使手指恢复姿态，会存在较强的反冲，容易损坏部件。Chinese patent CN109822605A discloses a bionic finger and a manipulator, comprising: at least two knuckles, one of the two adjacent knuckles is provided with a first joint part, and the other is provided with a second joint part, and the second joint part can be The first joint part is provided with a first clamping surface; the traction rope connects each knuckle in turn, and drives the adjacent two knuckles to rotate along the traction direction; the torsion spring is detachable It is arranged in the second joint part, and drives two adjacent knuckles to rotate along the reset direction, including a first torsion arm and a second torsion arm; The rotating shaft can pass through the first joint part, the second joint part and the torsion spring, so that the second torsion arm is clamped into the fixing groove, the first torsion arm is in contact with the second joint part, and the second clamping surface is in contact with the first joint part. The card interface is snapped. The bionic finger proposed in this patent has a complex structure, and the elastic restoring force of the torsion spring needs to be used to restore the posture of the finger, which will cause strong recoil and easily damage the components.

实用新型内容Utility model content

本实用新型的目的就是为了解决上述问题而提供一种基于脑电波控制的仿生3D打印机械手，实现了一种结构简单，自由度高的机械手，并且可通过脑电波自由控制机械手各个自由度的运动。The purpose of this utility model is to provide a bionic 3D printing manipulator based on brain wave control in order to solve the above problems, which realizes a manipulator with simple structure and high degree of freedom, and can freely control the movement of each degree of freedom of the manipulator through brain waves. .

本实用新型的目的通过以下技术方案实现：The purpose of the present utility model is achieved through the following technical solutions:

一种基于脑电波控制的仿生3D打印机械手，包括转动连接的手部和手腕部、与手腕部固定连接的手臂部，以及设置于机械手内部的舵机组；A bionic 3D printing manipulator based on brain wave control, comprising a rotatingly connected hand and a wrist, an arm fixedly connected to the wrist, and a steering group arranged inside the manipulator;

所述的手部包括手掌件以及铰接于手掌件上的若干个手指件，每个手指件设有若干个指节，相邻指节铰接；The hand comprises a palm piece and several finger pieces hinged on the palm piece, each finger piece is provided with several knuckles, and adjacent knuckles are hinged;

所述的舵机组通过连接绳控制单个指节、手指件或手掌件的独立转动；The steering group controls the independent rotation of a single knuckle, finger piece or hand piece through a connecting rope;

连接绳由舵机组引出，在分别绕过指节、手掌件或手腕部后，返回舵机组。The connecting rope is led out from the steering unit, and then goes back to the steering unit after going around the knuckles, the hand piece or the wrist respectively.

优选地，所述的手指件设有5个，包括依次设置的大拇指件、食指件、中指件、无名指件和小拇指件，其中大拇指件设于手掌件的一侧边，食指件、中指件、无名指件和小拇指件设于手掌件的前端；Preferably, there are five finger pieces, including a thumb piece, an index finger piece, a middle finger piece, a ring finger piece and a little finger piece arranged in sequence, wherein the thumb piece is arranged on one side of the palm piece, the index finger piece, the middle finger piece The piece, the ring finger piece and the little finger piece are arranged at the front end of the palm piece;

所述的大拇指件设有两个指节，包括铰接的第一指节和第三指节，其余手指件均设有三个指节，包括依次分别铰接的第一指节、第二指节和第三指节；所述的第三指节下端与手掌件铰接。The thumb piece is provided with two knuckles, including a hinged first knuckle and a third knuckle, and the rest of the finger pieces are provided with three knuckles, including a first knuckle and a second knuckle that are hinged in turn. and the third phalanx; the lower end of the third phalanx is hinged with the palm piece.

优选地，所述的第一指节包括固定连接的指尖和凸型件，所述的第二指节包括固定连接的凸型件和凹型件，所述的第三指节包括固定连接的两个凹型件；Preferably, the first phalanx includes a fixedly connected fingertip and a male part, the second phalanx includes a fixedly connected male part and a female part, and the third phalanx includes a fixedly connected two concave parts;

所述的第三指节一端的凹型件与设于手掌件前端的凸型件铰接，另一端的凹型件与第二指节的凸型件铰接，第二指节的凹型件与第一指节的凸型件铰接；The concave piece at one end of the third phalanx is hinged with the convex piece arranged at the front end of the palm piece, the concave piece at the other end is hinged with the convex piece of the second phalanx, and the concave piece of the second phalanx is hinged with the first finger. The male part of the section is hinged;

或者，所述的第三指节一端的凹型件与设于手掌件前端的凸型件铰接，另一端的凹型件与第一指节的凸型件铰接。Alternatively, the concave piece at one end of the third phalanx is hinged with the convex piece provided at the front end of the palm piece, and the concave piece at the other end is hinged with the convex piece of the first phalanx.

优选地，所述的第一指节的指尖和凸型件、第二指节的凸型件和凹型件以及第三指节的两个凹型件采用打印胶水进行牢牢固定。Preferably, the fingertip and convex part of the first phalanx, the convex part and concave part of the second phalanx, and the two concave parts of the third phalanx are firmly fixed by printing glue.

优选地，所述的打印胶水为三氯甲烷(亚克力胶水)。Preferably, the printing glue is chloroform (acrylic glue).

优选地，所述的手掌件和指节内部设有若干个容连接绳通过的通道，所述的凸型件的铰接处设有V型通道，实现连接绳的转向；Preferably, the palm piece and the knuckles are provided with several passages for the connecting rope to pass through, and the hinge joint of the convex part is provided with a V-shaped channel to realize the steering of the connecting rope;

所述的指尖前端设有容连接绳通过的开孔，实现连接绳的转向；The front end of the fingertip is provided with an opening for allowing the connecting rope to pass through, so as to realize the steering of the connecting rope;

连接绳由舵机组引出，分别通过设置于手掌件和指节内部的通道，并经V型通道或指尖的开孔转向后，再由设置于手掌件和指节内部的通道返回舵机组。The connecting rope is led out from the steering unit, passes through the channels arranged inside the palm piece and the knuckles, and is turned through the V-shaped channel or the opening of the fingertips, and then returns to the steering group through the channels arranged inside the palm piece and the knuckles.

优选地，所述的连接绳由若干股编织线构成。Preferably, the connecting rope is composed of several braided wires.

优选地，所述的编织线的材质为丙纶纱。Preferably, the material of the braided wire is polypropylene yarn.

优选地，所述的手掌件包括与大拇指件连接的第一指根块、与食指件和中指件连接的第二指根块、与无名指件连接的第三指根块以及与小拇指件连接的第四指根块，所述的第一指根块、第三指根块和第四指根块分别与第二指根块铰接，所述的第二指根块与手腕部铰接。Preferably, the palm piece includes a first finger base piece connected with the thumb piece, a second finger base piece connected with the index finger piece and the middle finger piece, a third finger base piece connected with the ring finger piece, and a little finger piece connected with the little finger piece The fourth finger root block, the first finger root block, the third finger root block and the fourth finger root block are respectively hinged with the second finger root block, and the second finger root block is hinged with the wrist.

优选地，所述的手腕部包括转动连接的旋转腕和手腕；所述的旋转腕呈U型，两侧的耳板与手掌件铰接，通过舵机组控制连接绳实现手掌件沿两耳板连线旋转；Preferably, the wrist part includes a rotating wrist and a wrist that are rotatably connected; the rotating wrist is in a U shape, and the ear plates on both sides are hinged with the hand piece, and the hand piece is connected along the two ear plates through the control connection rope of the steering group. line rotation;

所述的手腕内部设置有齿轮组，通过舵机组驱动，实现旋转腕沿手腕部轴线旋转。The wrist is internally provided with a gear group, which is driven by the steering group to realize the rotation of the rotating wrist along the axis of the wrist.

优选地，所述的齿轮组、手腕和旋转腕底板上设有容连接绳通过的开孔。Preferably, the gear set, the wrist and the bottom plate of the rotating wrist are provided with openings for allowing the connecting rope to pass through.

优选地，所述的舵机组包括设置于手腕部内的第一舵机组和设置于手臂部内的第二舵机组；所述的第一舵机组控制手腕部的转动，所述的第二舵机组控制指节和手掌件的旋转。Preferably, the steering group includes a first steering group arranged in the wrist portion and a second steering group arranged in the arm portion; the first steering group controls the rotation of the wrist portion, and the second steering group controls the rotation of the wrist portion. Rotation of knuckles and palm pieces.

优选地，所述的第一舵机组设置于手腕部内的中间位置，其一侧有容连接绳通过的空间，另一侧设有为第一舵机组提供支撑的凸块。Preferably, the first steering group is arranged at a middle position in the wrist, one side of which is provided with a space for the connecting rope to pass through, and the other side is provided with a convex block that provides support for the first steering group.

优选地，所述的舵机组通过舵机座安装于机械手内部；所述的舵机组中舵机的数量与机械手的自由度相等，第二舵机组中的每个舵机各控制一根连接绳，第一舵机组中的舵机控制齿轮组；所述的舵机组中舵机均为360度舵机。Preferably, the steering unit is installed inside the manipulator through a steering gear base; the number of steering gears in the steering unit is equal to the degree of freedom of the manipulator, and each steering gear in the second steering unit controls a connecting rope , the steering gear in the first steering unit controls the gear unit; the steering gears in the steering unit are all 360-degree steering gears.

优选地，所述的舵机座采用高低层设计，方便输出同一方向动力，同时不会互相干扰；所述的舵机与舵机座采用螺丝固定，舵机之间都有一定的空隙，方便舵机的散热，降低舵机温度。Preferably, the steering gear seat is designed with high and low layers, which is convenient for outputting power in the same direction without interfering with each other; the steering gear and the steering gear seat are fixed by screws, and there is a certain gap between the steering gears, which is convenient for The heat dissipation of the steering gear reduces the temperature of the steering gear.

优选地，所述的手臂部内还设有控制器和电源；所述的控制器包括信号传输模块和控制芯片，所述的控制芯片接收信号传输模块接受的信号，控制各部件的动作；所述的电源通过无线的方式进行充电。Preferably, the arm part is also provided with a controller and a power supply; the controller includes a signal transmission module and a control chip, and the control chip receives the signal received by the signal transmission module and controls the actions of each component; the The power supply is charged wirelessly.

优选地，所述的信号传输模块为蓝牙模块。Preferably, the signal transmission module is a Bluetooth module.

优选地，所述的机械手的各个机械部分均采用3D打印制造。Preferably, each mechanical part of the manipulator is manufactured by 3D printing.

优选地，所述的3D打印的材料为PLA材质。Preferably, the 3D printing material is PLA material.

优选地，所述的机械手采用脑电波进行控制。Preferably, the manipulator is controlled by brain waves.

本实用新型的工作原理为：The working principle of the utility model is:

首先控制器接收来自外部的动作信号，经处理后，将信号发送至需要动作的舵机或舵机组，舵机或舵机组便通过操纵连接绳或齿轮组控制机械手的运动。First, the controller receives the action signal from the outside, and after processing, sends the signal to the steering gear or steering group that needs to act, and the steering gear or steering group controls the movement of the manipulator by manipulating the connecting rope or gear group.

当手腕部需要沿手腕部的中心轴转动时，舵机组驱动齿轮组转动，齿轮组传达运动或扭力，进而驱动手腕部的转动。When the wrist needs to be rotated along the central axis of the wrist, the steering unit drives the gear unit to rotate, and the gear unit transmits motion or torque, thereby driving the rotation of the wrist.

当手指件的指节需要转动时(转为抓取姿势)，舵机组驱动连接绳运动，连接绳受到舵机的作用力而发生拉伸，此时，连接绳对铰接处的转轴具有一个压力，使得转轴两侧的连接绳进、出不在同一水平线上，连接绳一侧对转轴会有一个过轴的拉力，另一侧对转轴具有加重转动压力，使得该铰接处铰接的两个部件有着绕转轴的相对旋转。由于连接绳同时也在进行拉伸运动，促进整个机械手指进行多个旋转运动(三段指节的相对旋转)，机械手的手部整体形成一种抓取运动，手指件弯曲，减轻连接绳自身的拉伸形成的挤压力。When the knuckles of the finger pieces need to be rotated (to grasp the position), the steering unit drives the connecting rope to move, and the connecting rope is stretched by the force of the steering gear. At this time, the connecting rope has a pressure on the rotating shaft at the hinge. , so that the connecting ropes on both sides of the rotating shaft are not on the same horizontal line, one side of the connecting rope will have an over-axis pulling force on the rotating shaft, and the other side will have aggravating rotational pressure on the rotating shaft, so that the two parts hinged at the hinge have Relative rotation about the axis of rotation. Since the connecting rope is also performing a stretching motion at the same time, it promotes the entire mechanical finger to perform multiple rotational motions (relative rotation of the three segments of the knuckles), and the hand of the manipulator forms a grasping motion as a whole, and the fingers are bent, reducing the speed of the connecting rope itself. The extrusion force formed by the stretching.

当手指件需要恢复常态时，舵机组驱动连接绳反向运动，手指件自身挤压力减小，同时在连接绳的惯性力带动下，进行松弛运动，连接绳自身进行挤压运动，连接绳处于共线状态，连接绳之间的力量相互抵消。连接绳自身对转动轴的挤压力相互抵消，减轻连接绳的损耗。When the finger piece needs to return to its normal state, the steering unit drives the connecting rope to move in the opposite direction, and the extrusion force of the finger piece itself is reduced. In a collinear state, the forces between the connecting ropes cancel each other out. The squeezing force of the connecting rope itself on the rotating shaft cancels each other out, reducing the loss of the connecting rope.

手掌件以及手指件的转动原理与手指件的指节转动的原理相似。The rotation principle of the hand piece and the finger piece is similar to that of the knuckle rotation of the finger piece.

与现有技术相比，本实用新型具有以下有益效果：Compared with the prior art, the utility model has the following beneficial effects:

1、本实用新型通过连接绳控制机械手的转动，并通过360度舵机进行驱动，可以精确、快速地实现机械手的动作，控制手指转动的角度和速度；并且每个关节(铰接处)各通过一根连接绳和舵机进行控制，可以对每个关节进行单独控制，更加灵活；只通过一根连接绳即可实现一个关节的转动，且为每根连接绳均设计有通道，简单方便，并且减少了因连接绳混乱而导致的错误动作的可能。1. The utility model controls the rotation of the manipulator through the connecting rope, and is driven by a 360-degree steering gear, which can accurately and quickly realize the action of the manipulator, and control the angle and speed of the rotation of the fingers; A connecting rope and a steering gear are controlled, and each joint can be controlled individually, which is more flexible; only one connecting rope can realize the rotation of a joint, and each connecting rope is designed with a channel, which is simple and convenient. And reduce the possibility of wrong action caused by the confusion of the connecting rope.

2、采用与人手相似设计的仿生手，并根据人手的实际自由度进行设计，可以高度模仿人手，与人手具有相似的高度灵活性和稳定性。手指件采用的是铰接的方式，并且指节与指节采用凹型件和凸型件的配合实现两者的相互转动，省去关节部件，而能达到相同的转动效果；每个手指件都是独立模块化设计，方便后续的维修、更新和更换。2. The bionic hand with a similar design to the human hand is adopted, and is designed according to the actual degree of freedom of the human hand, which can highly imitate the human hand and has a high degree of flexibility and stability similar to the human hand. The finger parts are hinged, and the knuckles and the knuckles use the cooperation of concave and convex parts to achieve mutual rotation, eliminating the need for joint parts and achieving the same rotation effect; each finger piece is Independent modular design, convenient for subsequent maintenance, update and replacement.

3、连接绳采用的是多股编织绳，材料易得，容易制造，并且编织绳强度高，不容易损坏，可以使机械手的使用寿命延长并减少维修的次数。采用连接绳作为传动组件可以使整个结构更加简单，整体重量轻盈，同时绳驱动还具有低反冲和体积小的特性，使机械手安装在人类大臂上时更舒适，并且行动更加方便。3. The connecting rope is made of multi-strand braided rope. The material is easy to obtain and easy to manufacture. The braided rope has high strength and is not easy to be damaged, which can prolong the service life of the manipulator and reduce the number of maintenance. Using the connecting rope as the transmission component can make the whole structure simpler and the overall weight is light. At the same time, the rope drive also has the characteristics of low recoil and small volume, which makes the manipulator more comfortable when installed on the human arm and more convenient to move.

4、采用3D打印进行制作，可以对复杂的内部结构有更加精确的控制，降低制造成本，缩短制造时间，使得工业化生产更加简单方便。4. Using 3D printing for production can have more precise control over complex internal structures, reduce manufacturing costs, shorten manufacturing time, and make industrial production simpler and more convenient.

5、本实用新型将所有的驱动组件、电源和控制器均集成于手臂部或手腕部内，极大的节省了空间，并且采用无线充电的方式进行充电，以及脑电波进行控制，使用起来更加方便简单。5. The utility model integrates all drive components, power supplies and controllers into the arm or wrist, which greatly saves space, and uses wireless charging for charging and brain wave control, which is more convenient to use. Simple.

附图说明Description of drawings

图1为本实用新型的机械手的结构示意图；Fig. 1 is the structural representation of the manipulator of the present utility model;

图2为本实用新型的机械手的手指件的结构示意图；Fig. 2 is the structural schematic diagram of the finger piece of the manipulator of the present invention;

图3为本实用新型的机械手的手腕部和手臂部的结构示意图；3 is a schematic structural diagram of the wrist and arm of the manipulator of the present invention;

图中：1-手部；11-手指件；111-大拇指件；112-食指件；113-中指件；114-无名指件；115-小拇指件；1101-第一指节；1102-第二指节；1103-第三指节；1104-指尖；1105-凸型件；1106-凹型件；12-手掌件；121-第一指根块；122-第二指根块；123-第三指根块；124-第四指根块；2-手腕部；21-旋转腕；22-手腕；3-手臂部；4-齿轮组；51-第一舵机组；52-第二舵机组；6-连接绳。In the figure: 1-hand; 11-finger; 111-thumb; 112-index finger; 113-middle; 114-ring finger; 115-little finger; 1101-first knuckle; 1102-second 1103-third phalanx; 1104-fingertip; 1105-male part; 1106-female part; 12-hand part; 121-first finger base; 122-second finger base; 123-first Three-finger block; 124-fourth finger block; 2-wrist; 21-rotating wrist; 22-wrist; 3-arm; 4-gear group; 51-first steering group; 52-second steering group ; 6 - Connecting rope.

具体实施方式Detailed ways

下面结合附图和具体实施例对本实用新型进行详细说明。The present utility model will be described in detail below with reference to the accompanying drawings and specific embodiments.

实施例1Example 1

一种基于脑电波控制的仿生3D打印机械手，如图1所示，包括转动连接的手部1和手腕部2、与手腕部2固定连接的手臂部3，以及设置于机械手内部的舵机组；A bionic 3D printing manipulator based on brain wave control, as shown in FIG. 1 , includes ahand 1 and awrist 2 that are rotatably connected, anarm 3 that is fixedly connected to thewrist 2, and a steering unit arranged inside the manipulator;

手部1包括手掌件12以及铰接于手掌件12上的若干个手指件11，每个手指件11设有若干个指节，相邻指节铰接；Thehand 1 includes apalm piece 12 andseveral finger pieces 11 hinged on thepalm piece 12, eachfinger piece 11 is provided with several knuckles, and adjacent knuckles are hinged;

舵机组通过连接绳6控制单个指节、手指件11或手掌件12的独立转动；The steering group controls the independent rotation of a single knuckle,finger piece 11 orhand piece 12 through the connectingrope 6;

连接绳6由舵机组引出，在分别绕过指节、手掌件12或手腕部2后，返回舵机组。The connectingrope 6 is led out from the steering unit, and after passing around the knuckles, thehand piece 12 or thewrist 2 respectively, returns to the steering unit.

更具体地，本实施例中：More specifically, in this embodiment:

如图1和图2所示，手指件11有5个，分别为依次设置的大拇指件111、食指件112、中指件113、无名指件114和小拇指件115，其中大拇指件111设于手掌件12的一侧边，食指件112、中指件113、无名指件114和小拇指件115依次设于手掌件12的前端。其中，大拇指件111有两个指节：第一指节1101和第三指节1103，两个指节铰接连接；其余手指件11均有三个指节：第一指节1101、第二指节1102和第三指节1103；第一指节1101、第二指节1102和第三指节1103依次胶接连接，第三指节1103的下端与手掌件12铰接。这样，各指节均能绕铰接处实现相对旋转。第一指节1101由通过打印胶水固定连接的指尖1104和凸型件1105构成，第二指节1102由通过打印胶水固定连接的凸型件1105和凹型件1106构成，第三指节1103由通过打印胶水固定连接的两个凹型件1106构成。其中，打印胶水为三氯甲烷(亚克力胶水)。第三指节1103一端的凹型件1106与手掌件12前端的凸型件1105铰接；其另一端的凹型件1106与第二指节1102的凸型件1105铰接，采用凹凸配合的方式将两个部件连接配合起来，同时其中一个零件固定，另一个零件进行一定程度的转动，没有其他方面自由度；第二指节1102的凹型件1106与第一指节1101的凸型件1105铰接，采用过盈配合的方式，确保在运动中没有其他自由度。这样，其中第一指节1101、第二指节1102和第三指都为中间铰，可以进行旋转，这种手指具有多重复杂运动的能力。大拇指件111的第一指节1101和第三指节1103的铰接与其他手指件11类似。采用这种多灵巧手指的设计，在抓取或拿捏动作中可以更加稳定与牢靠的抓取实物，具有更强的活动性。在凸型件1105的凸段内部设置了两个顶面抵接的梯形凸台，共同形成V型通道，可以让连接绳6绕过此处，反转其延伸方向；在手指件11的指尖1104前端还设置了可容连接绳6通过的开孔，并通过该开孔实现连接绳6的转向。手指件11的独立模块化设计，有利于后续的维修和更新。As shown in FIG. 1 and FIG. 2 , there are fivefinger pieces 11 , which are respectively athumb piece 111 , anindex finger piece 112 , amiddle finger piece 113 , aring finger piece 114 and alittle finger piece 115 , wherein thethumb piece 111 is arranged on the palm of the hand. On one side of thehand piece 12 , theindex finger piece 112 , themiddle finger piece 113 , thering finger piece 114 and thelittle finger piece 115 are sequentially arranged on the front end of thepalm piece 12 . Thethumb piece 111 has two knuckles: thefirst knuckle 1101 and thethird knuckle 1103, the two knuckles are hingedly connected; theother finger pieces 11 have three knuckles: thefirst knuckle 1101, the second knuckle Thefirst phalanx 1101 , thesecond phalanx 1102 and thethird phalanx 1103 are connected by glue in sequence, and the lower end of thethird phalanx 1103 is hinged to thepalm piece 12 . In this way, each knuckle can achieve relative rotation around the hinge. Thefirst knuckle 1101 is composed of afingertip 1104 and aconvex part 1105 fixedly connected by printing glue, thesecond knuckle 1102 is composed of aconvex part 1105 and aconcave part 1106 that are fixedly connected by printing glue, and thethird knuckle 1103 is composed of It is composed of twoconcave parts 1106 fixedly connected by printing glue. Among them, the printing glue is chloroform (acrylic glue). Theconcave piece 1106 at one end of thethird phalanx 1103 is hinged with theconvex piece 1105 at the front end of thepalm piece 12 ; theconcave piece 1106 at the other end is hinged with theconvex piece 1105 of thesecond phalanx 1102 . The parts are connected and matched, while one part is fixed, the other part rotates to a certain degree, and there is no other freedom; The way of an interference fit ensures that there are no other degrees of freedom in the movement. In this way, thefirst phalanx 1101, thesecond phalanx 1102 and the third finger are all intermediate hinges and can be rotated, and this finger has the capability of multiple complex movements. The articulation of thefirst phalanx 1101 and thethird phalanx 1103 of thethumb piece 111 is similar to that of theother finger pieces 11 . With this multi-dexterous finger design, it can grasp objects more stably and securely during grasping or pinching, and has stronger mobility. Two trapezoidal bosses with abutting top surfaces are arranged inside the convex section of theconvex part 1105 to form a V-shaped channel together, so that the connectingrope 6 can be bypassed here and its extension direction can be reversed; The front end of thetip 1104 is also provided with an opening for accommodating the connectingrope 6 to pass through, and the turning of the connectingrope 6 is realized through the opening. The independent modular design of thefinger piece 11 facilitates subsequent maintenance and update.

手掌件12由四部分组成，分别是与大拇指件111连接的第一指根块121、与食指件112和中指件113连接的第二指根块122、与无名指件114连接的第三指根块123以及与小拇指件115连接的第四指根块124，其中第二指根块122与手腕部2铰接，而第一指根块121、第三指根块123和第四指根块124分别与第二指根块122铰接。这样，手掌件12可以为手指件11的转动提供更多的自由度，使机械手的灵活度和可实现的动作数量大幅上升。在手掌件12和指节的内部设置了多条可以容连接绳6通过的通道。Thepalm piece 12 is composed of four parts, namely the firstfinger base piece 121 connected with thethumb piece 111 , the secondfinger base piece 122 connected with theindex finger piece 112 and themiddle finger piece 113 , and the third finger piece connected with thering finger piece 114 . Theroot block 123 and the fourthfinger root block 124 connected with thelittle finger piece 115, wherein the secondfinger root block 122 is hinged with thewrist part 2, while the firstfinger root block 121, the thirdfinger root block 123 and the fourthfinger root block 124 are hinged with the second finger base blocks 122, respectively. In this way, thehand piece 12 can provide more degrees of freedom for the rotation of thefinger piece 11, so that the flexibility of the manipulator and the number of achievable actions are greatly increased. Inside thepalm piece 12 and the knuckles are provided a plurality of passages through which the connectingcord 6 can pass.

机械手臂与手的连接是通过手腕完成的，人类的胳膊和手的连接是通过手腕的，手腕可以使人手获得两个自由度，人类手腕具有减少手或者躯干相互压力，保护肢体免受伤。相应的，在本实施例中，手臂部3与手部1也是通过手腕部2进行连接，如图3所示。手腕部2可以分为与手掌件12铰接的旋转腕21和与旋转腕21转动连接的手腕22，旋转腕21为U型结构，其两侧的耳板与手掌件12进行铰接连接，实现手掌件12沿两耳板的连线进行旋转，两侧的耳板同时与手掌件12进行铰接连接，可以使旋转时保持在同一条基准线(铰接的旋转轴)上，更加稳定可靠。当手掌件12进行运动时，旋转轴具有固定自我旋转的作用，同时手指也可进行旋转，能够更好、更真实的模拟人类手向手臂弯曲的动作。在手腕22的内部有齿轮组4，通过同样是设置在手腕22内部的第一舵机组51驱动，控制旋转腕21沿手腕部2轴线的旋转。其中，第一舵机组51采用的舵机为360度舵机，可以精准、快速的控制旋转腕21的旋转。第一舵机组51固定在手腕部2的中间位置，在其一侧有容驱动手指件11的指节以及手掌件12转动的连接绳6通过的空间，另一侧设置了为第一舵机组51提供支撑的凸块。在旋转腕21的底部开设了能通过齿轮组4的开孔，可以直接将动力传动，使得齿轮组4可以直接与手部1进行快速连接，提供转动扭力。在齿轮组4上开设了多个能容连接绳6通过的通孔；在手腕部2内也设置了能容连接绳6通过的通道。The connection between the robotic arm and the hand is completed through the wrist. The connection between the human arm and the hand is through the wrist. The wrist can enable the human hand to obtain two degrees of freedom. The human wrist can reduce the mutual pressure of the hand or the trunk and protect the limbs from injury. Correspondingly, in this embodiment, thearm portion 3 and thehand portion 1 are also connected through thewrist portion 2 , as shown in FIG. 3 . Thewrist portion 2 can be divided into arotating wrist 21 hinged with thepalm piece 12 and awrist 22 rotatably connected with therotating wrist 21. Therotating wrist 21 is a U-shaped structure, and the ear plates on both sides thereof are hingedly connected with thepalm piece 12 to realize the palm of the hand. Thepart 12 rotates along the connecting line of the two lugs, and the lugs on both sides are hingedly connected with thepalm part 12 at the same time, so that the rotation can be kept on the same reference line (the hinged rotation axis), which is more stable and reliable. When thehand piece 12 moves, the rotation axis has the function of fixing self-rotation, and at the same time the fingers can also rotate, which can better and more realistically simulate the bending of the human hand toward the arm. Inside thewrist 22 is a gear group 4 , which is driven by thefirst steering group 51 also arranged inside thewrist 22 to control the rotation of therotating wrist 21 along the axis of thewrist 2 . Among them, the steering gear used by thefirst steering group 51 is a 360-degree steering gear, which can precisely and quickly control the rotation of therotating wrist 21 . Thefirst steering unit 51 is fixed at the middle position of thewrist 2, and on one side there is a space for the knuckles of thefinger piece 11 and the connectingrope 6 for driving the rotation of thehand piece 12 to pass through, and the other side is provided with a first steering unit. 51 Provides support bumps. The bottom of therotating wrist 21 is provided with an opening through which the gear set 4 can pass through, so that the power can be directly transmitted, so that the gear set 4 can be directly and quickly connected with thehand 1 to provide rotational torque. The gear set 4 is provided with a plurality of through holes that can accommodate the connectingrope 6 to pass through; thewrist portion 2 is also provided with a channel that can accommodate the connectingrope 6 to pass through.

在手臂部3内还设置了第二舵机组52、控制器和电源。其中控制器又包括了信号传输模块和控制芯片，信号传输模块选用蓝牙模块，蓝牙模块为深圳市信泰微科技有限公司的HC-06蓝牙模块，控制芯片为ATMEL公司的ATmega328P，控制芯片在接收到蓝牙模块接受的信号后，控制各部件进行动作；电源采用无线充电的方式进行充电，便于机械手的使用；第二舵机组52控制连接绳6的运动，并以此控制指节和手掌件12上各个部件的转动，第二舵机组52中的舵机也采用360度舵机，通过螺丝固定在舵机座上，更加稳定可靠，舵机座采用高低层设计(高低错开)，方便输出同一方向的动力，同时不会产生互相干扰的问题，在每个舵机之间都留有一定的空隙，方便舵机的散热，并可以安装冷却系统，进一步降低舵机的使用温度。在手臂部3的内部也设置了可以通过连接绳6的通道，防止多根连接绳6在使用过程中缠绕，使得出现错误操作。Asecond steering group 52 , a controller and a power supply are also arranged in thearm portion 3 . The controller includes a signal transmission module and a control chip. The signal transmission module uses a Bluetooth module. The Bluetooth module is the HC-06 Bluetooth module of Shenzhen Xintai Micro Technology Co., Ltd., and the control chip is ATmega328P of ATMEL. The control chip is receiving After the signal received by the bluetooth module is received, each component is controlled to operate; the power supply is charged by wireless charging, which is convenient for the use of the manipulator; thesecond steering group 52 controls the movement of the connectingrope 6, and controls the knuckles and thehand piece 12 accordingly. For the rotation of the upper parts, the steering gear in thesecond steering unit 52 also adopts a 360-degree steering gear, which is fixed on the steering gear base by screws, which is more stable and reliable. At the same time, there is no problem of mutual interference. There is a certain gap between each steering gear to facilitate the heat dissipation of the steering gear, and a cooling system can be installed to further reduce the operating temperature of the steering gear. A channel through which the connectingropes 6 can be passed is also provided inside thearm portion 3 to prevent multiple connectingropes 6 from being entangled during use, resulting in erroneous operations.

连接绳6由多股编织线构成，其材质选用高强度丙纶纱编制而成。本实施例中，采用三股编织线编织形成连接绳6。连接绳6由第二舵机组52的各个舵机上引出，分别通过手臂部3、手腕部2、齿轮、手掌件12和指节到达各个需要连接绳6控制的关节处(各部件铰接处)，并绕过关节后再依次沿通道和开孔返回至第二舵机组52的各个舵机。每个舵机对应一根连接绳6，每根连接绳6通过各自的通道和开孔到达对应的关节处，并最终回到对应的舵机。舵机的总数量与机械手的所有自由度的数量相对应，因此，机械手的每个指节、手掌件12和旋转腕21均能单独运动，使整个机械手具有更优的灵活性和通用性。The connectingrope 6 is composed of multi-strand braided wires, and its material is woven from high-strength polypropylene yarn. In this embodiment, the connectingrope 6 is formed by braiding three strands of braided wires. The connectingrope 6 is drawn out from each steering gear of thesecond steering unit 52, and reaches each joint (the hinge of each component) that needs to be controlled by the connectingrope 6 through thearm part 3, thewrist part 2, the gear, thehand piece 12 and the knuckles respectively, After bypassing the joint, it returns to each steering gear of thesecond steering group 52 along the channel and the opening in turn. Each steering gear corresponds to a connectingrope 6, and each connectingrope 6 reaches the corresponding joint through its own channel and opening, and finally returns to the corresponding steering gear. The total number of steering gears corresponds to the number of all degrees of freedom of the manipulator. Therefore, each knuckle, thehand piece 12 and therotating wrist 21 of the manipulator can move independently, so that the entire manipulator has better flexibility and versatility.

在本实施例中，机械手的各机械部分，如：手部1、手腕部2和手臂部3等采用3D打印制造，可以根据实际需求进行设计，更容易满足特殊人群的需求，此外，3D打印得到的机械手具有更精确的内部结构，还具有更高的制造效率。本实施例中所用的3D打印材料为PLA材质。特别地，机械手的手臂部3末端可以采用省力结构，更加便于用户的使用。In this embodiment, the mechanical parts of the manipulator, such as thehand 1, thewrist 2, and thearm 3, are manufactured by 3D printing, which can be designed according to actual needs, making it easier to meet the needs of special groups. In addition, 3D printing The resulting manipulator has a more precise internal structure and also has higher manufacturing efficiency. The 3D printing material used in this example is PLA. In particular, the end of thearm portion 3 of the manipulator can adopt a labor-saving structure, which is more convenient for the user to use.

本实施例中的机械手是通过脑电波进行控制，通过检测脑电波并进行处理后，将处理后的数字信号发送至机械手手臂部3内的蓝牙装置，蓝牙装置再将该信号传送至控制芯片，控制芯片控制舵机运作，驱动机械手动作。The manipulator in this embodiment is controlled by brain waves. After detecting and processing the brain waves, the processed digital signal is sent to the Bluetooth device in themanipulator arm 3, and the Bluetooth device transmits the signal to the control chip. The control chip controls the operation of the steering gear and drives the action of the manipulator.

本实用新型的工作原理为：The working principle of the utility model is:

首先控制器接收来自外部的动作信号，经处理后，将信号发送至需要动作的舵机或舵机组，舵机或舵机组便通过操纵连接绳6或齿轮组4控制机械手的运动。First, the controller receives the action signal from the outside, and after processing, sends the signal to the steering gear or steering group that needs to act, and the steering gear or steering group controls the movement of the manipulator by manipulating the connectingrope 6 or the gear group 4.

当手腕部2需要沿手腕部2的中心轴转动时，舵机组驱动齿轮组4转动，齿轮组4传达运动或扭力，进而驱动手腕部2的转动。When thewrist portion 2 needs to rotate along the central axis of thewrist portion 2 , the steering group drives the gear group 4 to rotate, and the gear group 4 transmits motion or torque, thereby driving the rotation of thewrist portion 2 .

当手指件11的指节需要转动时(转为抓取姿势)，舵机组驱动连接绳6运动，连接绳6受到舵机的作用力而发生拉伸，此时，连接绳6对铰接处的转轴具有一个压力，使得转轴两侧的连接绳6进、出不在同一水平线上，连接绳6一侧对转轴会有一个过轴的拉力，另一侧对转轴具有加重转动压力，使得该铰接处铰接的两个部件有着绕转轴的相对旋转。由于连接绳6同时也在进行拉伸运动，促进整个机械手指进行多个旋转运动(三段指节的相对旋转)，机械手的手部1整体形成一种抓取运动，手指件11弯曲，减轻连接绳6自身的拉伸形成的挤压力。When the knuckle of thefinger piece 11 needs to be rotated (turned to the grasping posture), the steering unit drives the connectingrope 6 to move, and the connectingrope 6 is stretched by the force of the steering gear. The rotating shaft has a pressure, so that the connectingropes 6 on both sides of the rotating shaft are not on the same horizontal line. The two parts of the hinge have relative rotation about the axis of rotation. Since the connectingrope 6 is also performing a stretching motion at the same time, it promotes the entire manipulator finger to perform multiple rotational motions (relative rotation of the three segments of the knuckles), thehand 1 of the manipulator as a whole forms a grasping motion, and thefinger pieces 11 are bent, reducing the The compression force formed by the stretching of the connectingrope 6 itself.

当手指件11需要恢复常态时，舵机组驱动连接绳6反向运动，手指件11自身挤压力减小，同时在连接绳6的惯性力带动下，进行松弛运动，连接绳6自身进行挤压运动，连接绳6处于共线状态，连接绳6之间的力量相互抵消。连接绳6自身对转动轴的挤压力相互抵消，减轻连接绳6的损耗。When thefinger piece 11 needs to return to the normal state, the steering unit drives the connectingrope 6 to move in the opposite direction, and the pressing force of thefinger piece 11 itself is reduced. Pressing movement, the connectingropes 6 are in a collinear state, and the forces between the connectingropes 6 cancel each other out. The pressing force of the connectingrope 6 itself on the rotating shaft cancels each other out, reducing the loss of the connectingrope 6 .

手掌件12以及手指件11的转动原理与手指件11的指节转动的原理相似。The rotation principle of thepalm member 12 and thefinger member 11 is similar to the rotation principle of the knuckles of thefinger member 11 .

上述的对实施例的描述是为便于该技术领域的普通技术人员能理解和使用实用新型。熟悉本领域技术的人员显然可以容易地对这些实施例做出各种修改，并把在此说明的一般原理应用到其他实施例中而不必经过创造性的劳动。因此，本实用新型不限于上述实施例，本领域技术人员根据本实用新型的揭示，不脱离本实用新型范畴所做出的改进和修改都应该在本实用新型的保护范围之内。The above description of the embodiments is for the convenience of those skilled in the art to understand and use the utility model. It will be apparent to those skilled in the art that various modifications to these embodiments can be readily made, and the generic principles described herein can be applied to other embodiments without inventive step. Therefore, the present invention is not limited to the above-mentioned embodiments, and improvements and modifications made by those skilled in the art according to the disclosure of the present invention without departing from the scope of the present invention should all fall within the protection scope of the present invention.

Claims (10)

1. A bionic 3D printing manipulator based on brain wave control is characterized by comprising a hand part (1) and a wrist part (2) which are connected in a rotating mode, a hand arm part (3) fixedly connected with the wrist part (2), and a steering engine group arranged inside the manipulator;

the hand part (1) comprises a palm piece (12) and a plurality of finger pieces (11) hinged on the palm piece (12), each finger piece (11) is provided with a plurality of finger joints, and adjacent finger joints are hinged;

the steering engine group controls independent rotation of a single knuckle, a finger part (11) or a palm part (12) through a connecting rope (6);

the connecting rope (6) is led out by the steering engine set and returns to the steering engine set after respectively bypassing the knuckle, the palm piece (12) or the wrist part (2).

2. The bionic 3D printing manipulator based on brain wave control as claimed in claim 1, wherein the number of the finger pieces (11) is 5, and the finger pieces comprise a thumb piece (111), an index finger piece (112), a middle finger piece (113), a ring finger piece (114) and a little finger piece (115) which are arranged in sequence, wherein the thumb piece (111) is arranged at one side of the palm piece (12), and the index finger piece (112), the middle finger piece (113), the ring finger piece (114) and the little finger piece (115) are arranged at the front end of the palm piece (12);

the thumb piece (111) is provided with two knuckles comprising a first knuckle (1101) and a third knuckle (1103) which are hinged, and the rest of the finger pieces (11) are provided with three knuckles comprising a first knuckle (1101), a second knuckle (1102) and a third knuckle (1103) which are sequentially and respectively hinged; the lower end of the third knuckle (1103) is hinged with the palm piece (12).

3. The brain wave control-based biomimetic 3D printing manipulator according to claim 2, characterized in that the first knuckle (1101) comprises a fixedly connected fingertip (1104) and a male member (1105), the second knuckle (1102) comprises a fixedly connected male member (1105) and a female member (1106), and the third knuckle (1103) comprises two fixedly connected female members (1106);

the concave part (1106) at one end of the third knuckle (1103) is hinged with the convex part (1105) arranged at the front end of the palm part (12), the concave part (1106) at the other end is hinged with the convex part (1105) of the second knuckle (1102), and the concave part (1106) of the second knuckle (1102) is hinged with the convex part (1105) of the first knuckle (1101);

or the concave piece (1106) at one end of the third knuckle (1103) is hinged with the convex piece (1105) arranged at the front end of the palm piece (12), and the concave piece (1106) at the other end is hinged with the convex piece (1105) of the first knuckle (1101).

4. The brain wave control-based bionic 3D printing manipulator as claimed in claim 3, characterized in that a plurality of channels for the connecting rope (6) to pass through are arranged inside the palm member (12) and the knuckle, and a V-shaped channel is arranged at the hinged position of the convex member (1105) to realize the steering of the connecting rope (6);

the front end of the fingertip (1104) is provided with a hole for the connecting rope (6) to pass through, so that the connecting rope (6) can be turned;

the connecting rope (6) is led out by the steering engine set, respectively passes through the channels arranged in the palm piece (12) and the finger joints, is turned by the V-shaped channel or the opening of the fingertip (1104), and then returns to the steering engine set by the channels arranged in the palm piece (12) and the finger joints.

5. The bionic 3D printing manipulator based on brain wave control according to claim 4, characterized in that the connecting rope (6) is composed of several braided wires.

6. The bionic 3D printing manipulator based on brain wave control as claimed in claim 1, wherein the palm piece (12) comprises a first finger root block (121) connected with a thumb piece (111), a second finger root block (122) connected with an index finger piece (112) and a middle finger piece (113), a third finger root block (123) connected with a ring finger piece (114) and a fourth finger root block (124) connected with a small finger piece (115), the first finger root block (121), the third finger root block (123) and the fourth finger root block (124) are respectively hinged with the second finger root block (122), and the second finger root block (122) is hinged with the wrist portion (2).

7. The bionic 3D printing manipulator based on brain wave control as claimed in claim 1, wherein the wrist part (2) comprises a rotary wrist (21) and a wrist (22) which are rotatably connected; the rotary wrist (21) is U-shaped, ear plates on two sides are hinged with the palm piece (12), and the palm piece (12) rotates along the connecting line of the two ear plates by controlling the connecting rope (6) through the steering engine group;

the wrist (22) is internally provided with a gear set (4) which is driven by a steering engine set to realize that the rotary wrist (21) rotates along the axis of the wrist part (2).

8. The bionic 3D printing manipulator based on brain wave control according to claim 7, wherein the steering engine set comprises a first steering engine set (51) arranged in the wrist part (2) and a second steering engine set (52) arranged in the arm part (3); the first rudder unit (51) controls the rotation of the wrist part (2), and the second rudder unit (52) controls the rotation of the knuckle and the palm member (12).

9. The bionic 3D printing manipulator based on brain wave control as claimed in claim 8, wherein the steering engine group is mounted inside the manipulator through a steering engine base; the number of the steering engines in the steering engine set is equal to the degree of freedom of the manipulator, each steering engine in the second steering engine set (52) controls one connecting rope (6), and the steering engines in the first steering engine set (51) control the gear set (4); and the steering gears in the steering gear group are all 360-degree steering gears.

10. The bionic 3D printing manipulator based on brain wave control as claimed in claim 1, characterized in that a controller and a power supply are arranged in the arm part (3); the controller comprises a signal transmission module and a control chip, and the control chip receives signals received by the signal transmission module and controls the actions of all parts; the power supply is charged in a wireless mode.

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