CN106272355A - One slows down working strength mechanical arm - Google Patents
One slows down working strength mechanical arm Download PDFInfo
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- CN106272355A CN106272355A CN201610820300.3A CN201610820300A CN106272355A CN 106272355 A CN106272355 A CN 106272355A CN 201610820300 A CN201610820300 A CN 201610820300A CN 106272355 A CN106272355 A CN 106272355A
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- Prior art keywords
- arm
- release
- glove
- projection
- accommodating groove
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Press Drives And Press Lines (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to labor intensity big time mechanical arm, including machinery glove and mechanical arm, described machinery glove include glove press rods device, glove release pressure transducer, glove compaction pressure sensor, control device and power supply, and described mechanical arm includes pressure arm device, arm release pressure transducer and arm compaction pressure sensor.Make physical labourer grasping weight when and the when of picking up weight by rationally arranging respective press rods parts and pressure transducer, the frictional force being no longer necessary to the armrest palm and weight mentions weight, also without the muscle loss that arm is heavy, thus cause heavy muscle power waste, can arbitrarily pick up weight by this mechanical arm the most physical without expending, reach the effect significantly reduced labor intensity.
Description
Technical field
The invention belongs to manual operation auxiliary device field, be specifically related to one and slow down working strength mechanical arm.
Background technology
The heaviest muscle power work is had to use machinery to substitute at present, but owing to the motility of manpower is adjusted with in good time
The factors such as whole property, a lot of muscle power work still can not be substituted by machinery completely.Physical labourer is needed to continue during some operation
Move the parts that weight is the biggest, owing to its strength moved is not exclusively the power upwards overcoming parts gravity, especially
It is moving of shaft element, is the most all located against the hand frictional force with parts to realize moving of weight, so
Loss for hand strength is the biggest.And when hand picks up weight when, in addition it is also necessary to it is mentioned, needs consumption
The muscle strength of expense large arm and forearm realizes.Therefore need badly develop one easily can simulating human carrying heavy goods still
The mechanical assistance arm simultaneously can being combined with human body again.
Summary of the invention
It is an object of the invention to propose one and slow down working strength mechanical arm.
Realize especially by following technological means:
One slows down working strength mechanical arm, and including machinery glove and mechanical arm, wherein machinery glove include: glove pressure
Lever apparatus, glove release pressure transducer, glove compaction pressure sensor, control device and power supply unit；Described mechanical hand
Arm includes: pressure arm device, arm release pressure transducer and arm compaction pressure sensor.
Described glove press rods device is arranged on the inner side of described machinery glove, including five finger phases with machinery glove
Five the press rods parts coordinated, each press rods parts are divided into three sections, arrange hydraulic stem contraction flow region, pass through hydraulic pressure between every section
The angle of each press rods parts three sections is adjusted by bar contraction flow region.
Described glove release pressure transducer is arranged on the outside on five finger tops of machinery glove, convex including discharging
Block, release projection accommodating groove and release sensing module, described release projection closes with release projection accommodating groove matching form, and
Described release projection accommodating groove is used for receiving described release projection, and described release projection accommodating groove arranges multiple release storage rank,
The plurality of release storage rank enter the degree of depth of described release projection accommodating groove according to release projection and discharge, and often discharge one
Individual storage rank i.e. carry out a pressure sensing to described release sensing module, and described release sensing module is used for sensing described release
Receive rank and for its pressure sensing to and its signal data is sent described control device.
Described glove compaction pressure sensor is arranged on the inner side on five finger tops of machinery glove, convex including compressing
Block, compression projection accommodating groove and compression sensing module, described compression projection closes with compressing projection accommodating groove matching form, and
Described compression projection accommodating groove is used for receiving described compression projection, and described compression projection accommodating groove arranges multiple compression and receives rank,
The plurality of storage rank that compress discharge according to the degree of depth compressing the projection described compression projection accommodating groove of entrance, often discharge one
The individual storage rank that compress i.e. carry out a pressure sensing to described compression sensing module, and described compression sensing module is used for sensing described
Compress storage rank and for its pressure sensing to and its signal data is sent described control device.
Described pressure arm device is arranged on the inner side of mechanical arm, with machinery glove be connected, including with forearm and large arm
The arm press rods parts matched, each arm press rods parts are divided into two sections, and two sections are matched with forearm and large arm respectively, two sections
Between arm hydraulic stem contraction flow region is set, by arm hydraulic stem contraction flow region, the angle of each press rods parts two sections is adjusted.
Described arm release pressure transducer is arranged on the outside of described mechanical arm, position correspondence user arm point of elbow
Outside forearm, including arm release projection, arm release projection accommodating groove and arm release sensing module, described arm release projection and arm
Release projection accommodating groove matching form closes, and described arm release projection accommodating groove is used for receiving described arm release projection, described
Arm release projection accommodating groove arranges multiple arm release storage rank, and the plurality of arm release storage rank enter institute according to arm release projection
Stating the degree of depth of arm release projection accommodating groove and discharge, often described arm release sensing module is i.e. carried out by release one storage rank
Pressure sensing, described arm release sensing module is for sensing described arm release storage rank for its pressure sensing and by it
Signal data sends described control device to.
Described arm compaction pressure sensor is arranged at the inner side of described mechanical arm, position correspondence user arm point of elbow
Inside forearm, compress projection including arm, arm compresses projection accommodating groove and arm compresses sensing module, and described arm compresses projection and arm
Compress projection accommodating groove matching form to close, and described arm compresses projection accommodating groove and is used for receiving described arm compression projection, described
Arm compression projection accommodating groove arranges multiple arm and compresses storage rank, and the plurality of arm compresses storage rank and enters institute according to arm compression projection
Stating arm to compress the degree of depth of projection accommodating groove and discharge, often one arm of release compresses storage rank and described arm i.e. compresses sensing mould
Block carries out a pressure sensing, and described arm compresses sensing module and compresses the storage rank pressure sensing for it for sensing described arm
And its signal data is sent to described control device.
Described control device is used for receiving release sensing module and compressing sensing module and/or arm release sensing module and arm
Compress the signal data that transmits of sensing module and opponent overlaps pressure lever apparatus and/or pressure arm device is controlled, by institute
State hydraulic stem contraction flow region and/or the contraction of arm hydraulic stem contraction flow region and release is controlled such that described machinery glove realize grasping
The behavior mentioned with the behavior of opening and/or the realization of described mechanical arm and put down.
Described power supply unit is for described control device, glove press rods device, glove release pressure transducer, glove
Compaction pressure sensor, pressure arm device, arm release pressure transducer, arm compaction pressure sensor are powered.
As preferably, described control device is arranged on the back of described machinery glove.
As preferably, described control device is arranged on and slows down outside working strength mechanical arm, with described glove press rods
Device, glove release pressure transducer, glove compaction pressure sensor, pressure arm device, arm release pressure transducer and arm
Compaction pressure sensor is electrically connected by cable.
As preferably, described power supply unit is connected with described machinery glove back by power line, and described power supply unit sets
It is equipped with buckle, it is possible to be snapped in the waist of user.
As preferably, described press rods parts and described arm press rods parts are long plate shape and arrange.
As preferably, the material of described press rods parts and described arm press rods parts is high-strength magnesium alloy.
As preferably, two segment length of described arm press rods parts are adjustable.
As preferably, the periphery of described arm press rods parts is wrapped in the soft material matched with forearm and large arm.
As preferably, described press rods parts and described arm press rods parts use high-strength magnesium alloy skeleton outer wrap
The mode of high-strength rubber builds, and described high-strength magnesium alloy skeleton content by mass percentage is calculated as: Mn:1.1 ~ 2.1%, and Bi:6 ~
12%, Ca:0.2 ~ 0.8%, La:0.1 ~ 0.2%, surplus is Mg and inevitable impurity, and described high-strength magnesium alloy skeleton
Microstructure in Mg3Bi2The mean diameter of phase is 0.15 ~ 0.80 m, described Mg3Bi2Phase disperse is around Mg matrix.
Effect of the invention is that:
1, be arranged so as to mode by the application so that muscle power worker is grasping weight when, it is only necessary to do action and not
Need to apply grip force, the when of carrying heavy goods, only need the strength that the power that puies forward of shoulder coordinates without large arm and forearm, from
And significantly reduce the labor intensity of workman.
2, by arranging multistage compression projection accommodating groove and multistage release pressure projection accommodating groove, thus avoid grasping by mistake
Making, compress once, transmit a signal, hydraulic stem contraction flow region shrinks a bit, then compresses once, transmits second-order signal, hydraulic pressure
Bar contraction flow region shrinks a bit (finger being similar to people bends a bit further) again, be so divided into five stages until holding with a firm grip, as
Really maloperation, only needs finger to open a bit, i.e. triggers release projection, thus hydraulic stem contraction flow region extends a bit, thus hands
Set pressure lever apparatus also entirety is opened a bit (finger being similar to people opens a bit), but its strength is shunk by hydraulic stem completely
Portion is given, thus reaches to simulate completely the purpose of staff.
3, by work that this mechanical arm and human body are combined, it is to avoid the heaviness of complete mechanical arm and ineffective activity,
By human body, the signal that mechanical arm transmits is achieved the combination of mechanical arm and human body, has played the two respective advantage (manpower
Flexibly and timeliness, mechanical disperses force).
Accompanying drawing explanation
Fig. 1 is the structural representation of mechanical arm side of the present invention.
Fig. 2 is the back structures schematic diagram of a kind of embodiment of mechanical glove of mechanical arm of the present invention.
Fig. 3 is the mechanical glove palm of the hand portion structural representation of mechanical arm of the present invention.
Fig. 4 is that mechanical hand of the present invention overlaps pressure rod unit structural representation.
Fig. 5 is the arm press rods modular construction schematic diagram of mechanical arm of the present invention.
Wherein: 1-glove press rods device, 11-press rods parts, 12-hydraulic stem contraction flow region, 21-discharges projection, and 31-presses
Tight projection, 32-compresses projection accommodating groove, and 4-controls device, 5-power supply unit, 61-arm press rods parts, and 62-arm hydraulic stem is received
Contracting portion, 63-arm press rods incorporating section, 64-arm hold assembly, 65-arm compresses projection accommodating groove, and 66-arm compresses projection.
Detailed description of the invention
Embodiment 1
One slows down working strength mechanical arm, and including machinery glove and mechanical arm, wherein machinery glove include: glove pressure
Lever apparatus, glove release pressure transducer, glove compaction pressure sensor, control device and power supply unit；Described mechanical hand
Arm includes: pressure arm device, arm release pressure transducer and arm compaction pressure sensor.
Described glove press rods device is arranged on the inner side of described machinery glove, including five finger phases with machinery glove
Five the press rods parts coordinated, each press rods parts are divided into three sections, arrange hydraulic stem contraction flow region, pass through hydraulic pressure between every section
The angle of each press rods parts three sections is adjusted by bar contraction flow region.
Described glove release pressure transducer is arranged on the outside on five finger tops of machinery glove, convex including discharging
Block, release projection accommodating groove and release sensing module, described release projection closes with release projection accommodating groove matching form, and
Described release projection accommodating groove is used for receiving described release projection, and described release projection accommodating groove arranges 5 release storage rank, institute
State 5 release storage rank to enter the degree of depth of described release projection accommodating groove according to release projection and discharge, often release one
Storage rank i.e. carry out a pressure sensing to described release sensing module, and described release sensing module is used for sensing described release and receives
Receive rank for its pressure sensing and sends described control device to by its signal data.
Described glove compaction pressure sensor is arranged on the inner side on five finger tops of machinery glove, convex including compressing
Block, compression projection accommodating groove and compression sensing module, described compression projection closes with compressing projection accommodating groove matching form, and
Described compression projection accommodating groove is used for receiving described compression projection, and described compression projection accommodating groove arranges 5 and compresses storage rank, institute
State 5 compression storage rank to discharge, often release one according to the degree of depth compressing the projection described compression projection accommodating groove of entrance
Compressing storage rank and described compression sensing module i.e. carries out a pressure sensing, described compression sensing module is used for sensing described pressure
Its signal data for its pressure sensing and is sent to described control device by tight rank of receiving.
Described pressure arm device is arranged on the inner side of mechanical arm, with machinery glove be connected, including with forearm and large arm
The arm press rods parts matched, each arm press rods parts are divided into two sections, and two sections are matched with forearm and large arm respectively, two sections
Between arm hydraulic stem contraction flow region is set, by arm hydraulic stem contraction flow region, the angle of each press rods parts two sections is adjusted.
Described arm release pressure transducer is arranged on the outside of described mechanical arm, position correspondence user arm point of elbow
Outside forearm, including arm release projection, arm release projection accommodating groove and arm release sensing module, described arm release projection and arm
Release projection accommodating groove matching form closes, and described arm release projection accommodating groove is used for receiving described arm release projection, described
Arm release projection accommodating groove arranges 3 arm release storage rank, and described 3 arms release storage rank enter described according to arm release projection
Arm discharges the degree of depth of projection accommodating groove and discharges, and often release one storage rank i.e. carry out one to described arm release sensing module
Secondary pressure sensing, described arm release sensing module and is believed for its pressure sensing for sensing described arm release storage rank
Number sends described control device to.
Described arm compaction pressure sensor is arranged at the inner side of described mechanical arm, position correspondence user arm point of elbow
Inside forearm, compress projection including arm, arm compresses projection accommodating groove and arm compresses sensing module, and described arm compresses projection and arm
Compress projection accommodating groove matching form to close, and described arm compresses projection accommodating groove and is used for receiving described arm compression projection, described
Arm compresses projection accommodating groove and arranges 6 arms compression storage rank, and it is described that described 6 arms compression storage rank compress projection entrance according to arm
Arm compresses the degree of depth of projection accommodating groove and discharges, and often one arm of release compresses storage rank and i.e. described arm compressed sensing module
Carry out a pressure sensing, described arm compress sensing module for sense described arm compress storage rank for its pressure sensing also
Its signal data is sent to described control device.
Described control device is used for receiving release sensing module and compressing sensing module and arm release sensing module and arm pressure
Signal data that tight sensing module transmits and opponent overlaps pressure lever apparatus and pressure arm device is controlled, by described hydraulic pressure
Bar contraction flow region and the contraction of arm hydraulic stem contraction flow region and release are controlled such that described machinery glove realize grasping and opening row
For the behavior mentioned with the realization of described mechanical arm and put down.
Described power supply unit is for described control device, glove press rods device, glove release pressure transducer, glove
Compaction pressure sensor, pressure arm device, arm release pressure transducer, arm compaction pressure sensor are powered.
Described control device is arranged on and slows down outside working strength mechanical arm, is set together with power supply unit, with institute
State glove press rods device, glove release pressure transducer, glove compaction pressure sensor, pressure arm device, arm release pressure
Sensor and arm compaction pressure sensor are electrically connected by cable.
Described power supply unit is connected with described machinery glove back by power line, and described power supply unit is provided with buckle,
The waist of user can be snapped in.
Described press rods parts and described arm press rods parts are long plate shape and arrange.
Two segment length of described arm press rods parts are adjustable.
The periphery of described arm press rods parts is wrapped in the soft material matched with forearm and large arm.
Embodiment 2
One slows down working strength mechanical arm, and including machinery glove and mechanical arm, wherein machinery glove include: glove pressure
Lever apparatus, glove release pressure transducer, glove compaction pressure sensor, control device and power supply unit；Described mechanical hand
Arm includes: pressure arm device, arm release pressure transducer and arm compaction pressure sensor.
Described glove press rods device is arranged on the inner side of described machinery glove, including five finger phases with machinery glove
Five the press rods parts coordinated, each press rods parts are divided into three sections, arrange hydraulic stem contraction flow region, pass through hydraulic pressure between every section
The angle of each press rods parts three sections is adjusted by bar contraction flow region.
Described glove release pressure transducer is arranged on the outside on five finger tops of machinery glove, convex including discharging
Block, release projection accommodating groove and release sensing module, described release projection closes with release projection accommodating groove matching form, and
Described release projection accommodating groove is used for receiving described release projection, and described release projection accommodating groove arranges 6 release storage rank, institute
State 6 release storage rank to enter the degree of depth of described release projection accommodating groove according to release projection and discharge, often release one
Storage rank i.e. carry out a pressure sensing to described release sensing module, and described release sensing module is used for sensing described release and receives
Receive rank for its pressure sensing and sends described control device to by its signal data.
Described glove compaction pressure sensor is arranged on the inner side on five finger tops of machinery glove, convex including compressing
Block, compression projection accommodating groove and compression sensing module, described compression projection closes with compressing projection accommodating groove matching form, and
Described compression projection accommodating groove is used for receiving described compression projection, and described compression projection accommodating groove arranges 5 and compresses storage rank, institute
State 5 compression storage rank to discharge, often release one according to the degree of depth compressing the projection described compression projection accommodating groove of entrance
Compressing storage rank and described compression sensing module i.e. carries out a pressure sensing, described compression sensing module is used for sensing described pressure
Its signal data for its pressure sensing and is sent to described control device by tight rank of receiving.
Described pressure arm device is arranged on the inner side of mechanical arm, with machinery glove be connected, including with forearm and large arm
The arm press rods parts matched, each arm press rods parts are divided into two sections, and two sections are matched with forearm and large arm respectively, two sections
Between arm hydraulic stem contraction flow region is set, by arm hydraulic stem contraction flow region, the angle of each press rods parts two sections is adjusted.
Described arm release pressure transducer is arranged on the outside of described mechanical arm, position correspondence user arm point of elbow
Outside forearm, including arm release projection, arm release projection accommodating groove and arm release sensing module, described arm release projection and arm
Release projection accommodating groove matching form closes, and described arm release projection accommodating groove is used for receiving described arm release projection, described
Arm release projection accommodating groove arranges 6 arm release storage rank, and described 6 arms release storage rank enter described according to arm release projection
Arm discharges the degree of depth of projection accommodating groove and discharges, and often release one storage rank i.e. carry out one to described arm release sensing module
Secondary pressure sensing, described arm release sensing module and is believed for its pressure sensing for sensing described arm release storage rank
Number sends described control device to.
Described arm compaction pressure sensor is arranged at the inner side of described mechanical arm, position correspondence user arm point of elbow
Inside forearm, compress projection including arm, arm compresses projection accommodating groove and arm compresses sensing module, and described arm compresses projection and arm
Compress projection accommodating groove matching form to close, and described arm compresses projection accommodating groove and is used for receiving described arm compression projection, described
Arm compresses projection accommodating groove and arranges 5 arms compression storage rank, and it is described that described 5 arms compression storage rank compress projection entrance according to arm
Arm compresses the degree of depth of projection accommodating groove and discharges, and often one arm of release compresses storage rank and i.e. described arm compressed sensing module
Carry out a pressure sensing, described arm compress sensing module for sense described arm compress storage rank for its pressure sensing also
Its signal data is sent to described control device.
Described control device is used for receiving release sensing module and compressing sensing module or arm release sensing module and arm pressure
Signal data that tight sensing module transmits and opponent overlaps pressure lever apparatus or pressure arm device is controlled, by described hydraulic pressure
Bar contraction flow region or the contraction of arm hydraulic stem contraction flow region and release are controlled such that described machinery glove realize grasping and opening row
For or described mechanical arm realize the behavior mentioning and put down.
Described power supply unit is for described control device, glove press rods device, glove release pressure transducer, glove
Compaction pressure sensor, pressure arm device, arm release pressure transducer, arm compaction pressure sensor are powered.
Described control device is arranged on the back of described machinery glove.
Described control device and described glove press rods device, glove release pressure transducer, glove compaction pressure sensing
Device, pressure arm device, arm release pressure transducer and the electrical connection of arm compaction pressure sensor.
Described power supply unit is connected with described machinery glove back by power line, and described power supply unit is provided with buckle,
The waist of user can be snapped in.
Described press rods parts and described arm press rods parts are long plate shape and arrange.
The material of described press rods parts and described arm press rods parts is high-strength magnesium alloy.
Two segment length of described arm press rods parts are adjustable.
The periphery of described arm press rods parts is wrapped in the soft material matched with forearm and large arm.
Embodiment 3
One slows down working strength mechanical arm, and including machinery glove and mechanical arm, wherein machinery glove include: glove pressure
Lever apparatus, glove release pressure transducer, glove compaction pressure sensor, control device and power supply unit；Described mechanical hand
Arm includes: pressure arm device, arm release pressure transducer and arm compaction pressure sensor.
Described glove press rods device is arranged on the inner side of described machinery glove, including five finger phases with machinery glove
Five the press rods parts coordinated, each press rods parts are divided into three sections, arrange hydraulic stem contraction flow region, pass through hydraulic pressure between every section
The angle of each press rods parts three sections is adjusted by bar contraction flow region.
Described glove release pressure transducer is arranged on the outside on five finger tops of machinery glove, convex including discharging
Block, release projection accommodating groove and release sensing module, described release projection closes with release projection accommodating groove matching form, and
Described release projection accommodating groove is used for receiving described release projection, and described release projection accommodating groove arranges multiple release storage rank,
The plurality of release storage rank enter the degree of depth of described release projection accommodating groove according to release projection and discharge, and often discharge one
Individual storage rank i.e. carry out a pressure sensing to described release sensing module, and described release sensing module is used for sensing described release
Receive rank and for its pressure sensing to and its signal data is sent described control device.
Described glove compaction pressure sensor is arranged on the inner side on five finger tops of machinery glove, convex including compressing
Block, compression projection accommodating groove and compression sensing module, described compression projection closes with compressing projection accommodating groove matching form, and
Described compression projection accommodating groove is used for receiving described compression projection, and described compression projection accommodating groove arranges multiple compression and receives rank,
The plurality of storage rank that compress discharge according to the degree of depth compressing the projection described compression projection accommodating groove of entrance, often discharge one
The individual storage rank that compress i.e. carry out a pressure sensing to described compression sensing module, and described compression sensing module is used for sensing described
Compress storage rank and for its pressure sensing to and its signal data is sent described control device.
Described pressure arm device is arranged on the inner side of mechanical arm, with machinery glove be connected, including with forearm and large arm
The arm press rods parts matched, each arm press rods parts are divided into two sections, and two sections are matched with forearm and large arm respectively, two sections
Between arm hydraulic stem contraction flow region is set, by arm hydraulic stem contraction flow region, the angle of each press rods parts two sections is adjusted.
Described arm release pressure transducer is arranged on the outside of described mechanical arm, position correspondence user arm point of elbow
Outside forearm, including arm release projection, arm release projection accommodating groove and arm release sensing module, described arm release projection and arm
Release projection accommodating groove matching form closes, and described arm release projection accommodating groove is used for receiving described arm release projection, described
Arm release projection accommodating groove arranges multiple arm release storage rank, and the plurality of arm release storage rank enter institute according to arm release projection
Stating the degree of depth of arm release projection accommodating groove and discharge, often described arm release sensing module is i.e. carried out by release one storage rank
Pressure sensing, described arm release sensing module is for sensing described arm release storage rank for its pressure sensing and by it
Signal data sends described control device to.
Described arm compaction pressure sensor is arranged at the inner side of described mechanical arm, position correspondence user arm point of elbow
Inside forearm, compress projection including arm, arm compresses projection accommodating groove and arm compresses sensing module, and described arm compresses projection and arm
Compress projection accommodating groove matching form to close, and described arm compresses projection accommodating groove and is used for receiving described arm compression projection, described
Arm compression projection accommodating groove arranges multiple arm and compresses storage rank, and the plurality of arm compresses storage rank and enters institute according to arm compression projection
Stating arm to compress the degree of depth of projection accommodating groove and discharge, often one arm of release compresses storage rank and described arm i.e. compresses sensing mould
Block carries out a pressure sensing, and described arm compresses sensing module and compresses the storage rank pressure sensing for it for sensing described arm
And its signal data is sent to described control device.
Described control device is used for receiving release sensing module and compressing sensing module and/or arm release sensing module and arm
Compress the signal data that transmits of sensing module and opponent overlaps pressure lever apparatus and/or pressure arm device is controlled, by institute
State hydraulic stem contraction flow region and/or the contraction of arm hydraulic stem contraction flow region and release is controlled such that described machinery glove realize grasping
The behavior mentioned with the behavior of opening and/or the realization of described mechanical arm and put down.
Described power supply unit is for described control device, glove press rods device, glove release pressure transducer, glove
Compaction pressure sensor, pressure arm device, arm release pressure transducer, arm compaction pressure sensor are powered.
Described control device is arranged on and slows down outside working strength mechanical arm, with described glove press rods device, glove
Release pressure transducer, glove compaction pressure sensor, pressure arm device, arm release pressure transducer and arm compaction pressure pass
Sensor is electrically connected by cable.
Described power supply unit is connected with described machinery glove back by power line, and described power supply unit is provided with buckle,
The waist of user can be snapped in.
Described press rods parts and described arm press rods parts are long plate shape and arrange.
Two segment length of described arm press rods parts are adjustable.
The periphery of described arm press rods parts is wrapped in the soft material matched with forearm and large arm.
Described press rods parts and described arm press rods parts use the high-strength magnesium alloy high-strength rubber of skeleton outer wrap
Mode build, described high-strength magnesium alloy skeleton content by mass percentage is calculated as: Mn:1.6%, Bi:8%, Ca:0.5%, La:
0.16%, surplus is Mg and inevitable impurity, and Mg in the microstructure of described high-strength magnesium alloy skeleton3Bi2Phase
Mean diameter is 0.36 m, described Mg3Bi2Phase disperse is around Mg matrix.
Claims (8)
1. one kind is slowed down working strength mechanical arm, it is characterised in that include machinery glove and mechanical arm, wherein machinery glove
Including: glove press rods device, glove release pressure transducer, glove compaction pressure sensor, control device and power supply unit
Part；Described mechanical arm includes: pressure arm device, arm release pressure transducer and arm compaction pressure sensor；
Described glove press rods device is arranged on the inner side of described machinery glove, matches including five fingers with machinery glove
Five press rods parts, each press rods parts are divided into three sections, arrange hydraulic stem contraction flow region, received by hydraulic stem between every section
The angle of each press rods parts three sections is adjusted by contracting portion；
Described glove release pressure transducer is arranged on the outside on five finger tops of machinery glove, including release projection, releases
Putting projection accommodating groove and release sensing module, described release projection closes with release projection accommodating groove matching form, and described
Release projection accommodating groove is used for receiving described release projection, and described release projection accommodating groove arranges multiple release storage rank, described
Multiple release storage rank enter the degree of depth of described release projection accommodating groove according to release projection and discharge, often one receipts of release
Receive rank i.e. carries out a pressure sensing to described release sensing module, and described release sensing module is used for sensing described release storage
Rank are for its pressure sensing and its signal data sends to described control device；
Described glove compaction pressure sensor is arranged on the inner side on five finger tops of machinery glove, including compressing projection, pressure
Tight projection accommodating groove and compression sensing module, described compression projection closes with compressing projection accommodating groove matching form, and described
Compressing projection accommodating groove and be used for receiving described compression projection, described compression projection accommodating groove arranges multiple storage rank that compress, described
Multiple storage rank that compress discharge, often one pressure of release according to the degree of depth compressing the projection described compression projection accommodating groove of entrance
Tight storage rank i.e. carry out a pressure sensing to described compression sensing module, and described compression sensing module is used for sensing described compression
Receive rank and for its pressure sensing to and its signal data is sent described control device；
Described pressure arm device is arranged on the inner side of mechanical arm, is connected with machinery glove, matches including with forearm and large arm
The arm press rods parts closed, each arm press rods parts are divided into two sections, and two sections are matched with forearm and large arm respectively, between two sections
Arm hydraulic stem contraction flow region is set, by arm hydraulic stem contraction flow region, the angle of each press rods parts two sections is adjusted；
Described arm release pressure transducer is arranged on the outside of described mechanical arm, the forearm of position correspondence user arm point of elbow
Outside, including arm release projection, arm release projection accommodating groove and arm release sensing module, described arm release projection discharges with arm
Projection accommodating groove matching form closes, and described arm release projection accommodating groove is used for receiving described arm release projection, and described arm is released
Putting projection accommodating groove and arrange multiple arm release storage rank, the plurality of arm release storage rank enter described arm according to arm release projection
Discharging the degree of depth of projection accommodating groove and discharge, often described arm release sensing module is i.e. carried out once by release one storage rank
Pressure sensing, described arm release sensing module is for sensing described arm release storage rank for its pressure sensing and by its signal
Data send described control device to；
Described arm compaction pressure sensor is arranged at the inner side of described mechanical arm, the forearm of position correspondence user arm point of elbow
Inner side, compresses projection, arm compression projection accommodating groove and arm including arm and compresses sensing module, and described arm compresses projection and compresses with arm
Projection accommodating groove matching form closes, and described arm compresses projection accommodating groove and is used for receiving described arm compression projection, described arm pressure
Tight projection accommodating groove arranges multiple arm and compresses storage rank, and the plurality of arm compression storage rank compress projection according to arm and enter described arm
Compressing the degree of depth of projection accommodating groove and discharge, often described arm compression sensing module is i.e. entered by one arm compression storage rank of release
Pressure sensing of row, described arm compress sensing module for sense described arm compress storage rank for its pressure sensing and by
Its signal data sends described control device to；
Described control device is used for receiving release sensing module and compressing sensing module and/or arm release sensing module and arm compression
Signal data that sensing module transmits and opponent overlaps pressure lever apparatus and/or pressure arm device is controlled, by described liquid
Depression bar contraction flow region and/or the contraction of arm hydraulic stem contraction flow region and release are controlled such that described machinery glove realize grasping and opening
Start for and/or described mechanical arm realize the behavior mentioning and put down；
Described power supply unit is for compressing described control device, glove press rods device, glove release pressure transducer, glove
Pressure transducer, pressure arm device, arm release pressure transducer, arm compaction pressure sensor are powered.
The most according to claim 1 slow down working strength mechanical arm, it is characterised in that described control device is arranged on institute
State the back of machinery glove.
The most according to claim 1 slow down working strength mechanical arm, it is characterised in that described control device is arranged on and subtracts
Outside slow working strength mechanical arm, pass with described glove press rods device, glove release pressure transducer, glove compaction pressure
Sensor, pressure arm device, arm release pressure transducer and arm compaction pressure sensor are electrically connected by cable.
The most according to claim 1 slow down working strength mechanical arm, it is characterised in that described power supply unit passes through power supply
Line is connected with described machinery glove back, and described power supply unit is provided with buckle, it is possible to be snapped in the waist of user.
5. according to slowing down working strength mechanical arm described in claim 1 and 4, it is characterised in that described press rods parts and
Described arm press rods parts are long plate shape and arrange.
6. according to slowing down working strength mechanical arm described in claim 1 and 5, it is characterised in that described press rods parts and
The material of described arm press rods parts is high-strength magnesium alloy.
7. according to slowing down working strength mechanical arm described in claim 1 and 6, it is characterised in that described arm press rods parts
Two segment length adjustable.
8. according to slowing down working strength mechanical arm described in claim 1 and 6, it is characterised in that described arm press rods parts
Periphery be wrapped in the soft material matched with forearm and large arm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610820300.3A CN106272355B (en) | 2016-09-13 | 2016-09-13 | One kind slowing down working strength mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610820300.3A CN106272355B (en) | 2016-09-13 | 2016-09-13 | One kind slowing down working strength mechanical arm |
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| CN106272355A true CN106272355A (en) | 2017-01-04 |
| CN106272355B CN106272355B (en) | 2018-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610820300.3A Active CN106272355B (en) | 2016-09-13 | 2016-09-13 | One kind slowing down working strength mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111295270A (en) * | 2017-11-01 | 2020-06-16 | Thk株式会社 | Manipulator mechanism |
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|---|---|
| CN106272355B (en) | 2018-08-24 |
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Effective date of registration: 20191106 Address after: 226600 Haiphong Road, Haian Development Zone, Nantong, Jiangsu Patentee after: Jiangsu Maisi Iron Machinery Co., Ltd Address before: 226000 Haian economic and Technological Development Zone, Nantong, Jiangsu Patentee before: NANTONG MASTEEL NUMERICAL CONTROL MACHINE TOOL CO., LTD. |