CN106625570A - Manipulator mounted in wheelchair - Google Patents
Manipulator mounted in wheelchair Download PDFInfo
- Publication number
- CN106625570A CN106625570A CN201710125477.6A CN201710125477A CN106625570A CN 106625570 A CN106625570 A CN 106625570A CN 201710125477 A CN201710125477 A CN 201710125477A CN 106625570 A CN106625570 A CN 106625570A
- Authority
- CN
- China
- Prior art keywords
- pedestal
- mechanical arm
- paw
- wheelchair
- joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Abstract
The invention discloses a manipulator mounted in a wheelchair. The manipulator comprises a base, a shaft joint and a paw, wherein the shaft joint is connected with the base, and comprises multiple shaft arms, the shaft arms are connected in pairs, and a movable joint is arranged at the connecting part to perform the foldable connection; and a motor is arranged at each joint to drive the movement of the joint; the paw is arranged at the end part of the shaft joint; the manipulator further comprises a camera module arranged at the paw part, and an operation remote control device, wherein the operation remote control device comprises a display screen device, and is connected with the camera module device; a motor driving module is arranged in the base, the operation remote control device is connected with the motor driving module, the motor driving module is connected with each motor of the manipulator so as to drive the action of each motor according to an instruction of the operation remote control device. The manipulator provided by the invention is contributive to the old on the wheelchair to fetch the goods from the invisible place.
Description
Technical field
The present invention relates to a kind of robot arm device, more particularly to a kind of robot arm device that may be mounted on wheelchair, category
In technical field of mechanical automation.
Background technology
In the modern life, the application of mechanical arm is more and more extensive.Mechanical arm, also known as manipulator, is the earliest industrial machine for occurring
Device people, can imitate the action of staff and arm, be captured, carried the automatic pilot of object or operation instrument, can be harmful
Environment creates operation to protect personal safety, thus is widely used in the fields such as machine-building, metallurgy, electronics.
Aging population has become worldwide social concern.The current aged's ratio of China is also constantly increasing
Plus, it is contemplated that following 20 years, China's elderly population scale is by double growth.The acceleration of social senilization's process, makes social pension
Security system faces immense pressure.At present, more and more with family not living home, the solitary form of the elderly is more and more universal, solitary old
The daily life of people is taken care of problem and is especially projected.The not enough home tele-monitoring of facilities for the elders is the main old-age provision model of current China.
How to help the elderly or physical disabilities' life to support oneself, be the important guarantee for realizing home tele-monitoring, and wherein facilities for the elders
Improve and be even more important.
Mechanical arm is installed on wheelchair, helps the elderly and disability personnel to complete certain regular job, improve theirs
Freedom of action degree, helps them to live self-support.Because the elderly and physical disabilities are in inconvenience in the action, its action is limited, therefore,
It is required that the mechanical arm on wheelchair there must be good operability.
The content of the invention
In order to solve the above problems, the present invention devises a kind of mechanical arm, and the mechanical arm is installed on wheelchair, and with side
The characteristics of convenient to operate, be highly suitable for taking action the elderly and physical disabilities being limited on narrow and small wheelchair.
For achieving the above object, the technical scheme that the present invention takes is as follows：
The invention provides a kind of mechanical arm being installed on wheelchair, the mechanical arm includes：Pedestal, axis joint, paw, it is described
Axis joint is connected with pedestal, and the pedestal is placed in wheelchair bottom, and connection pedestal and the axis joint are additionally provided with the pedestal
Module is installed, the installation module internal cavity is provided with the electricity of connect band moving axis joint rotation on whirligig, and the axle of whirligig
Machine, by the whirligig operating angle of axis joint is adjusted；The axis joint includes multiple armshafts, between the armshaft respectively two-by-two
It is connected with each other and junction is provided with turning joint and carries out foldable connection, using the motion in each joint of Motor drive；The paw
Located at the end of axis joint, both adopt foldable connection, and the paw is provided with motor with the axis joint portion of being connected, by motor belt motor
Start the motion of pawl；The mechanical arm also includes being arranged at the photographing module at paw position, around real time record paw
Situation；The mechanical arm also includes operation remote control, and the operation remote control includes display device, operates remote control
It is connected with photographing module device, to show that the shooting of the photographing module is recorded in real time；Motor drive is additionally provided with the pedestal
Module, the operation remote control is connected with the motor drive module, the motor drive module and each motor phase of mechanical arm
Even, with according to the action of each motor of order-driven of operation remote control.
Preferably, the pedestal side is additionally provided with receiver, when mechanical arm is not used, for receiving axis joint and hand
Pawl.
The beneficial effect of the hinge structure of the present invention, is mainly reflected in, mechanical arm provided by the present invention, in paw
On photographing module is installed, user can see the situation and paw around paw clearly by the display screen on remote control
Motion, and by straighforward operation command paw grasping movement.This point is limited to the elderly on wheelchair for action
Or for physical disabilities, it is very helpful, as long as can oneself can't see or do not see, the ground that mechanical arm can be reached
Side conveniently picks and places article.
Description of the drawings
Fig. 1 is the overall structure diagram of mechanical arm of the present invention.1 is wheelchair in figure, and 2 is pedestal, and 3 is axis joint, 4 is hand
Pawl, 5 are armshaft, and 6 is receiver, and 7 to install module, and 8 is motor, and 9 is motor drive module, and 10 are operation remote control module, institute
11 are stated for photographing module.
Specific embodiment
Below in conjunction with the accompanying drawings the mechanical arm of the present invention is further illustrated with specific embodiment.
With reference to Fig. 1, the invention provides a kind of mechanical arm being installed on wheelchair, the mechanical arm includes：Pedestal, axle are closed
Section, paw, the axis joint is connected with pedestal, and wherein pedestal is placed in wheelchair bottom, and pedestal is arranged on wheelchair bottom so that wheelchair
Center of gravity reduce, contribute to the stable of wheelchair and safety；Adopt movable connection method between pedestal and wheelchair in addition, it is convenient to dismantle,
When mechanical arm is not required the use of in the elderly's certain period of time, mechanical arm integrally can from the wheelchair be removed, mitigate wheelchair
Overall weight.The installation module of connection pedestal and the axis joint is additionally provided with pedestal, the installation module internal cavity is provided with rotation
The motor of connect band moving axis joint rotation, by the whirligig work of axis joint is adjusted on device, and the axle of whirligig
Angle.The axis joint includes multiple armshafts, and each two is two interconnected and junction is provided with turning joint and carries out between the armshaft
Foldable connection, using the motion in each joint of Motor drive, each armshaft of axis joint can be folded and drawn in, when not using
When, conveniently received.Located at the end of axis joint, both adopt foldable connection, the paw and axis joint to the paw
Connected portion is provided with motor, the motion of pawl of being started by motor belt motor.The mechanical arm also includes being arranged at the shooting mould at paw position
Block, to the situation around real time record paw；The mechanical arm also includes operation remote control, the operation remote control bag
Display device is included, operation remote control is connected with photographing module device, to show that the shooting of the photographing module is recorded in real time；
Motor drive module is additionally provided with the pedestal, the operation remote control is connected with the motor drive module, the motor
Drive module is connected with each motor of mechanical arm, with according to the action of each motor of order-driven of operation remote control.
Preferably, the pedestal side is additionally provided with receiver, when mechanical arm is not used, for receiving axis joint and hand
Pawl；When mechanical arm is not used for a period of time, axis joint and paw etc. are accommodated into into receiver, at this moment all parts of mechanical arm are equal
In dress and pedestal, pedestal from the wheelchair is retracted, help mitigates wheelchair weight.
One of embodiment, when the elderly is sitting on wheelchair, because action is limited, often for the thing of eminence is seen
Less than being also inconvenient to take.Using the mechanical arm on wheelchair of the present invention, behaviour of the people on wheelchair by mechanical arm is seated at
Make remote control, drive opening and the action of each armshaft of mechanical arm, the paw on mechanical arm top is stretched out, by the shooting at paw
Device, by the situation Jing row shooting record around paw, and is sent to the display device operated on remote control, aobvious by this
Display screen, the people being sitting on wheelchair can to around paw and paw situation of movement it is very clear, it is distant and according to these information
The action of control paw, helps taking and placing for article.
Finally, it is noted that the foregoing is only the preferred embodiments of the present invention, the present invention is not limited to.
For those skilled in the art, still it is referred to the technical scheme described in various embodiments of the present invention and modifies, is equal to
Replace.All any modification, equivalent substitution and improvements done within the spirit or principle of the present invention etc., should be included in this
Within bright protection domain.
Claims (3)
1. a kind of mechanical arm being installed on wheelchair, it is characterised in that：The mechanical arm includes pedestal, axis joint, paw, described
Axis joint is connected with pedestal, and the installation module of connection pedestal and the axis joint is provided with pedestal, and the installation module internal cavity sets
There is the motor of connect band moving axis joint rotation on whirligig, and the axle of whirligig；The axis joint includes multiple armshafts, institute
State between armshaft that each two is two interconnected and junction is provided with turning joint and carries out foldable connection, each joint is provided with Motor drive
The motion in each joint；Located at the end of axis joint, both adopt foldable connection, the paw to be connected with axis joint to the paw
Portion is provided with motor, drives the motion of paw；The mechanical arm also includes being arranged at the photographing module at the paw position；The machine
Tool arm also includes operation remote control, and the operation remote control includes display device, operation remote control and photographing module
Device is connected, to show that the shooting of the photographing module is recorded in real time；Motor drive module, the behaviour are additionally provided with the pedestal
Make remote control to be connected with the motor drive module, the motor drive module is connected with each motor of mechanical arm, with according to behaviour
Make the action of each motor of order-driven of remote control.
2. a kind of mechanical arm being installed on wheelchair according to claim 1, it is characterised in that：The pedestal is placed in wheelchair
Bottom；And using movable connection method between the pedestal and wheelchair.
3. a kind of mechanical arm being installed on wheelchair according to claim 2, it is characterised in that：The pedestal side also sets
There is receiver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710125477.6A CN106625570A (en) | 2017-03-04 | 2017-03-04 | Manipulator mounted in wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710125477.6A CN106625570A (en) | 2017-03-04 | 2017-03-04 | Manipulator mounted in wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106625570A true CN106625570A (en) | 2017-05-10 |
Family
ID=58847944
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710125477.6A Withdrawn CN106625570A (en) | 2017-03-04 | 2017-03-04 | Manipulator mounted in wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106625570A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107595505A (en) * | 2017-09-15 | 2018-01-19 | 华南理工大学 | A kind of electric wheelchair robot arm device |
| CN108309597A (en) * | 2018-01-30 | 2018-07-24 | 周佰平 | A kind of automatic stari creeping ladder wheelchair |
| CN108309598A (en) * | 2018-01-30 | 2018-07-24 | 周佰平 | A kind of sucked type automatic stari creeping ladder wheelchair |
| CN114587806A (en) * | 2022-02-16 | 2022-06-07 | 大连理工大学 | Supplementary intelligent wheelchair of endowment with continuous type arm |
-
2017
- 2017-03-04 CN CN201710125477.6A patent/CN106625570A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107595505A (en) * | 2017-09-15 | 2018-01-19 | 华南理工大学 | A kind of electric wheelchair robot arm device |
| CN108309597A (en) * | 2018-01-30 | 2018-07-24 | 周佰平 | A kind of automatic stari creeping ladder wheelchair |
| CN108309598A (en) * | 2018-01-30 | 2018-07-24 | 周佰平 | A kind of sucked type automatic stari creeping ladder wheelchair |
| CN108309598B (en) * | 2018-01-30 | 2019-08-06 | 青岛市肿瘤医院 | A kind of sucked type automatic stari creeping ladder wheelchair |
| CN114587806A (en) * | 2022-02-16 | 2022-06-07 | 大连理工大学 | Supplementary intelligent wheelchair of endowment with continuous type arm |
| CN114587806B (en) * | 2022-02-16 | 2023-02-03 | 大连理工大学 | Supplementary intelligent wheelchair of endowment with continuous type arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106625570A (en) | Manipulator mounted in wheelchair | |
| WO2019119724A1 (en) | Force sense information and posture information based limb motion intention understanding and upper limb rehabilitation training robot control method | |
| US20180029221A1 (en) | Robot and robot system | |
| Volosyak et al. | Rehabilitation robot FRIEND II-the general concept and current implementation | |
| CN105690386A (en) | Teleoperation system and teleoperation method for novel mechanical arm | |
| CN103448070B (en) | A kind of end structure of multipurpose manipulator | |
| CN101244563A (en) | Manipulator for imitating human hand household service | |
| CN202568548U (en) | Target object automatic clamping system based on head movement | |
| CN106003129A (en) | Under-actuated self-adaptive anthropomorphic manipulator | |
| CN108298084A (en) | A kind of armed unmanned plane of autonomous crawl object | |
| CN106695828B (en) | Household security service robot | |
| Pierce et al. | A wearable device for controlling a robot gripper with fingertip contact, pressure, vibrotactile, and grip force feedback | |
| JPH11253504A (en) | Upper limb motion assisting device | |
| CN108248717A (en) | It is a kind of can operated tool have terminal stabilization control function quadruped robot | |
| CN200984250Y (en) | Flexible ectoskeleton elbow joint based on pneumatic power | |
| CN203665544U (en) | Self-adaptive pneumatic flexible grabbing mechanical claw based on metamorphic mechanism | |
| CN109454647B (en) | Fire rescue robot buffering tongs and fire control robot | |
| CN109986580A (en) | A kind of bionical domestic movable assistant robot | |
| CN107028690A (en) | A kind of artificial limb system for upper limbs high amputation person | |
| EP3177436B1 (en) | Remote manipulation input device | |
| CN105818131B (en) | A kind of special type intelligence engineering rescue and relief work car | |
| CN110341825A (en) | Climbing robot | |
| CN205734878U (en) | A kind of extraordinary intelligence engineering rescue and relief work car | |
| Gorjup et al. | The aroa platform: An autonomous robotic assistant with a reconfigurable torso system and dexterous manipulation capabilities | |
| CN202426689U (en) | Steering engine driven shoulder disarticulation artificial upper limb |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170510 |