CN107877501B - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
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- CN107877501B CN107877501B CN201711380850.9A CN201711380850A CN107877501B CN 107877501 B CN107877501 B CN 107877501B CN 201711380850 A CN201711380850 A CN 201711380850A CN 107877501 B CN107877501 B CN 107877501B
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- mechanical
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- controller
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The present invention relates to field of artificial intelligence, more particularly, to a kind of mechanical arm.The mechanical arm includes：Mechanical part and control section；The mechanical part includes：Mechanical forearm structure, mechanical wrist structure, mechanical palms structure and mechanical finger structure；The machinery forearm structure is rotatablely connected with the mechanical wrist structure, the mechanical palms structure is rotatablely connected with the mechanical wrist structure, the mechanical finger structure includes five finger units being sequentially arranged in the mechanical palms structure, each finger unit is correspondingly connected with there are one finger actuation unit, and the finger actuation unit drives corresponding finger unit to be stretched and be bent by finger STATEMENT OF FEDERALLY SPONSORED；The control section includes：Brain wave detection device, sensor detecting device and controller；The present invention completes intelligent grabbing by acquiring the brain wave of user, and whole process is more intelligent easy, is completed without professional, use scope is extensive, very easy to use.
Description
Technical field
The present invention relates to field of artificial intelligence, more particularly, to a kind of mechanical arm.
Background technology
With being constantly progressive for science and technology, manipulator is either all widely used in industry, life, medical treatment, such as
In industry, grabbing workpiece, article etc. under high-risk adverse circumstances are needed, and is also required to capture by manipulator in life
The article of distance farther out, also in medical industry, some physical disabilities need manipulator to carry out article needed for auxiliary grip, above-mentioned
For manipulator in several scenes substantially by presetting corresponding program, manipulator gets off completion accordingly in the driving of program instruction
Crawl work, this technology is more universal and ripe, but there is also certain limitations for this mode.These are special
Property manipulator can not use after being detached from objectives, can not serve as the bionical component of such a height of robot, and
Operation difficulty is big when use, needs professional person that could complete, and cannot meet the actual demands such as general, dexterous.
The information for being disclosed in the background technology part is merely intended to deepen understanding of the general background technology to the present invention, and
It is not construed as recognizing or implying in any form that the information constitutes the prior art known to those skilled in the art.
Invention content
The purpose of the present invention is to provide a kind of mechanical arms, to solve the big skill of operation difficulty existing for existing manipulator
Art problem.
To achieve the goals above, the present invention uses following technical scheme：
The present invention provides a kind of mechanical arms comprising：Mechanical part and control section；
Wherein, the mechanical part includes：Mechanical forearm structure, mechanical wrist structure, mechanical palms structure and machinery
Finger structure；The machinery forearm structure is rotatablely connected with the mechanical wrist structure, and the mechanical wrist structure is correspondingly connected with
There are a wrist driving unit, the wrist driving unit to drive the mechanical wrist structure to be turned round by wrist STATEMENT OF FEDERALLY SPONSORED；
The mechanical palms structure is rotatablely connected with the mechanical wrist structure, and the mechanical palms structure has been correspondingly connected with palm drive
Moving cell, the palm driving unit drive the mechanical palms structure to be overturn by palm STATEMENT OF FEDERALLY SPONSORED；The manipulator
It includes five finger units being sequentially arranged in the mechanical palms structure to refer to structure, and each finger unit has been correspondingly connected with one
A finger actuation unit, the finger actuation unit drive corresponding finger unit to carry out stretching, extension and curved by finger STATEMENT OF FEDERALLY SPONSORED
It is bent；
Wherein, the control section includes：Brain wave detection device, sensor detecting device and controller；
The brain wave detection device includes：The brain wave detection unit that is electrically connected respectively with the controller, spectrogram
Case generation unit, frequency analysis unit and brain wave excite unit；The brain wave excitation unit is for assisting human brain to inspire
The brain wave of different-waveband；The brain wave detection unit is for detecting eeg signal；The frequency spectrum tern generation unit is used
According to the detection signal of brain wave detection unit generation brain wave frequency spectrum pattern；The frequency analysis unit is used for institute
The brain wave frequency spectrum pattern of generation is compared and analyzed with the brain wave frequency spectrum pattern to prestore, and analysis result is fed back to control
Device；The controller according to the feedback result of the frequency analysis unit respectively to wrist driving unit, palm driving unit and
Finger actuation unit sending action instructs；The wrist driving unit, palm driving unit and finger actuation unit are according to
The action command that controller is sent is acted accordingly；
The sensor detecting device includes：Nine axle sensors that are electrically connected respectively with the controller, visual sensor,
Distance measuring sensor, touch sensor and virtual fingertip force sensor；Nine axle sensor is respectively arranged at each finger unit
Joint part, nine axle sensor is used for the three-dimensional acceleration, three-dimensional angular velocity and the Three-Dimensional Magnetic vector feedback that will be detected
To the controller；The visual sensor is set to the centre of the palm position of the mechanical palms structure, the visual sensor profit
By the visual signature information of non-contacting mode detection object and the controller is fed back to infrared ray；The ranging sensing
Device, the touch sensor and the virtual fingertip force sensor may be contained within the pad of finger of the finger unit；The survey
It is used for the range information of detection object away from sensor and feeds back to the controller；The touch sensor is for detecting finger tip
Pressure value that portion faces are subject to simultaneously feeds back to the controller；The virtual fingertip force sensor for detect pad of finger with
Frictional force type between object simultaneously feeds back to the controller.
As a kind of further technical solution, the control section further includes：Prestoring, there are many brain wave frequency spectrum patterns
The first storage unit and prestore the second storage unit of various motion director data, the brain wave frequency that each of which prestores
Spectrogram case is corresponded with a kind of action command data；The frequency analysis unit is used for the brain wave frequency spectrum pattern to being generated
It is compared and analyzed with the brain wave frequency spectrum pattern to prestore in first storage unit, and analysis result is fed back into control
Device, the controller corresponds to the action command data for reading the second storage unit, and is referred to according to action command data sending action
It enables.
As a kind of further technical solution, the control section further includes identification system；The identification
System includes：Fingerprint recognition system and/or face identification system, the fingerprint recognition system and/or face identification system setting
In on the mechanical forearm structure, and it is connect with the controller.
As a kind of further technical solution, the brain wave excitation unit includes：Vision module, shakes at sound module
The one of which or arbitrary several combinations of dynamic model block and warming module.
As a kind of further technical solution, the mechanical part further includes：Bionics skin layer；The bionics skin layer
Using flexible base material layer, the surface of the flexible base material layer is coated with anti-static coating, the flexible base material
Several elastic strain sensors are distributed on layer, the elastic strain sensor passes through netted outlet line and the control respectively
Device connection processed；The bionics skin layer is divided into palm tactile layer and multiple finger allodynia layers, and the palm tactile layer is coated on institute
It states in mechanical palms structure, the finger allodynia layer is coated on the mechanical finger structure.
As a kind of further technical solution, the integrally connected of the fixed part and the mechanical forearm structure is described
Fixed part is provided with accommodating chamber, and multiple mounting holes are provided on the fixed part；The ventilation part is set to the fixed part
End；
The U-shaped connect band includes：First U-shaped band, the second U-shaped band, left connection base portion and right connection base portion, described first
The first end of U-shaped band and the second U-shaped band is all connected to left connection base portion, and the second end of the first U-shaped band and the second U-shaped band is equal
It is connected to right connection base portion, the first U-shaped band and the second U-shaped band are installed on the fixation of the fixed part by fixing piece respectively
Kong Shang, the first U-shaped band and the spaced setting of the second U-shaped, and fixed between the two by intermediate connect band, the first U
The middle part circular arc of shape band and the second U-shaped band all has the trend extended to the direction of the mechanical wrist structure；
The ear of the regulation ring both sides is hinged with left connection base portion, right connection base portion respectively, the regulation ring
One end is provided with adjusting band, and the other end of the regulation ring is provided with for locking the adjusting buckle for adjusting band.
As a kind of further technical solution, the centre of the palm position of the mechanical palms structure is provided with heating device.
Using above-mentioned technical proposal, the present invention has the advantages that：
The present invention completes intelligent grabbing by acquiring the brain wave of user, and whole process is more intelligent easy, easily grasps
Make, is completed without professional, use scope is extensive, very easy to use.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, other drawings may also be obtained based on these drawings.
Fig. 1 is the structural schematic diagram of mechanical arm provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of wearing fixed part provided in an embodiment of the present invention；
Fig. 3 is the control principle drawing of mechanical arm provided in an embodiment of the present invention.
Icon：1- mechanical finger structures；2- mechanical palms structures；3- mechanical wrist structures；4- machinery forearm structures；5- is worn
Wear fixed part；6- the first U-shaped bands；7- fixed parts；8- the second U-shaped bands；9- ventilation parts；10- regulation rings；11- ears；The right companies of 12-
Connect base portion.
Specific implementation mode
Technical scheme of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
The every other embodiment that personnel are obtained without making creative work, shall fall within the protection scope of the present invention.
The specific implementation mode of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific implementation mode stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In conjunction with shown in Fig. 1 to Fig. 3, a kind of mechanical arm is present embodiments provided comprising：Mechanical part and control unit
Point；
Wherein, mechanical part includes：Mechanical forearm structure 4, mechanical wrist structure 3, mechanical palms structure 2 and manipulator
Refer to structure 1.
Specifically, mechanical forearm structure 4 is rotatablely connected with mechanical wrist structure 3, mechanical wrist structure 3 has been correspondingly connected with
One wrist driving unit, wrist driving unit drives mechanical wrist structure 3 to be turned round by wrist STATEMENT OF FEDERALLY SPONSORED, for simulating people
The left-right rotation of hand wrist acts；Mechanical palms structure 2 is rotatablely connected with mechanical wrist structure 3, and mechanical palms structure 2, which corresponds to, to be connected
It is connected to a palm driving unit, palm driving unit drives mechanical palms structure 2 to be overturn by palm STATEMENT OF FEDERALLY SPONSORED, is used for mould
Anthropomorphic hand palm spins upside down action；Mechanical finger structure 1 includes five fingers being sequentially arranged in mechanical palms structure 2
Unit (including it is arranged in order the thumb unit being arranged in the mechanical palms structure 2, index finger unit, middle finger unit, unknown
Refer to unit and little finger unit), each finger unit is correspondingly connected with there are one finger actuation unit, and finger actuation unit passes through hand
Referring to STATEMENT OF FEDERALLY SPONSORED drives corresponding finger unit to be stretched and be bent；It is worth noting that above-mentioned each driving unit include but
It is not limited to steering engine, micromotor etc. driving device.Entire mechanical part can realize the various motion and posture of human hand, be
The daily life of physical disabilities provides facility.
Wherein, control section includes：Brain wave detection device, sensor detecting device and controller；
Specifically, in conjunction with shown in Fig. 3, brain wave detection device includes：The brain wave inspection being electrically connected with the controller respectively
It surveys unit, frequency spectrum tern generation unit, frequency analysis unit and brain wave and excites unit；Brain wave excitation unit is for assisting people
Brain inspires the brain wave of different-waveband；Brain wave detection unit is for detecting eeg signal；Frequency spectrum tern generation unit is used
According to the detection signal of brain wave detection unit generation brain wave frequency spectrum pattern；Frequency analysis unit is used for the brain to being generated
Electric wave frequency spectrum pattern is compared and analyzed with the brain wave frequency spectrum pattern to prestore, and analysis result is fed back to controller；Control
Device is sent to wrist driving unit, palm driving unit and finger actuation unit respectively according to the feedback result of frequency analysis unit
Action command；Wrist driving unit, palm driving unit and finger actuation unit are carried out according to the action command that controller is sent
Corresponding action.Further, which further includes：Prestoring, there are many storages of the first of brain wave frequency spectrum pattern
Unit and the second storage unit for prestoring various motion director data, the brain wave frequency spectrum pattern and one that each of which prestores
Kind action command data correspond；Frequency analysis unit is used for the brain wave frequency spectrum pattern generated and the first storage unit
The brain wave frequency spectrum pattern inside to prestore compares and analyzes, and analysis result is fed back to controller, and controller, which corresponds to, reads the
The action command data of two storage units, and instructed according to action command data sending action.
Specifically, in conjunction with shown in Fig. 3, which includes：Nine axis being electrically connected with the controller respectively pass
Sensor, visual sensor, distance measuring sensor, touch sensor and virtual fingertip force sensor；Nine axle sensors are respectively arranged at
The joint part of each finger unit, three-dimensional acceleration, three-dimensional angular velocity and the Three-Dimensional Magnetic that nine axle sensors are used to be detected
Vector feedback is the combination of three kinds of three-axis sensors in fact to controller, so-called nine axle sensor：Three axis acceleration sensors, three
Axis gyroscope and three axle electronic compass.Such as：General combining form has：Three-axis gyroscope, three axis accelerometer, three axis earth magnetism
The combination of meter；Six-axle acceleration sensor, three-axis gyroscope combination.Six axis gyroscopes, three axis accelerometer combination.Visual sensing
Device is set to the centre of the palm position of mechanical palms structure 2, and visual sensor passes through detection object in the way of non-contacting by infrared ray
Visual signature information and feed back to controller.Visual sensor can liken into the eyes of manipulator, it can utilize infrared
Line detects that some visual characteristic informations of object feed back to machine, such as the color by article by non-contacting mode
It is exactly to have used visual sensor to carry out the mechanical arm that classification is picked；Distance measuring sensor, touch sensor and virtual finger tip power pass
Sensor may be contained within the pad of finger of finger unit；Distance measuring sensor is used for the range information of detection object and feeds back to control
Device, can be how far apart from machine with detection object, if reaches working region, signal will be detected when detecting that object reaches
Controller control machinery arm is sent to be operated；Touch sensor is used to detect the pressure value on pad of finger surface and feeds back to
Controller, the size of bearing capacity, especially three-dimensional force sensor when touch sensor can be captured with inspecting manipuator, the sensor
For resistance strain gauge force transducer, the power on tri- directions X, Y, Z can be detected simultaneously, can effectively adjust finger, arm
Position, object is picked up with suitable dynamics；Virtual fingertip force sensor is used to detect the friction between pad of finger and object
Power type simultaneously feeds back to controller, virtual fingertip force sensor can by whether have between inspecting manipuator arm and object sliding come
Judge whether to capture successfully.Detecting this sliding can be static friction by the frictional force between inspecting manipuator and object or move
Friction judges, when becoming not sliding from sliding, power which arrives in the angle detecting of friction there are one big variation,
And when finger further increases pressure, the power that force snesor detects on direction will not change.Crawl
It can also be completed, object will not be caused to damage in a manner of grasp force by a small margin equal increments when frangible article.It is worth saying
Bright, above-mentioned each sensor characteristics can be increased and decreased according to actual needs, be not restricted herein.
In the following, describing its operation principle for above structure.
Such as：Brain wave excitation unit auxiliary user inspire different-waveband brain wave (four wave bands can be divided into,
That is δ (1-3Hz), θ (4-7Hz), α (8-13Hz), β (14-30Hz), by taking α wave bands as an example.When brain wave detection unit detects
When there is the brain wave of α wave bands to user, frequency spectrum tern generation unit is generated according to the detection signal of brain wave detection unit
Brain wave frequency spectrum pattern (brain wave of α wave bands)；Frequency analysis unit is to the brain wave frequency spectrum pattern generated and the brain to prestore
Electric wave frequency spectrum pattern (certainly, each frequency spectrum pattern to prestore corresponds to a kind of specific action command) compares and analyzes, and works as inspection
When the frequency spectrum pattern of survey is consistent with the frequency spectrum pattern wherein to prestore, then controller can be according to corresponding to the specific frequency spectrum pattern
Action command controls wrist driving unit, palm driving unit and finger actuation unit, such as：The action of crawl.In manipulator
When arm carries out grasping movement, signal feedback can be carried out to the posture of mechanical arm by each sensor, so as to more preferably
Understanding mechanical arm action situation.Certainly, the predetermined action of the information and mechanical arm that are detected if there is sensor is not
When consistent, at this point it is possible to which key reset restarts.It is of course also possible to according to sensor detect information, by controller into
Row correction.
As it can be seen that the present embodiment completes intelligent grabbing, the more intelligent letter of whole process by acquiring the brain wave of user
Just, easy to operate, it is completed without professional, use scope is extensive, very easy to use.Certainly, it should be noted that use
The brain wave detection device is controlled only one such preferred mode to mechanical arm.Brain wave can not also be used
Control, such as：It is directly controlled using acoustic control or direct write-in program in the controller.
In the present embodiment, each structure of mechanical part is not limited to, implementation process can carry out according to actual needs
Flexibly setting, is illustrated with following several specific embodiments.
The first, each STATEMENT OF FEDERALLY SPONSORED uses traction rope in mechanical part, that is, each driving unit is driven each by traction rope
A executive component is acted.
Specifically, (finger tip, the first finger belly, the second finger belly, third refer to by four fractions for index finger unit and middle finger unit
Tripe) composition, it is hinged in each joint part, and traction rope is equipped at the coiling of joint part, traction rope is by corresponding to
Driving unit controlled so that various pieces are bent and are stretched；Thumb unit, nameless unit and small thumb
Refer to unit to be made of five fractions (finger tip, the second finger belly, third finger belly, refers to root at the first finger belly), similarly, in each pass
Section position is also hinged, and traction rope is equipped at the coiling of joint part, and traction rope is carried out by corresponding driving unit
Control, so that various pieces are bent and are stretched；Mechanical palms structure 2 can be made of palm main body and palm back of the body backplate,
Its purpose is to beauties；Mechanical wrist structure 3 can be rotated and (is made of two fractions), have threading thin among wrist
Hole etc..The operation principle of this mechanical arm with traction rope is：With program in controller in arm, manipulation is each
Driving unit (such as：Steering engine) work, each servos control two (long and thin, indefatigable) traction rope, this two tractions
Rope is passed through and is fixed along the coiling in each joint, is controlled the bending of an exclusive finger and is stretched.
Second, in mechanical part each STATEMENT OF FEDERALLY SPONSORED can also use gear assembly and with the matched biography of gear assembly
Lever, concrete form do not limit to.
Specifically, finger unit includes：First knuckle, second knuckle and third knuckle；Wherein, first knuckle passes through first
Finger joint connection structure is rotatablely connected with second knuckle；Second knuckle is connected by second knuckle connection structure and third knuckle rotation
It connects；Third knuckle is rotatablely connected by referring to root connection structure with the palm structure, wherein finger actuation unit passes through gear set
Part (ring gear) is connect with root connection structure is referred to, and drives third knuckle relative to mechanical palms under the drive of finger actuation unit
Structure 2 is rotated.In the present embodiment, ring gear rotation is to drive third knuckle to be rotated relative to mechanical palms structure 2；Third
Finger joint acts, and drives the action of second knuckle connection structure, to drive second knuckle to be rotated relative to third knuckle；Second knuckle
Action drives the action of first knuckle connection structure, to drive first knuckle to be rotated relative to second knuckle；Hereby it is achieved that hand
Refer to the bending and stretching action of unit；Each finger joint linkage, transmission efficiency, flexure operation are sensitive.Certainly, in addition to this, hand
A finger actuation unit can also be connected respectively by referring to each joint part of unit, realize each finger joint independent control.
Those skilled in the art can flexible design according to actual needs.
Mechanical part in the present embodiment can 3D printing equipment using flexible material made of integral molding structure.
The manipulator made of 3D printing technique is not only able to realize the bionical of human hands without the subsequent process that is linked and packed
Movement, and by using flexible material, realize environment-friendly function.
For flexible material, it can be illustrated with one such material there are many selection：The flexible material
For resin material, the tensile strength and bending modulus of the resin material are 30-40MPa.Preferably, the resin material packet
Include the ingredient of following parts by weight：The rubber and 20-40 parts of silica gel of PLA, 20-40 part of 25-30 parts ABS, 20-30 part.
Preferably, the resin material by following parts by weight at being grouped as：25 parts of ABS, 25 parts of PLA, 25 parts of rubber and
25 parts of silica gel.After the resin material mixing of mentioned component composition, tensile strength and bending modulus are under conditions of 35MPa
The manipulator sense of touch to be formed is printed by 3D printing equipment can imitate human hands.
There is different pliabilitys in order to realize the finger belly of finger interior and refer to the back of the body, further limited in the technical program
The density for the flexible material filled at finger belly in finger unit is less than in finger unit close to referring to the flexibility filled at the back of the body
The density of material.The restriction of the structure realizes the biomimetic features of the finger belly and the difference for the pliability for referring to the back of the body of finger unit.Refer to
The flexible material filled at tripe is different with density with the shape for referring to the flexible material filled by place, and cause makes it through 3D printing making
The entity structure for being formed by finger belly afterwards is more soft than the corresponding construction for referring to back portion, therefore can reach the bionical effect of simulation human hand
Fruit.
It is relatively soft and rich in bullet to may be implemented to refer to the relatively hard, finger belly of the back of the body for the manipulator to be completed by 3D printing
Property bionical effect, contact performance when being contacted so as to improve finger and object.By experimental results demonstrate unit volume stands under load
Deflection is that the flexibility at the finger belly position of 0.15-2mm is more than finger of the unit volume stand under load deflection less than 0.15mm by position,
Therefore, finger finger belly part is different from the pliability of back portion is referred to, and can reach the bionical effect of simulation human hand.
In addition, in the present embodiment, which further includes：Bionics skin layer；Bionics skin layer uses flexible substrates material
The surface of the bed of material, flexible base material layer is coated with anti-static coating, several elasticity, which are distributed with, on flexible base material layer answers
Become sensor, elastic strain sensor is connect by netted outlet line with controller respectively；Bionics skin layer is divided into palm and touches
Sense layer and multiple finger allodynia layers, palm tactile layer are coated in mechanical palms structure 2, and finger allodynia layer is coated on mechanical finger
In structure 1.
Preferably, the link position between the palm tactile layer and finger allodynia layer is provided with void region or pleat line
There are multiple fingerstall portions, the connection position between each fingerstall portion to install for the bendable portion of shape, the finger allodynia layer itself
It is equipped with the bendable portion of void region or pleat line shape.
Certainly, for bionics skin layer, and it is confined to above structure, can also flexibly set according to actual needs
It sets.Such as：Any one following or several combinations can be superimposed on flexible base material layer, such as：Metal wire-drawing layer,
Fluoresent coating, graphene layer, carbon nanotube layer, antiultraviolet adhesive layer, erosion resistant coating, flame-retardant layer.
In conjunction with shown in Fig. 2, in the present embodiment, as a kind of further technical solution, the end of mechanical forearm structure 4 is set
It is equipped with wearing fixed part 5, which includes：Fixed part 7 (similar semicircular arc), ventilation part 9 (are similar to semicircle
Shape), U-shaped connect band (be similar to semicircular arc-shaped) and regulation ring 10 (being similar to circular)；Before the fixed part 7 and the machinery
The integrally connected of arm configuration, wherein fixed part 7 can be solid structure, and multiple mounting holes are provided on the fixed part 7；Institute
It states ventilation part 9 and is set to 7 end of the fixed part, have the function of ventilative.Screen structure may be used in ventilation part 9；The U-shaped
Connect band includes：First U-shaped band 6, the second U-shaped band 8, left connection base portion and right connection base portion 12, the first U-shaped band 6 and
The first end of two U-shaped bands 8 is all connected to left connection base portion, and the second end of the first U-shaped band 6 and the second U-shaped band 8 is all connected to
Right connection base portion 12, the first U-shaped band 6 and the second U-shaped band 8 are installed on the fixation of the fixed part 7 by fixing piece respectively
Kong Shang.The first U-shaped band 6 and the setting of the second U-shaped band 8 interval, and fixed between the two by intermediate connect band, described first
The middle part circular arc of U-shaped band 6 and the second U-shaped band 8 all has the trend extended to the direction of the mechanical wrist structure (to the machine
Convex distribution before the position of tool wrist structure stretches)；The ear 11 of 10 both sides of the regulation ring respectively with left connection base portion, right company
Connect base portion 12 be hinged (certainly, left connection base portion, right connection base portion 12 length of itself are set as adjustable, can also
It is made of memory material), one end of the regulation ring 10 is provided with adjusting band, and the other end is provided with for locking the adjusting band
Adjusting buckle.Can be unrestricted for the concrete structure adjusted between band and adjusting buckle, can flexibly it be arranged according to actual needs,
Such as：Adjusting, which takes, is provided with peace turn hole, and protrusion is provided on adjusting buckle；It is provided with the first magnetic part alternatively, adjusting to take,
Second magnetic part opposite with the magnetic part magnetic pole is provided on adjusting buckle.
It is worth noting that above-mentioned all parts component in direct contact with the skin can also further increase pro-skin painting
Layer, such as：Skin friendly coating is also provided on the inside of regulation ring, including：First structure layer (internal layer), enhancement layer
(middle layer) and the second structure sheaf (outer layer), first structure layer, enhancement layer and the second structure sheaf are cascading from inside to outside.
Through this structure, the desired characteristic of the bending degree of regulation ring can be set.Preferably, as first structure layer, second
The constituent material of structure sheaf can use polyamide-based resin, polyesters polyamide-based resin, polyethers polyamide, gather
Appointing in urethane, ABS resin, polyester elastomer resin, polyurethane elastomer resins, fluorine resin (PFA, PTFE, ETFE etc.)
Meaning is a kind of.Especially by the constituent material that ABS resin or nylon are used as to first structure layer, the second structure sheaf, so as to
Enough assign intensity appropriate.Preferably, which can be pre-buried metal mesh.Preferably, the mesh shape of metal mesh is constituted
Shape is not specifically limited, and can be made for example round, approximate rectangle, approximate ellipsoidal.In addition, the enhancement layer can also
For screw type threadiness structure, the intensity of adjustment conduit is easy to according to the spiral helicine number of turns.
As a kind of further technical solution, the centre of the palm position of mechanical palms structure 2 is provided with heating device.Such as：
The centre of the palm position of the mechanical palms structure 2 is coated with graphene heating layer, and the graphene heating layer connects with the controller
It connects.Alternatively, the centre of the palm position in mechanical palms structure 2 is provided with ultrasonic wave heating device, heating use can be equally carried out.
In addition, in the present embodiment, further it can also be improved and expand.Such as：On the machinery forearm structure 4
It is connected with muscle electric induction patch, the muscle electric induction patch is connect with the controller.Such as：The machinery forearm structure
Lighting device and device of solar generating are provided on 4, the device of solar generating is connect with the controller, the control
Device is connect with the lighting device.It is, of course, also possible to increase such as：Pulse detection module, compass module, alarm module etc.
Deng no longer illustrating one by one herein.
It should be noted that on above structure basis, those skilled in the art can be flexibly arranged according to actual needs,
Structure can further be expanded, structure can also be simplified, no longer be limited to herein.
In the present embodiment, as a kind of further technical solution, which further includes identification system；Identity
Identifying system includes：Fingerprint recognition system and/or face identification system, fingerprint recognition system and/or face identification system setting
In on mechanical forearm structure 4, and it is connect with controller.
Such as：Fingerprint recognition system includes fingerprint mould module and preventing atomization module, and line mould module is connect with controller, antifog
Change module refers to for opponent to be blowed, to eliminate the sweat on finger.
Such as：Face identification system includes image acquisition units, image guidance unit and display unit；Described image acquires
Unit includes the main photographic device being integrated in one and secondary photographic device, and the main photographic device is for acquiring face artwork master
Picture, the pair photographic device is for acquiring face coloured image；The controller is connect with the main photographic device, for institute
The face monochrome image information for stating main photographic device acquisition carries out identity differentiation；The display unit connects with the secondary photographic device
It connects, the display unit is set on the mechanical forearm structure 4, for showing that the face that the secondary photographic device is acquired is color
Color image；Described image guidance unit is connect with the display unit, fixed for generating recognition of face on the display unit
Position frame, the recognition of face posting is for guiding gathered person to carry out position adjustment.
In the present embodiment, for brain wave excites unit, brain wave excitation unit includes：Vision module, sound
Module, the one of which of vibration module and warming module or arbitrary several combinations.Wherein, above-mentioned modules can be corresponded to and be set
It sets on mechanical arm, can also be provided separately on other component.
Preferably, vision module can be connect with controller, and vision module is connected with multiple sudden strains of a muscle flickered with different frequency
Bright lamp bead, by the variation of lamp bead flicker frequency to stimulate brain to generate the brain wave of corresponding wave band.Such as：Controller prompt with
The related visual stimulus of actions menu of equipment；After the prompt of visual stimulus, multiple events are measured, according to respectively
The multiple electrodes loaded in the face of user and the current potential between at least one reference electrode of the ear peripheral portion loading of user
Difference is measured to prompt the timing of visual stimulus as multiple events of starting point；From the multiple event correlations electricity measured
Position extracts 4-6Hz or less respectively and includes the brain wave data of scheduled time interval, and combines the brain wave data extracted
And as brain wave characteristic；The more pre-prepd reference data and brain wave for discriminating whether to want selection operation menu
Characteristic；And according to above-mentioned comparison result, to execute operation corresponding with the actions menu of equipment.
In addition, sound module is connect with controller, sound module prestores the audio file of different wave spectrum frequencies.It is preferred that
, vibration module is connect with controller, and vibration module generates the brain wave of corresponding wave band by effect of vibration with brain.Warming mould
Block is connect with controller, and warming module generates the brain wave of corresponding wave band by temperature change stimulation brain.
In the present embodiment, brain wave detection unit can use current acquiring brain waves equipment, can also use other
Specific collecting device is illustrated with following one of which acquiring brain waves equipment.
The wearable EEG measuring device includes the dry electrode of several EEG measurings, an amplification filter module, a modulus
Conversion module and a bluetooth serial ports module；The brain electric analoging signal that several dry electrodes of the EEG measuring will be measured by conducting wire
It is transmitted to the amplification filter module, is transmitted to the analog-to-digital conversion module through amplifying filtered brain electric analoging signal, and turn
It is changed to brain electricity digital signal to be transmitted, brain electricity digital signal can be exported into controller；The controller also can be through the indigo plant
Tooth serial port module is transmitted to mobile network's terminal.Mobile network's terminal is using mobile phone, tablet computer and notebook electricity
One kind in brain.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (6)
1. a kind of mechanical arm, which is characterized in that including：Mechanical part and control section；
Wherein, the mechanical part includes：Mechanical forearm structure, mechanical wrist structure, mechanical palms structure and mechanical finger
Structure；The machinery forearm structure is rotatablely connected with the mechanical wrist structure, and the mechanical wrist structure has been correspondingly connected with one
Wrist driving unit, the wrist driving unit drive the mechanical wrist structure to be turned round by wrist STATEMENT OF FEDERALLY SPONSORED；It is described
Mechanical palms structure is rotatablely connected with the mechanical wrist structure, and it is single that the mechanical palms structure has been correspondingly connected with palm driving
Member, the palm driving unit drive the mechanical palms structure to be overturn by palm STATEMENT OF FEDERALLY SPONSORED；The mechanical finger knot
Structure includes five finger units being sequentially arranged in the mechanical palms structure, and each finger unit is correspondingly connected with that there are one hands
Refer to driving unit, the finger actuation unit drives corresponding finger unit to be stretched and be bent by finger STATEMENT OF FEDERALLY SPONSORED；
Wherein, the control section includes：Brain wave detection device, sensor detecting device and controller；
The brain wave detection device includes：The brain wave detection unit that is electrically connected respectively with the controller, the life of frequency spectrum pattern
Unit is excited at unit, frequency analysis unit and brain wave；The brain wave excitation unit is for assisting human brain to inspire difference
The brain wave of wave band；The brain wave detection unit is for detecting eeg signal；The frequency spectrum tern generation unit is used for root
Brain wave frequency spectrum pattern is generated according to the detection signal of the brain wave detection unit；The frequency analysis unit is used for being generated
Brain wave frequency spectrum pattern compared and analyzed with the brain wave frequency spectrum pattern to prestore, and analysis result is fed back into controller；
The controller is according to the feedback result of the frequency analysis unit respectively to wrist driving unit, palm driving unit and finger
Driving unit sending action instructs；The wrist driving unit, palm driving unit and finger actuation unit are according to the control
The action command that device is sent is acted accordingly；
The sensor detecting device includes：Nine axle sensors that are electrically connected respectively with the controller, visual sensor, ranging
Sensor, touch sensor and virtual fingertip force sensor；Nine axle sensor is respectively arranged at the pass of each finger unit
Position is saved, nine axle sensor is used to the three-dimensional acceleration detected, three-dimensional angular velocity and Three-Dimensional Magnetic vector feeding back to institute
State controller；The visual sensor is set to the centre of the palm position of the mechanical palms structure, and the visual sensor utilizes red
Outside line is by the visual signature information of non-contacting mode detection object and feeds back to the controller；The distance measuring sensor,
The touch sensor and the virtual fingertip force sensor may be contained within the pad of finger of the finger unit；The ranging passes
Sensor is used for the range information of detection object and feeds back to the controller；The touch sensor is for detecting pad of finger
Pressure value that surface is subject to simultaneously feeds back to the controller；The virtual fingertip force sensor is for detecting pad of finger and object
Between frictional force type and feed back to the controller；
The brain wave detection device further includes：It prestores there are many first storage unit of brain wave frequency spectrum pattern and prestores more
Second storage unit of kind action command data, the brain wave frequency spectrum pattern that each of which prestores and a kind of action command data
It corresponds；The frequency analysis unit is used for the brain wave frequency spectrum pattern generated and prestores in first storage unit
Brain wave frequency spectrum pattern compare and analyze, and analysis result is fed back into controller, the controller, which corresponds to, reads second
The action command data of storage unit, and instructed according to action command data sending action.
2. mechanical arm according to claim 1, which is characterized in that
The brain wave detection device further includes identification system；The identification system includes：Fingerprint recognition system and/
Or face identification system, the fingerprint recognition system and/or face identification system are set on the mechanical forearm structure, and with
The controller connection.
3. mechanical arm according to claim 1, which is characterized in that
Brain wave excitation unit includes：Vision module, sound module, vibration module and warming module one of which or
Arbitrary several combinations.
4. mechanical arm according to claim 1, which is characterized in that the mechanical part further includes：Bionics skin layer；Institute
It states bionics skin layer and uses flexible base material layer, the surface of the flexible base material layer is coated with anti-static coating, described
Several elastic strain sensors are distributed on flexible base material layer, the elastic strain sensor passes through netted output respectively
Circuit is connect with the controller；The bionics skin layer is divided into palm tactile layer and multiple finger allodynia layers, and the palm touches
Sense layer is coated in the mechanical palms structure, and the finger allodynia layer is coated on the mechanical finger structure.
5. mechanical arm according to claim 1, which is characterized in that the end of the machinery forearm structure is provided with wearing
Fixed part；The wearing fixed part includes：Fixed part, ventilation part, U-shaped connect band and regulation ring；
The integrally connected of the fixed part and the mechanical forearm structure, the fixed part are provided with accommodating chamber, the fixed part
On be provided with multiple mounting holes；The ventilation part is set to the end of the fixed part；
The U-shaped connect band includes：First U-shaped band, the second U-shaped band, left connection base portion and right connection base portion, first U-shaped
The first end of band and the second U-shaped band is all connected to left connection base portion, and the second end of the first U-shaped band and the second U-shaped band connects
It is connected to right connection base portion, the first U-shaped band and the second U-shaped band are installed on the mounting hole of the fixed part by fixing piece respectively
On, the first U-shaped band and the spaced setting of the second U-shaped, and fixed between the two by intermediate connect band, first U-shaped
The middle part circular arc of band and the second U-shaped band all has the trend extended to the direction of the mechanical wrist structure；
The ear of the regulation ring both sides is hinged with left connection base portion, right connection base portion respectively, one end of the regulation ring
It is provided with adjusting band, the other end of the regulation ring is provided with for locking the adjusting buckle for adjusting band.
6. mechanical arm according to claim 1, which is characterized in that the centre of the palm position of the mechanical palms structure is provided with
Heating device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711380850.9A CN107877501B (en) | 2017-12-20 | 2017-12-20 | Mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711380850.9A CN107877501B (en) | 2017-12-20 | 2017-12-20 | Mechanical arm |
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| CN107877501A CN107877501A (en) | 2018-04-06 |
| CN107877501B true CN107877501B (en) | 2018-09-14 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109717989A (en) * | 2018-12-03 | 2019-05-07 | 烟台工程职业技术学院 | 3D printing bionic hand based on intelligent sound control |
| CN110450145A (en) * | 2019-08-13 | 2019-11-15 | 广东工业大学 | A kind of biomimetic manipulator based on skeleton identification |
| CN115781686A (en) * | 2022-12-26 | 2023-03-14 | 北京悬丝医疗科技有限公司 | Mechanical arm for remotely diagnosing pulse and control method |
| CN116160457B (en) * | 2023-04-21 | 2023-07-21 | 北京远鉴信息技术有限公司 | Control system and method of mechanical arm, electronic equipment and storage medium |
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