阅读说明：本技术 可穿戴式三自由度人体辅助外机械臂 (wearable three-degree-of-freedom human body auxiliary outer mechanical arm ) 是由 丁志远 蔡易林 徐浩 李承远 黄鹏升 郭为忠 于 2019-09-02 设计创作，主要内容包括：一种可穿戴式三自由度人体辅助外机械臂,包括：依次相连的背部穿戴结构、手臂结构和机械抓手结构,以及机械臂电路系统,其中：机械臂电路系统分别与背部穿戴结构、手臂结构和机械抓手结构相连,通过多种控制方式传递运动指令实现精准控制；手臂结构包括：上部支座和设置于其上的驱动机构、传动机构和大小臂机构；机械抓手结构包括：固定连轴座、活动连轴座、传动丝杆、手部连杆、取物手爪和开合驱动电机；背部穿戴结构包括：伸缩固定带、背部固定板、底部支座、转动云台座和保护盖；本发明通过肩部旋转自由度、俯仰自由度以及夹角自由度,用来实现手臂结构的移动和机械抓手结构的抓取,从而完成具体工作任务。(A wearable three-degree-of-freedom human-body-assisted external robotic arm, comprising: consecutive back of the body dress structure, arm structure and mechanical tongs structure to and arm circuit system, wherein: the mechanical arm circuit system is respectively connected with the back wearing structure, the arm structure and the mechanical hand grip structure, and transmits a motion instruction through multiple control modes to realize accurate control; the arm structure includes: the upper support and a driving mechanism, a transmission mechanism and a big arm mechanism which are arranged on the upper support; mechanical tongs structure includes: the device comprises a fixed shaft connecting seat, a movable shaft connecting seat, a transmission screw rod, a hand connecting rod, a fetching paw and an opening and closing driving motor; the back-worn structure includes: the device comprises a telescopic fixing belt, a back fixing plate, a bottom support, a rotary cloud platform seat and a protective cover; the invention is used for realizing the movement of an arm structure and the grabbing of a mechanical grabbing hand structure through the shoulder rotation freedom degree, the pitching freedom degree and the included angle freedom degree, thereby completing specific work tasks.)

1. the utility model provides a wearable three degrees of freedom supplementary outer arm of human body which characterized in that includes: consecutive back of the body dress structure, arm structure and mechanical tongs structure to and arm circuit system, wherein: the mechanical arm circuit system is respectively connected with the back wearing structure, the arm structure and the mechanical hand grip structure, and transmits a motion instruction through multiple control modes to realize accurate control;

The arm structure includes: upper portion support and the actuating mechanism, drive mechanism and big or small arm mechanism that set up on it, wherein: the upper support is connected with the back wearing structure, the driving mechanism is connected with the transmission mechanism and the big and small arm mechanisms, the transmission mechanism is connected with the big and small arm mechanisms, and the big and small arm mechanisms are connected with the mechanical gripper structure;

The mechanical gripper structure comprises: fixed axle seat, activity axle seat, transmission lead screw, hand connecting rod, get thing paw and open and shut driving motor, wherein: the fixed shaft connecting seat is connected with the arm structure, the movable shaft connecting seat is coaxially connected with the fixed shaft connecting seat through a transmission screw rod, one ends of hand connecting rods are symmetrically arranged on the fixed shaft connecting seat, the other ends of the hand connecting rods are connected with the object taking claws, the object taking claws are connected with the movable shaft connecting seat, and the opening and closing driving motor is arranged in the fixed shaft connecting seat and is connected with the transmission screw rod;

The robot arm circuitry includes: control center module, drive module, execution module and remote control module, wherein: the control center module is communicated with the remote control module in real time, transmits a control instruction to the driving module through the remote control module, and the driving module receives the control center instruction and is connected with the execution module to transmit the control instruction so as to control the execution module to complete corresponding actions;

The remote control module comprises: gesture control unit, button control unit and voice control unit, wherein: the gesture control unit is connected with the control center module and transmits sensor gesture information, the key control unit is connected with the control center module and transmits corresponding mechanical arm joint position information, and the voice control unit is connected with the control center module and transmits voice information.

2. The wearable three degree of freedom human auxiliary external mechanical arm of claim 1, wherein the back-worn structure comprises: flexible fixed band, back fixed plate, bottom support, rotation cloud pedestal and visor, wherein: the flexible fixed band sets up in back fixed plate side, and the bottom support sets up in back fixed plate upper end, rotates cloud platform seat and sets up on the bottom support and link to each other with the arm structure, and the visor sets up in back fixed plate and the relative side of flexible fixed band and sets up under the bottom support.

3. The wearable three-degree-of-freedom human body auxiliary external mechanical arm according to claim 2, wherein a driving steering engine for rotation is arranged on the rotating cloud platform base.

4. The wearable three degree of freedom human auxiliary external robotic arm of claim 1, wherein the actuation mechanism comprises: shoulder driving motor, input gear and output gear, wherein: the shoulder driving motor is arranged on the upper support, the input gear is arranged in the upper support and is connected with the shoulder driving motor, and the output gear is meshed with the input gear and is connected with the transmission mechanism.

5. The wearable three-degree-of-freedom human-body-assisted external mechanical arm according to claim 1, wherein the transmission mechanism comprises: shoulder synchronous pulley, drive-in range and elbow synchronous pulley, wherein: shoulder synchronous pulley sets up on the upper portion support and links to each other with actuating mechanism and big arm mechanism, and elbow synchronous pulley sets up in the big arm mechanism other end, and synchronous conveyer belt sets up on shoulder synchronous pulley and elbow synchronous pulley.

6. The wearable three degree of freedom human auxiliary external mechanical arm of claim 1, wherein the big and small arm mechanism comprises: big arm structure roof beam, big arm push rod, elbow short beam and forearm structure roof beam, wherein: big arm structure roof beam one end sets up on the upper portion support and links to each other with drive mechanism, and the other end links to each other with little arm structure roof beam and constitutes parallelogram structure, and the little arm structure roof beam other end links to each other with mechanical tongs structure, and the elbow stub beam sets up in big arm structure roof beam and little arm structure roof beam junction, and big arm push rod one end sets up on the upper portion support with big arm structure roof beam is coaxial, and the other end sets up on big arm structure roof beam.

7. The wearable three-degree-of-freedom human-body-assisted external mechanical arm according to claim 1, wherein the attitude control unit obtains an attitude angle signal through a built-in gyroscope sensor, a corresponding relation is formed according to the variation of the angle and the rotation angles of the shoulder and elbow of the mechanical arm, when the attitude of the remote controller in an attitude control mode is changed, the remote controller transmits attitude information to a control center, and the attitude of the mechanical arm is controlled to be changed correspondingly after processing;

The key control unit transmits the instruction in the form of keys to the control center module in a wireless transmission mode, and controls the positions of all joints of the mechanical arm and/or completes modular action combination according to the modular instruction;

The voice control unit analyzes the received voice signal and generates a corresponding motion instruction to transmit to the control center module, and corresponding motion control is implemented.

8. The wearable three-degree-of-freedom human-body-assisted external mechanical arm according to claim 7, wherein the keys are: the single touch is according to a certain amount of motion, presses continuous motion and unclamps and presses stop motion, the every single move degree of freedom of control arm to and rotate the rotation of cloud platform seat top, rotatory degree of freedom promptly.

Technical Field

The invention relates to a technology in the field of mechanical assistance, in particular to a wearable three-degree-of-freedom human-body-assisted external mechanical arm.

Background

People can receive the restriction of two arms usually when carrying out a task, and human supplementary outer mechanical arm is the incremental design to human arm, and the effect that same space multiunit task was gone on simultaneously is realized to the mode of accessible external control, and the weak point lies in: 1) the cost of the equipment is too high; 2) the mechanical arm has insufficient flexibility, is difficult to complete complex actions and has low efficiency; 3) the whole quality of the equipment is too large, and the wearer is easy to feel uncomfortable.

The human body assisting exoskeleton robot in the current stage mainly works in a mode of providing assistance for human body movement, cannot expand the limited working range and working mode of a human body, and cannot be applied to people with physical disabilities and physical disabilities.

disclosure of Invention

Aiming at the defects in the prior art, the invention provides the wearable three-degree-of-freedom human body auxiliary outer mechanical arm, which is used for realizing the movement of an arm structure and the grabbing of a mechanical gripper structure by rotating the shoulder rotating freedom degree formed by the cloud pedestal and the upper support, the pitching freedom degree of the upper support and the large arm structure beam and the included angle freedom degree of the large arm structure beam and the small arm structure beam so as to complete specific work tasks.

the invention is realized by the following technical scheme:

The invention comprises the following steps: consecutive back of the body dress structure, arm structure and mechanical tongs structure and arm circuit system, wherein: the mechanical arm circuit system is respectively connected with the back wearing structure, the arm structure and the mechanical hand grip structure, and the motion instruction is transmitted through multiple control modes to realize accurate control.

The robot arm circuitry includes: control center module, execution module and remote control module, wherein: the remote control module realizes the interaction between an operator and the mechanical arm and transmits a control instruction to the control center module, and the execution module is connected with the mechanical structure of the mechanical arm to complete the task specified by the control center module.

The back wearing structure includes: flexible fixed band, back fixed plate, bottom support, rotation cloud pedestal and visor, wherein: the flexible fixed band sets up in back fixed plate side, and the bottom support sets up in back fixed plate upper end, rotates cloud platform seat and sets up on the bottom support and link to each other with the arm structure, and the visor sets up in back fixed plate and the relative side of flexible fixed band and sets up under the bottom support.

The center of the rotary holder seat is provided with a driving steering engine for rotation.

The arm structure includes: upper portion support and the actuating mechanism, drive mechanism and big or small arm mechanism that set up on it, wherein: the upper support is connected with the back wearing structure, the driving mechanism is connected with the transmission mechanism and the big and small arm mechanisms, the transmission mechanism is connected with the big and small arm mechanisms, and the big and small arm mechanisms are connected with the mechanical gripper structure.

The drive mechanism includes: shoulder driving motor, input gear and output gear, wherein: the shoulder driving motor is arranged on the upper support, the input gear is arranged in the upper support and is connected with the shoulder driving motor, and the output gear is meshed with the input gear and is connected with the transmission mechanism.

The transmission mechanism comprises: shoulder synchronous pulley, drive-in range and elbow synchronous pulley, wherein: shoulder synchronous pulley sets up on the upper portion support and links to each other with actuating mechanism and big arm mechanism, and elbow synchronous pulley sets up in the big arm mechanism other end, and synchronous conveyer belt sets up on shoulder synchronous pulley and elbow synchronous pulley.

The big arm mechanism and the small arm mechanism comprise: big arm structure roof beam, big arm push rod, elbow short beam and forearm structure roof beam, wherein: big arm structure roof beam one end sets up on the upper portion support and links to each other with drive mechanism, and the other end links to each other with little arm structure roof beam and constitutes parallelogram structure, and the little arm structure roof beam other end links to each other with mechanical tongs structure, and the elbow stub beam sets up in big arm structure roof beam and little arm structure roof beam junction, and big arm push rod one end sets up on the upper portion support with big arm structure roof beam is coaxial, and the other end sets up on big arm structure roof beam.

The mechanical gripper structure comprises: fixed axle seat, activity axle seat, transmission lead screw, hand connecting rod, get thing paw and open and shut driving motor, wherein: fixed axle seat links to each other with the arm structure, and the activity is even the axle bed and is passed through drive screw and fixed axle seat coaxial coupling, and hand connecting rod one end symmetry sets up on fixed axle seat, and the other end links to each other with getting the thing paw, gets the thing paw and links to each other with the activity is even the axle bed, and the driving motor that opens and shuts sets up in fixed axle seat and links to each other with drive screw.

Technical effects

Compared with the prior art, the invention has the advantages that the parallelogram structure formed by the large arm mechanism and the small arm mechanism ensures the whole rigidity, increases the load capacity and the safety of a mechanical arm system, ensures the position of the mechanical claw structure to be fixed, ensures the mechanical claw structure to be stably grabbed and complete an independent grabbing function, ensures that the working space can reach the position which can not be reached by a human body, can expand the working range of a user, and can effectively assist the disabled to complete the work; the invention has simple control mode, can be remotely controlled by a user through sound control or by other people, and is suitable for workers working in narrow space, crowds with dyskinesia and other various groups.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a rear view of the present invention;

FIG. 3 is a schematic view of the back-worn structure of the present invention;

FIG. 4 is a schematic view of an arm structure according to the present invention;

FIG. 5 is a schematic view of a mechanical gripper according to the present invention;

FIG. 6 is a rear view of the mechanical gripper of the present invention;

In the figure: the telescopic fixing belt comprises a telescopic fixing belt 1, a back fixing plate 2, a bottom support 3, a rotary cloud platform seat 4, a protective cover 5, an upper support 6, a large arm structure beam 7, a large arm push rod 8, a shoulder driving motor 9, an input gear 10, an output gear 11, a shoulder synchronous pulley 12, an elbow synchronous pulley 13, a transmission synchronous belt 14, an elbow short beam 15, a small arm structure beam 16, a fixed connecting shaft seat 17, a movable connecting shaft seat 18, a transmission screw rod 19, a hand connecting rod 20, a fetching paw 21, an opening and closing driving motor 22, a back wearing structure 23, an arm structure 24, a mechanical hand grab structure 25, a large arm mechanism 26, a small arm mechanism 27 and a transmission mechanism 28.

Detailed Description

as shown in fig. 1, a wearable three-degree-of-freedom auxiliary external robotic arm according to the present embodiment includes: back wearing structure 23, arm structure 24 and mechanical tongs structure 25 that link to each other in proper order to and arm circuit system, wherein: an execution module in the mechanical arm circuit system is connected with the back wearing structure 23, the arm structure 24 and the mechanical hand grip structure 25, and the remote control module transmits a motion instruction to realize accurate control.

The back-wearing structure 23 includes: flexible fixed band 1, back fixed plate 2, bottom support 3, rotation cloud pedestal 4 and visor 5, wherein: the flexible fixed band 1 passes through the bolt level and the vertical direction is fixed sets up in 2 sides of back fixed plate for this device is connected fixedly with user's waist and back, bottom support 3 sets up in 2 upper ends of back fixed plate, be used for providing supporting platform, it sets up on bottom support 3 and links to each other with upper portion support 6 to rotate cloud pedestal 4 to rotate, it is rotatory to be used for driving arm shoulder, visor 5 sets up in 2 sides relative with flexible fixed band 1 of back fixed plate and sets up under bottom support 3, be used for protecting built-in battery and control circuit.

the telescopic fixing band 1 is preferably made of nylon materials.

The center of the rotary cloud platform seat 4 is preferably provided with a driving steering engine for rotation.

The arm structure 24 includes: the upper support 6 and a driving mechanism 27, a transmission mechanism 28 and a big arm mechanism 26 which are arranged on the upper support, wherein: the upper support 6 is connected with a rotating disc of the rotating cloud platform base 4, the driving mechanism 27 is connected with the transmission mechanism 28 and the big and small arm mechanisms 26, the transmission mechanism 28 is connected with the big and small arm mechanisms 26, the big and small arm mechanisms 26 are connected with the mechanical gripper structure 25, the driving mechanism drives the big and small arm mechanisms to move through the transmission mechanism, and the motion instruction transmission control is carried out through the mechanical arm circuit system.

The driving mechanism 27 includes: shoulder drive motor 9, input gear 10 and output gear 11, wherein: the shoulder driving motor 9 is arranged on the upper support 6, the input gear 10 is arranged in the upper support 6 and connected with the shoulder driving motor 9, and the output gear 11 is meshed with the input gear 10 and connected with the shoulder synchronous belt wheel 12.

The transmission mechanism 28 includes: shoulder synchronous pulley 12, drive-in range 14 and elbow synchronous pulley 13, wherein: the shoulder synchronous belt pulley 12 is arranged on the upper support 6 and connected with the output gear 11 and the large arm structural beam 7, the elbow synchronous belt pulley 13 is arranged at the other end of the large arm structural beam 7, and the synchronous conveyor belt 14 is arranged on the shoulder synchronous belt pulley 12 and the elbow synchronous belt pulley 13.

The big arm mechanism 26 and the small arm mechanism 26 comprise: big arm structure roof beam 7, big arm push rod 8, elbow short beam 15 and forearm structure roof beam 16, wherein: big arm structure roof beam 7 one end sets up on upper portion support 6 and links to each other with shoulder synchronous pulley 12 through axle and jump ring, the other end articulates with forearm structure roof beam 16 and constitutes parallelogram structure, the forearm structure roof beam 16 other end links to each other with fixed axle bed 17 that links to each other, elbow short beam 15 sets up in big arm structure roof beam 7 and forearm structure roof beam 16 junction, big arm push rod 8 one end sets up on upper portion support 6 with big arm structure roof beam 7 is coaxial, the other end sets up on big arm structure roof beam 7 through the axle, big arm push rod 8 realizes arm structure 24's rotation and angle control through length change.

The mechanical gripper structure 25 comprises: fixed axle seat 17, activity axle seat 18, transmission lead screw 19, hand connecting rod 20, get thing paw 21 and open and shut driving motor 22, wherein: fixed axle seat 17 is articulated with forearm structure roof beam 16 through axle and jump ring, and the activity axle seat 18 is through transmission lead screw 19 and fixed axle seat 17 coaxial coupling, and hand connecting rod 20 one end symmetry sets up on fixed axle seat 17, and the other end links to each other with getting thing paw 21, gets thing paw bottom 21 and activity axle seat 18 and links to each other, and the middle part passes through the bolt and links to each other with transmission lead screw 19, and the driving motor 22 that opens and shuts sets up in fixed axle seat 17 and links to each other with transmission lead screw 19.

The mechanical arm circuit system comprises: remote control module, control center module and execution module, wherein: the remote control module comprises a mechanism capable of realizing various interactive control modes, and in any control mode, the remote control module sends a control instruction to the control center module in real time and realizes the instruction through the execution module; the execution module comprises but is not limited to a motor driver for driving a deceleration direct current motor, a steering engine control panel for driving a steering engine, a direct current motor and the steering engine.

the remote control module comprises: gesture control unit, button control unit and voice control unit, wherein: the gesture control unit is connected with the control center module and transmits sensor gesture information, the key control unit is connected with the control center module and transmits corresponding mechanical arm joint position information, and the voice control unit is connected with the control center module and transmits voice information.

the attitude control unit obtains an attitude angle signal through a built-in gyroscope sensor, a corresponding relation is formed between the angle variation and the rotation angles of the shoulder part and the elbow part of the mechanical arm, when the attitude of the remote controller in the attitude control mode changes, the remote control module transmits attitude information to the control center, and the attitude of the mechanical arm is controlled to change correspondingly after being processed, so that the attitude control unit is suitable for various complex environments.

the key control unit transmits the instruction of the key form to the control center module in a Bluetooth signal or 2.4GHz signal transmission mode, controls the positions of all joints of the mechanical arm and/or completes modular action combination according to the modular instruction.

The key is as follows: the single touch is according to a certain amount of motion, presses continuous motion and unclamps and presses stop motion, the every single move degree of freedom of control arm to and rotate the rotation of cloud platform seat top, rotatory degree of freedom promptly.

The voice control unit analyzes the received voice signal and generates a corresponding motion instruction to transmit to the control center module, corresponding motion control is implemented, and the voice control unit is suitable for the situation that operators do not operate conveniently with both hands. For example, when a user speaks a 'left arm forward' command, the push rod of the large arm of the left arm mechanical arm is extended, the angle of the large arm is increased, the shoulder driving motor drives the small arm to rotate, and the end mechanical gripper moves forwards integrally, so that a control command is realized.

This device can realize three degrees of freedom when using, is respectively: the rotation freedom degree of a shoulder formed by the rotary cloud pedestal and the upper support, the pitching freedom degree of the upper support and the large arm structure beam and the included angle freedom degree of the large arm structure beam and the small arm structure beam. The three degrees of freedom of the three joints are used for realizing the rotation and pitching of the arm structure and the pitching of the forearm structure, so that the tail end of the forearm is controlled to accurately reach any point in a certain range of space, and a mechanical gripper at the tail end of the forearm is used for completing a specific work task.

Through practical experiments, under the condition that an adult with a healthy height of 1.75m is carried on the back and used in an indoor environment, the method is operated by taking a 24V direct-current power supply as a drive, and experimental data can be obtained by the following steps: the human body feeling load is 0.5kg, the maximum grabbing height of the mechanical arm is 2.8 meters, and the maximum stretching radius is 1.6 meters. The rotating range of the shoulder of each large arm structural beam is 150 degrees, the pitching angle range of the shoulder is 90 degrees, the rotating range of the connecting part of the elbow and the small arm structural beam is 100 degrees, the length of the mechanical hand grip is 0.1m, and the working space of the whole mechanical arm is formed. The rotating speed of the shoulder of the large arm is 2rad/s, the pitch angle speed of the shoulder is 1rad/s, the rotating angular speed of the elbow is 1.5rad/s, and the opening and closing speed (measured by the movement of the threaded screw) of the mechanical gripper is 0.1 m/s.

Compared with the prior art, the method expands the working range of the two arms of the human body by 40 percent, has lighter weight and can be easily carried on the back, and the response speed of the mechanical arm is improved by 20 percent compared with the prior art.

The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.