CN103170960A - Human-imitation synchronous wireless control mechanical arm system - Google Patents
Human-imitation synchronous wireless control mechanical arm system Download PDFInfo
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- CN103170960A CN103170960A CN2013100798854A CN201310079885A CN103170960A CN 103170960 A CN103170960 A CN 103170960A CN 2013100798854 A CN2013100798854 A CN 2013100798854A CN 201310079885 A CN201310079885 A CN 201310079885A CN 103170960 A CN103170960 A CN 103170960A
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Abstract
The invention discloses a human-imitation synchronous wireless control mechanical arm system. The human-imitation synchronous wireless control mechanical arm system comprises a mechanical part and a control part, wherein the mechanical part comprises a mechanical arm part and a hand motion information acquisition part, the mechanical arm part comprises a palm part and an arm part, the control part comprises an acquisition end microprogrammed control unit (MCU), a wireless transmission module and a primary MCU, the acquisition end MCU acquires resistance value information of each potentiometer in the hand motion information acquisition part and transmits joint angles of hands of a human body to the primary MCU through the wireless transmission module, the primary MCU controls corresponding steering engines to rotate corresponding angles in the mechanical arm part, and synchronous movement of the mechanical arm part and the hands of the human body is achieved. Compared with existing mechanical arms, the human-imitation synchronous wireless control mechanical arm system is more flexible and easier to control, can be applied to the medical field to help the disabled to recover the hand functions due to the fact that the human-imitation synchronous wireless control mechanical arm system is designed fully according to the outline and the degree of freedom of the hands of the human body, and can also be used as a power hand to be applied to fields, such as the military industry and spaceflight.
Description
Technical field
The invention belongs to robot and bionics techniques field, relate to the synchronous duplicator's hand motion of a kind of energy, and realize wireless remotely-controlled arm-and-hand system.
Background technology
At first manipulator begins to develop from the U.S..U.S. Allied Control Company developed the First manipulator in 1958.
Manipulator mainly is comprised of hand, motion and control system three parts, Leonardo da Vinci's robotic surgical system, and American I ntuitive Surgical company product obtains drugs approved by FDA.2. ZEUS Zeus robotic surgical device surgery systems, U.S. Computer Motion company product obtains drugs approved by FDA.The tele-robotic surgery systems mainly is comprised of console and motion arm two parts.Console is the core of robotic surgical system, controls monitor, operating grip and input-output equipment etc. by computer system, operation technique monitor, robot and forms, and causes medical circle and even global concern.But the motion of this manipulator is to be controlled by control stick, will be through training for a long time before the doctor uses, and experienced doctor can't bring into play the technical merit of oneself.
The nearly twenty or thirty year of human research's manipulator, but the manipulator that produces seldom can be completed dexterous action.The most manufacturer production be industry mechanical arm entirely, can only complete basic function such as crawl release etc.If manipulation accuracy is not difficult to realize accurately controlling by programming.
Recently the FESTO company of Germany has developed a kind of pneumatic shillful manipulator, be also mainly by controls of pulling strings, but the manipulator of pneumatic muscles control is very expensive, and required peripheral hardware condition is very high, more can't be applied under the vacuum condition in universe.
Summary of the invention
The present invention is intended to by the method for pulling strings, drive part and control section are installed at the arm position, and hand weight is alleviated greatly, increases the flexibility of hand exercise.Control mode of the present invention allows the mankind more directly control for strictly to copy the forms of motion of controlling hand.Adopt wireless far distance controlled, Universal joint is widely used.
As follows for solving the problems of the technologies described above the technical scheme that adopts:
Apery homochronousness wireless operated arm-and-hand system of the present invention includes mechanical part and control section, and wherein mechanical part includes manipulator part and hand motion information gathering part; Described control section includes collection terminal MCU, wireless transport module and main MCU; Described collection terminal MCU gathers the information of hand motion information gathering part, and by wireless transport module, each joint angles data of mankind's hand is passed to main MCU, and main MCU controls the corresponding steering wheel rotation corresponding angle in mechanical hand portion.
Described manipulator partly comprises palm portion and arm segment, and palm portion includes first and owes to drive the doublejointed finger 1, second of pulling strings and owe to drive the doublejointed finger the 2, the 3rd of pulling strings and owe to drive the doublejointed finger the 3, the 4th of pulling strings and owe to drive doublejointed pull strings finger the 4, first drive line 5, the second drive line 6, the 3rd drive line 7, the 4th drive line 8, doublejointed thumb 11 and metal hand metacarpal bone frame 14;
Owe to drive pull strings finger 1,2,3,4 and doublejointed thumb 11 of doublejointed and be connected to metal hand metacarpal bone frame 14 front portions for described four, doublejointed thumb 11 is controlled by two small-sized steering machines, the one degree of freedom of each small-sized steering machine control thumb;
Every drive line front end respectively with owe to drive the doublejointed finger of pulling strings and be connected, the rear end is pulled by miniature steering wheel 12, make and owe to drive the pull strings drive line length of finger interior of doublejointed and reduce, make that to owe to drive the doublejointed finger of pulling strings crooked, when 12 revolution of miniature steering wheel, owe to drive that doublejointed pulls strings that the joint of finger places returns the power torsion spring and drive and owe to drive the doublejointed finger of pulling strings and reset.Manipulator has just realized copying the motion of mankind's hand like this.
Described arm segment includes the 5th drive line 9, the 6th drive line 10, arm support 17, wrist support 18 and wrist side-to-side movement bearing 19;
The both sides of arm support 17 are fixed with 13, two steering wheels 13 of two steering wheels and swing by the 5th drive line 9 and the 6th drive line 10 driving wrist side-to-side movement bearings 19;
Metal hand metacarpal bone frame 14 in palm portion is rotatably connected with the wrist support 18 of arm segment by the wrist bearing 15 that seesaws, driving steering wheel 24 is fixed on wrist support 18 by clamping plate 25, the steering wheel dish 26 that drives steering wheel 24 is connected with metal hand metacarpal bone frame 14, and then drives the palm swing;
The rear end of arm support 17 is rotatably connected with bearing 28 by arm bearing 16.
Described hand motion information gathering partly comprises basic gloves 27, potentiometer 20, potentiometer swing arm 21, finger spanner 22 and finger fingerstall 23, described potentiometer 20 is fixed on basic gloves 27 by finger fingerstall 23, people's hand finger is pulled finger spanner 22, and then rotational potentiometer swing arm 21 changes the resistance of potentiometer 20.
Hand motion mainly comprises finger movement and palm action.Wherein finger has flexibility, two parameters of angular speed to need to gather.Palm has the anglec of rotation and two parameters of angular speed to need to gather.Other are the crooked order problems of concrete finger, so point in addition the collection of number information.The hand angle information is calculated by the resistance of potentiometer 20, and hand exercise speed draws the time differentiate by angle is changed, finger numbering problem by set up one to one many independently information transmission path just can solve.
Described control section includes collection terminal MCU, wireless transport module and main MCU;
Collection terminal MCU gathers the resistance information of each potentiometer 20 in hand motion information gathering part, and by wireless transport module, each joint angles data of mankind's hand are passed to main MCU, main MCU generates the pwm signal of multichannel particular duty cycle according to these data, control the corresponding steering wheel rotation corresponding angle in mechanical hand portion, realize being synchronized with the movement of manipulator part and mankind's hand.
The course of work of whole system:
One, operating personnel need to the basic gloves in upper hand action message collecting part, then switch on power;
Two, operating personnel's hand joint has change in location, and the corresponding potentiometer 20 that will drive in hand motion information gathering part rotates, and causes the voltage change in circuit, and at this moment collection terminal MCU collects angle information;
Three, collection terminal MCU sends the angle information that changes to main MCU by wireless transport module;
Four, main MCU produces the pwm signal of multichannel particular duty cycle according to angle information, and signal sends corresponding steering wheel in the manipulator part to by control circuit, and steering wheel rotarily drives drive line, realizes being synchronized with the movement of manipulator part and mankind's hand.
Beneficial effect of the present invention is: along with the development of network technology, the networking operational issue of manipulator will be the direction of technical development from now on, and the present invention can control by network remote easily, and application is greatly improved.The present invention is more flexible than manipulator in the past, more easily controls, and has the main trend that replaces original manipulator on market.In addition, fully according to mankind's hand profile and free degree design, can be applied to medical field due to this system, help the disabled person to recover hand function, can also be applied to as the power-assisted hand fields such as military project space flight.
Description of drawings
Fig. 1 is workflow diagram of the present invention
Fig. 2 is the palm portion machine drawing in the manipulator part
Fig. 3 is the arm segment machine drawing in the manipulator part
Fig. 4 is the seesaw machine drawing in joint of the wrist in manipulator part
Fig. 5 is the integral installation figure of hand motion information gathering part
Fig. 6 is the schematic diagram of an angular transducer in hand motion information gathering part
In figure:
1: owe to drive doublejointed pull strings the finger A, 2: owe to drive doublejointed pull strings the finger B, 3: owe to drive doublejointed pull strings the finger C,
4: owe to drive doublejointed pull strings the finger D, 5: drive line, 6: drive line A, 7: drive line B, 8: drive line C,
9: drive line D, 10: drive line E, 11: doublejointed thumb F, 12: miniature steering wheel, 13: steering wheel,
14: metal hand metacarpal bone frame, 15: movable joint after the wrist axis brought forward, 16: the arm bearing, 17: arm support,
18: the wrist support, 19: wrist side-to-side movement bearing, 20: potentiometer, 21: the potentiometer swing arm, 22: the finger spanner,
23: finger fingerstall, 24: drive steering wheel, 25: clamping plate, 26: steering wheel dish, 27: basic gloves, 28: bearing
The specific embodiment
Below in conjunction with accompanying drawing, the present invention further is introduced.
Apery homochronousness wireless operated arm-and-hand system of the present invention includes mechanical part and control section, and wherein mechanical part includes manipulator part and hand motion information gathering part; Described manipulator partly comprises palm portion and arm segment, and described control section includes collection terminal MCU, wireless transport module and main MCU; Collection terminal MCU gathers the information of hand motion information gathering part, and by wireless transport module, each joint angles data of mankind's hand is passed to main MCU, and main MCU controls the corresponding steering wheel rotation corresponding angle in mechanical hand portion.
Described manipulator partly comprises palm portion and arm segment;
Fig. 2 is the palm portion machine drawing in the manipulator part, including first owes to drive the doublejointed finger 1, second of pulling strings and owes to drive the doublejointed finger the 2, the 3rd of pulling strings and owe to drive the doublejointed finger the 3, the 4th of pulling strings and owe to drive doublejointed pull strings finger 4, the first drive lines 5, the second drive line 6, the 3rd drive line 7, the 4th drive line 8, doublejointed thumb 11 and metal hand metacarpal bone frame 14;
Owe to drive pull strings finger 1,2,3,4 and doublejointed thumb 11 of doublejointed for four and be connected to metal hand metacarpal bone frame 14 front portions, doublejointed thumb 11 is controlled by two small-sized steering machines, the one degree of freedom of each small-sized steering machine control thumb;
Every drive line front end respectively with owe to drive the doublejointed finger of pulling strings and be connected, the rear end is pulled by miniature steering wheel 12, make and owe to drive the pull strings drive line length of finger interior of doublejointed and reduce, make that to owe to drive the doublejointed finger of pulling strings crooked, when 12 revolution of miniature steering wheel, owe to drive that doublejointed pulls strings that the joint of finger places returns the power torsion spring and drive and owe to drive the doublejointed finger of pulling strings and reset.Manipulator has just realized copying the motion of mankind's hand like this.
Fig. 3 is the arm segment machine drawing in the manipulator part, includes the 5th drive line 9, the 6th drive line 10, arm support 17, wrist support 18 and wrist side-to-side movement bearing 19;
The both sides of arm support 17 are fixed with 13, two steering wheels 13 of two steering wheels and swing by the 5th drive line 9 and the 6th drive line 10 driving wrist side-to-side movement bearings 19;
Fig. 4 is the seesaw machine drawing in joint of the wrist in manipulator part, as seen the metal hand metacarpal bone frame 14 in palm portion is rotatably connected with the wrist support 18 of arm segment by the wrist bearing 15 that seesaws, driving steering wheel 24 is fixed on wrist support 18 by clamping plate 25, the steering wheel dish 26 that drives steering wheel 24 is connected with metal hand metacarpal bone frame 14, and then drives the palm swing;
The rear end of arm support 17 is rotatably connected with bearing 28 by arm bearing 16.
Fig. 5 is the integral installation figure of hand motion information gathering part, and visible described hand motion information gathering partly comprises basic gloves 27, potentiometer 20, potentiometer swing arm 21, finger spanner 22 and finger fingerstall 23;
Fig. 6 is the schematic diagram of an angular transducer in hand motion information gathering part, as seen described potentiometer 20 is fixed on basic gloves 27 by finger fingerstall 23, people's hand finger is pulled finger spanner 22, and then rotational potentiometer swing arm 21 changes the resistance of potentiometer 20.
Hand motion mainly comprises finger movement and palm action.Wherein finger has flexibility, two parameters of angular speed to need to gather.Palm has the anglec of rotation and two parameters of angular speed to need to gather.Other are the crooked order problems of concrete finger, so point in addition the collection of number information.The hand angle information is calculated by the resistance of potentiometer 20, and hand exercise speed draws the time differentiate by angle is changed, finger numbering problem by set up one to one many independently information transmission path just can solve.
Described control section includes collection terminal MCU, wireless transport module and main MCU;
Collection terminal MCU gathers the resistance information of each potentiometer 20 in hand motion information gathering part, and by wireless transport module, each joint angles data of mankind's hand are passed to main MCU, main MCU generates the pwm signal of multichannel particular duty cycle according to these data, control the corresponding steering wheel rotation corresponding angle in mechanical hand portion, realize being synchronized with the movement of manipulator part and mankind's hand.
Fig. 1 is workflow diagram of the present invention, and the course of work of visible whole system is:
One, operating personnel need to the basic gloves in upper hand action message collecting part, then switch on power;
Two, operating personnel's hand joint has change in location, and the corresponding potentiometer 20 that will drive in hand motion information gathering part rotates, and causes the voltage change in circuit, and at this moment collection terminal MCU collects angle information;
Three, collection terminal MCU sends the angle information that changes to main MCU by wireless transport module;
Four, main MCU produces the pwm signal of multichannel particular duty cycle according to angle information, and signal sends corresponding steering wheel in the manipulator part to by control circuit, and steering wheel rotarily drives drive line, realizes being synchronized with the movement of manipulator part and mankind's hand.
Claims (6)
1. an apery homochronousness wireless operated arm-and-hand system, include mechanical part and control section, it is characterized in that:
Described mechanical part includes manipulator part and hand motion information gathering part; Described control section includes collection terminal MCU, wireless transport module and main MCU;
Described collection terminal MCU gathers the information of hand motion information gathering part, and by wireless transport module, each joint angles data of mankind's hand is passed to main MCU, and main MCU controls the corresponding steering wheel rotation corresponding angle in mechanical hand portion.
2. a kind of apery homochronousness wireless operated arm-and-hand system as claimed in claim 1 is characterized in that:
Described manipulator partly comprises palm portion and arm segment, and palm portion includes first and owes to drive the doublejointed finger (1), second of pulling strings and owe to drive the doublejointed finger (2), the 3rd of pulling strings and owe to drive the doublejointed finger (3), the 4th of pulling strings and owe to drive doublejointed pull strings finger (4), the first drive line (5), the second drive line (6), the 3rd drive line (7), the 4th drive line (8), doublejointed thumb (11) and metal hand metacarpal bone frame (14);
Owe to drive pull strings finger (1,2,3,4) and doublejointed thumb (11) of doublejointed and be connected to metal hand metacarpal bone frame (14) front portion for described four, doublejointed thumb (11) is controlled by two small-sized steering machines, and each small-sized steering machine is controlled the one degree of freedom of thumb;
Every drive line front end respectively with owe to drive the doublejointed finger of pulling strings and be connected, the rear end is pulled by miniature steering wheel (12), make and owe to drive the pull strings drive line length of finger interior of doublejointed and reduce, make that to owe to drive the doublejointed finger of pulling strings crooked, when miniature steering wheel (12) turns round, owe to drive that doublejointed pulls strings that the joint of finger places returns the power torsion spring and drive and owe to drive the doublejointed finger of pulling strings and reset.
3. a kind of apery homochronousness wireless operated arm-and-hand system as claimed in claim 2 is characterized in that:
Described arm segment includes the 5th drive line (9), the 6th drive line (10), arm support (17), wrist support (18) and wrist side-to-side movement bearing (19);
The both sides of arm support (17) are fixed with two steering wheels (13), and two steering wheels (13) drive wrist side-to-side movement bearing (19) by the 5th drive line (9) and the 6th drive line (10) and swing; The rear end of arm support (17) is rotatably connected with bearing (28) by arm bearing (16).
4. a kind of apery homochronousness wireless operated arm-and-hand system as claimed in claim 3 is characterized in that:
Metal hand metacarpal bone frame (14) in palm portion is rotatably connected with the wrist support (18) of arm segment by the wrist bearing (15) that seesaws, driving steering wheel (24) is fixed on wrist support (18) by clamping plate (25), the steering wheel dish (26) that drives steering wheel (24) is connected with metal hand metacarpal bone frame (14), and then drives the palm swing.
5. a kind of apery homochronousness wireless operated arm-and-hand system as claimed in claim 1 is characterized in that:
Described hand motion information gathering partly comprises basic gloves (27), potentiometer (20), potentiometer swing arm (21), finger spanner (22) and finger fingerstall (23), described potentiometer (20) is fixed on basic gloves (27) by finger fingerstall (23), people's hand finger is pulled finger spanner (22), and then rotational potentiometer swing arm (21) changes the resistance of potentiometer (20).
6. a kind of apery homochronousness wireless operated arm-and-hand system as claimed in claim 5 is characterized in that:
Described collection terminal MCU gathers the resistance information of each potentiometer (20) in hand motion information gathering part, and by wireless transport module, each joint angles data of mankind's hand are passed to main MCU, main MCU generates the pwm signal of multichannel particular duty cycle according to these data, control the corresponding steering wheel rotation corresponding angle in mechanical hand portion, realize being synchronized with the movement of manipulator part and mankind's hand.
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| CN103692454A (en) * | 2013-12-12 | 2014-04-02 | 浙江理工大学 | Exoskeleton wearable data glove |
| CN104571477A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Straight rod type ring finger movement detection device |
| CN104552315A (en) * | 2013-10-21 | 2015-04-29 | 苏茂 | Straight rod type little finger movement detection device |
| CN104972478A (en) * | 2014-04-04 | 2015-10-14 | 东南大学 | Controllable three-finger manipulator and control method thereof |
| CN105150188A (en) * | 2015-10-10 | 2015-12-16 | 花茂盛 | System and method for controlling actions of robot |
| CN105726173A (en) * | 2016-02-02 | 2016-07-06 | 黑龙江大学 | Remote-control electronic manipulator |
| CN106389066A (en) * | 2016-09-21 | 2017-02-15 | 深圳职业技术学院 | A finger-parted rehabilitation training instrument |
| CN106584487A (en) * | 2015-10-20 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Dexterous finger working under extreme conditions and working control system thereof |
| CN106826902A (en) * | 2017-02-27 | 2017-06-13 | 中国石油大学(华东) | Bionic flexible manipulator |
| CN107009376A (en) * | 2017-04-26 | 2017-08-04 | 柳州西格尔汽车内饰件有限公司 | The drive mechanism of mechanical finger |
| CN107220507A (en) * | 2017-06-06 | 2017-09-29 | 吕煜 | Tele-medicine actuation means and control method |
| CN107972022A (en) * | 2017-11-30 | 2018-05-01 | 南京航空航天大学 | Apery manipulator skeleton |
| CN108189052A (en) * | 2018-03-09 | 2018-06-22 | 华东师范大学 | A kind of flexible wearable gesture remote control system of synchronous radio manipulation manipulator |
| CN108687744A (en) * | 2017-04-08 | 2018-10-23 | 金子楗 | A kind of ectoskeleton based on touch feedback |
| CN109300368A (en) * | 2018-11-28 | 2019-02-01 | 浙江理工大学 | A kind of speech type sign language AC system and method |
| CN109746934A (en) * | 2019-03-11 | 2019-05-14 | 南京航空航天大学 | A kind of mechanical Dextrous Hand of linear ultrasonic motor driving |
| CN110153982A (en) * | 2019-06-26 | 2019-08-23 | 王守正 | A kind of towed auxiliary manipulator |
| CN110328678A (en) * | 2019-08-02 | 2019-10-15 | 浙江大学城市学院 | A kind of underactuated manipulator with manpower synchronization control function |
| CN110625591A (en) * | 2019-04-09 | 2019-12-31 | 华南理工大学 | Teleoperation system and method based on exoskeleton data gloves and teleoperation rod |
| CN110962146A (en) * | 2019-05-29 | 2020-04-07 | 博睿科有限公司 | Manipulation system and method of robot apparatus |
| CN113262109A (en) * | 2021-04-22 | 2021-08-17 | 武汉理工大学 | Old person assists getting up bed device |
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| CN104571477A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Straight rod type ring finger movement detection device |
| CN104552315A (en) * | 2013-10-21 | 2015-04-29 | 苏茂 | Straight rod type little finger movement detection device |
| CN103692454B (en) * | 2013-12-12 | 2015-10-28 | 浙江理工大学 | Exoskeleton wearable data glove |
| CN103692454A (en) * | 2013-12-12 | 2014-04-02 | 浙江理工大学 | Exoskeleton wearable data glove |
| CN104972478A (en) * | 2014-04-04 | 2015-10-14 | 东南大学 | Controllable three-finger manipulator and control method thereof |
| CN105150188A (en) * | 2015-10-10 | 2015-12-16 | 花茂盛 | System and method for controlling actions of robot |
| CN106584487A (en) * | 2015-10-20 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Dexterous finger working under extreme conditions and working control system thereof |
| CN105726173A (en) * | 2016-02-02 | 2016-07-06 | 黑龙江大学 | Remote-control electronic manipulator |
| CN106389066A (en) * | 2016-09-21 | 2017-02-15 | 深圳职业技术学院 | A finger-parted rehabilitation training instrument |
| CN106826902A (en) * | 2017-02-27 | 2017-06-13 | 中国石油大学(华东) | Bionic flexible manipulator |
| CN108687744A (en) * | 2017-04-08 | 2018-10-23 | 金子楗 | A kind of ectoskeleton based on touch feedback |
| CN107009376A (en) * | 2017-04-26 | 2017-08-04 | 柳州西格尔汽车内饰件有限公司 | The drive mechanism of mechanical finger |
| CN107220507A (en) * | 2017-06-06 | 2017-09-29 | 吕煜 | Tele-medicine actuation means and control method |
| CN107220507B (en) * | 2017-06-06 | 2021-04-13 | 吕煜 | Remote medical control device and control method |
| CN107972022A (en) * | 2017-11-30 | 2018-05-01 | 南京航空航天大学 | Apery manipulator skeleton |
| CN107972022B (en) * | 2017-11-30 | 2024-04-12 | 南京航空航天大学 | Humanoid manipulator framework |
| CN108189052A (en) * | 2018-03-09 | 2018-06-22 | 华东师范大学 | A kind of flexible wearable gesture remote control system of synchronous radio manipulation manipulator |
| CN109300368A (en) * | 2018-11-28 | 2019-02-01 | 浙江理工大学 | A kind of speech type sign language AC system and method |
| CN109746934A (en) * | 2019-03-11 | 2019-05-14 | 南京航空航天大学 | A kind of mechanical Dextrous Hand of linear ultrasonic motor driving |
| CN110625591A (en) * | 2019-04-09 | 2019-12-31 | 华南理工大学 | Teleoperation system and method based on exoskeleton data gloves and teleoperation rod |
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Application publication date: 20130626 |