CN110328648A - A kind of man-machine working machine moved synchronously - Google Patents
A kind of man-machine working machine moved synchronously Download PDFInfo
- Publication number
- CN110328648A CN110328648A CN201910719382.6A CN201910719382A CN110328648A CN 110328648 A CN110328648 A CN 110328648A CN 201910719382 A CN201910719382 A CN 201910719382A CN 110328648 A CN110328648 A CN 110328648A
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- sensor
- driving machine
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- 230000033001 locomotion Effects 0.000 claims abstract description 22
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 7
- 210000001145 finger joint Anatomy 0.000 claims description 11
- 210000000707 wrist Anatomy 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 3
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 description 8
- 239000011295 pitch Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000004297 night vision Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000009916 joint effect Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000004886 head movement Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000009428 plumbing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
Abstract
The invention discloses a kind of man-machine working machines moved synchronously, it is applied to ergonomic arts, it includes being arranged in human body head, the signal detector of upper limb moving part, the controller of driving machine on working machine and the connection signal detector and driving machine is set, the signal detector is electrically connected with the input terminal of controller, the output end and driving mechatronics of the controller, the configuration of the present invention is simple, it is novel in design, it is low to environmental requirement, it is applied widely, man-machine adaptability is good, operator can arbitrarily control the motion state of working machine, the direction of motion, the wish for meeting working machine fully according to people moves, working machine is set to replace the mankind severe, operation under high-risk environment, there are the protection mankind, allow the mankind far from the effect of high-risk environment, its is of far-reaching significance.
Description
Technical field
The present invention relates to ergonomic arts, specifically a kind of man-machine working machine moved synchronously.
Background technique
Currently, man-machine synchronizer control precision is low, use environment is limited, cannot replace the mankind, the wish by people completely
It fulfils assignment.The mankind are caused to work under severe, high-risk environment, human health is affected, the person will receive injury and even endanger
Machine life causes the pain of injury that can not be made up to family, society.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of man-machine working machines moved synchronously, can replace the mankind completely
It fulfils assignment, plays the protection mankind, makes the mankind far from dangerous effect.
In order to solve the above technical problems, the technical scheme adopted by the invention is that:
The present invention includes that human body head, the signal detector of upper limb moving part, the driving machine that is arranged on working machine is arranged in
With the controller for connecting the signal detector and driving machine, the signal detector is electrically connected with the input terminal of controller, institute
State the output end and driving mechatronics of controller.
A further improvement of the present invention is that: the signal detector is angular transducer, and the angular transducer includes
It passes sequentially through the overhead first angle sensor of setting of bracket flexible connection, the second angle sensing of neck is set
Device, the third angle sensor that shoulder is set, the fourth angle sensor that ancon is set, be arranged at wrist the 5th jiao
Degree sensor and the 6th angular transducer being arranged at finger-joint, the driving machine include passing sequentially through axis joint activity company
The setting connect is in neck head twist driving machine corresponding with first angle sensor, setting in neck and second angle sensor
Corresponding head pitch driving machine, setting shoulder shoulder driving machine corresponding with third angle sensor, setting in ancon and
The corresponding ancon driving machine of fourth angle sensor, be arranged at wrist wrist driving machine corresponding with the 5th angular transducer and
Finger-joint driving machine corresponding with the 6th angular transducer is set at finger-joint.
A further improvement of the present invention is that: the underfooting of people is equipped with foot pedal, and the lower part of the driving machine has been equipped with support
With the running gear for changing displacement, the foot pedal is equipped with the advancement sensor of the control running gear direction of motion, retrogressing passes
Sensor, left lateral sensor and right lateral sensor, the advancement sensor retreat sensor, left lateral sensor and right lateral sensor
It is electrically connected respectively with the input terminal of controller, the output end of the controller is electrically connected with running gear.
A further improvement of the present invention is that: the head twist driving machine and head pitch driving machine and connect with video camera
It connects, the video camera is connect with video/audio receiving device.
A further improvement of the present invention is that: the video/audio receiving device is display.
A further improvement of the present invention is that: it further include radio transmitting device, the controller is equipped with wireless transmission dress
Set, the radio transmitting device includes wireless transmitter and wireless receiver, the wireless transmitter and wireless receiver with
Controller electrical connection.
A further improvement of the present invention is that: the video camera is electrically connected by wireless image-sound transmitting device with display.
A further improvement of the present invention is that: the wireless image-sound transmitting device includes wireless transmitting terminals and wireless receiving
End, the wireless transmitting terminals and camera shooting mechatronics, the wireless receiving end is electrically connected with display.
A further improvement of the present invention is that: the display is VR head-mounted display.
By adopting the above-described technical solution, the beneficial effect that the present invention obtains is:
The configuration of the present invention is simple, novel in design, low to environmental requirement, applied widely, man-machine adaptability is good, and people can arbitrarily control
Motion state, the direction of motion of working machine, the wish for meeting working machine fully according to people work, and make working machine that the mankind be replaced to dislike
Operation under bad, high-risk environment plays the role of protecting the mankind, allows the mankind far from high-risk environment, of far-reaching significance.
The motion information that signal detector real-time detection by the way that the motive positions such as human body head and upper limb are arranged in arrives passes
The input terminal of controller is passed, controller carries out operation, processing to the signal, and the motion information reduction that will test passes through control
The output end of device processed passes to working machine, and working machine restores each motion information, driving working machine movement, realize working machine according to
The motion information movement of signal detector detection, achievees the purpose that instead of mankind's operation under severe, high-risk environment.It can use extensively
In the every trade industry industry of the national products such as industry, agricultural, national defence and fire-fighting, there is the necessity widelyd popularize.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of video camera of the present invention Yu display wired connection；
Fig. 2 is the structural schematic diagram that video camera of the present invention and display are wirelessly connected；
Fig. 3 is the structural schematic diagram of controller wire transmission of the present invention；
Fig. 4 is the structural schematic diagram of controller wireless transmission of the present invention.
Wherein, 1, first angle sensor；2, VR head-mounted display；3, second angle sensor；4, third angle senses
Device；5, fourth angle sensor；6, the 5th angular transducer；7, the 6th angular transducer；8, foot pedal；9, head twist drives
Machine；10, video camera；11, head pitches driving machine；12, shoulder driving machine；13, ancon driving machine；14, wrist driving machine；15,
Finger-joint driving machine；16, running gear；17, wireless receiving end；18, wireless transmitting terminals；19, controller；20, wireless transmission
Device；21, wireless receiver.
Specific embodiment
The present invention is described in further details below with reference to embodiment:
A kind of man-machine working machine moved synchronously, as shown in Figs 1-4 comprising human body head, upper limb moving part are set
The controller 19 of signal detector, the driving machine being arranged on working machine and the connection signal detector and driving machine, it is described
Signal detector is electrically connected with the input terminal of controller 19, the output end and driving mechatronics of the controller.Signal detection
The action message of human body head, upper limb that device will test passes to the input terminal of controller 19, and controller 19 carries out operation, processing
The signal is passed to by the driving machine being arranged on working machine by the output end of controller 19 later, it is complete that working machine just simulates human body
The movement to be completed of adult.
The controller 19 is steering engine control panel, can be used as it is wireless, also be used as wired, can also wirelessly make with wire crossover
With the steering engine control panel has been written into program and by debugging, test, direct use before factory.The driving machine is
Electric drive is also possible to hydraulic-driven as needed, selects as needed.It is retouched in detail by taking electric drive as an example below
It states.The driving machine is big torsion steering engine, is connected between steering engine by bracket, the bracket include multi-purpose stand, u-bracket,
Cup type bearing, metal steering wheel and connecting screw.Connecting screw passes through multi-purpose stand, u-bracket, cup type bearing, metal steering wheel
Steering engine is linked together, human action is simulated.
As shown in Figs 1-4, the signal detector is angular transducer, angular transducer and steering engine quantity number see can
It increases or decreases as needed, angular transducer may be provided at the head of people, neck, shoulder, ancon, wrist, swivel of hand or waist
The moving parts such as portion.Its working principle is simply illustrated by taking six angular transducers as an example, the angular transducer includes successively leading to
The overhead first angle sensor 1 of setting for crossing bracket flexible connection, is set the second angle sensor 3 that neck is arranged in
It sets in the third angle sensor 4 of shoulder, the fourth angle sensor 5 that ancon is arranged in, the 5th angle being arranged at wrist
Sensor 6 and the 6th angular transducer 7 being arranged at finger-joint, the driving machine include passing sequentially through axis joint activity company
The setting connect is sensed in neck head twist driving machine 9 corresponding with first angle sensor, setting in neck and second angle
The corresponding head of device pitches driving machine 11, setting exists in shoulder shoulder driving machine 12 corresponding with third angle sensor 4, setting
Wrist corresponding with the 5th angular transducer is arranged at wrist in ancon and the corresponding ancon driving machine 13 of fourth angle sensor
Driving machine 14 and setting the finger-joint driving machine 15 corresponding with the 6th angular transducer at finger-joint.
The human body head that the first angle sensor 1 and second angle sensor 3 will test turns left, turns right, comes back
Or the action messages such as bow pass to the input terminal of controller 19, controller 19 detects the head movement information transmitted with laggard
The motion information is passed into the head connecting with 19 output end of controller by the output end of controller 19 after row operation, processing
Driving machine 9 is reversed in portion and head pitches driving machine 11, and working machine is made to complete the information that head turns left, turns right, bows and comes back.The
The human body shoulder that three angular transducers 4, fourth angle sensor 5, the 5th angular transducer 6 and the 6th angular transducer 7 detect
Portion, ancon, wrist and finger-joint motion information pass to the input terminal of controller 19, after 19 operation of controller and processing
Shoulder driving machine 12, ancon driving machine 13, wrist driving machine 14 and the finger-joint driving machine 15 controlled on the working machine is dynamic
Make, so that working machine simulate human body completely and lift arm, plumbing arm, carry and grab and the movement such as pinch, allow working machine that the mankind completion mankind is replaced to want
The work done comes out mankind's thorough liberation from heavy manual labor, improves the quality of life of the mankind.
As depicted in figs. 1 and 2, the underfooting of people is equipped with foot pedal 8, and the lower part of the driving machine has been equipped with support and has changed position
The running gear 16 of shifting, the foot pedal 8 are equipped with the advancement sensor of control 16 direction of motion of running gear, retreat sensing
Device, left lateral sensor and right lateral sensor, the advancement sensor retreat sensor, left lateral sensor and right lateral sensor point
It is not electrically connected with the input terminal of controller 19, the output end of the controller 19 is electrically connected with running gear 16.When needing work
When machine travels forward, the progress signal that advancement sensor detects passes to the input terminal of controller 19, and controller 19 is controlled
Running gear 16 processed travels forward, and similarly working machine realizes the movement of retrogressing, left lateral and right lateral.The running gear 16 can be
The lower limb of human body are also possible to wheel, crawler belt etc..
It is connect with video camera 10 as shown in Figure 1, the head twist driving machine 9 and head pitch driving machine 11, it is described
Video camera 10 is connect with video/audio receiving device, and the video/audio receiving device is display, and the display is VR head-mounted display
2.The video camera 10 is the head of working machine, is infrared night vision monitor, and the clear fine and smooth, night vision of image quality understands.Image is clear
Clear degree is high, and color rendition degree is good, and color is true to nature gorgeous, and night vision noise is small, good brightness.The picture that the video camera 10 is shot is logical
It crosses and is worn on the VR head-mounted display 2 of human body head and clearly shows that, the VR head-mounted display 2 is LCD display, and viewing is relaxed
It is suitable, and have the design of the unique bridge of the nose, wear it is comfortable.Operator manipulates work according to the picture of 2 reality of VR head-mounted display
It fulfils assignment as machine.The video camera 10 has the function of shooting picture, voice traffic and picture in conjunction with sound, operation side
Just, flexibly use, the function of its shooting picture can be used, the function of voice traffic also can be used, sound also can be used
Video calling exchange in conjunction with picture.
It as shown in Figure 2 and Figure 4, further include radio transmitting device, the controller 19 is equipped with radio transmitting device, described
Radio transmitting device includes wireless transmitter 20 and wireless receiver 21, the wireless transmitter 20 and wireless receiver 21 with
Controller 19 is electrically connected.When people apart from working machine farther out when, need to be electrically connected by radio transmitting device with controller 19, will believe
The signal of number detector acquisition passes to the driving machine connecting with 19 output end of controller by radio transmitting device.It needs at this time
Two pieces of steering engine control panels, and wireless transmitting terminals 20 and wireless receiver 21 are plugged respectively on two pieces of steering engine control panels, it will
The input terminal for being inserted into the controller 19 of wireless transmitter 20 is connect with signal detector, will be inserted into the controller of wireless receiver 21
19 output end is connect with driving machine.In this way, the signal for the body motion information that signal detector detects will pass through controller
19 and radio transmitting device pass to driving machine, complete the movement of driving machine simulation human body.
As shown in Fig. 2, the video camera 10 is electrically connected by wireless image-sound transmitting device with display, the display is
VR head-mounted display 2, when video camera 10 and VR head-mounted display 2 are apart from each other, video camera 10 will pass through wireless image-sound transmission
The audio-visual acoustic information of shooting is passed to VR head-mounted display 2, the picture that operator shows according to VR head-mounted display 2 by device
Face and the acoustic information heard control driving machine operation.The wireless image-sound transmitting device includes wireless transmitting terminals 18 and wirelessly connects
Receiving end 17, the wireless transmitting terminals 18 are electrically connected with video camera 10, and the wireless receiving end 17 and VR head-mounted display 2 is electrically connected
It connects.
In implementation process, operator controls human body head, upper limb according to the information shown on VR head-mounted display 2
Movement, signal detector detect that information passes to the input terminal of controller 19, controller 19 by operation and processing control and
The driving machine movement of 19 output end of controller electrical connection, fulfils assignment.In this way, working machine completely can be according to the wish of people, generation
Various operations are completed for the mankind.Working machine can replace mankind's operation under severe, high-risk environment, have the protection mankind, make the mankind remote
Effect from high-risk environment, it is of far-reaching significance, there is the necessity widelyd popularize.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify to technical solution documented by previous embodiment or equivalent replacement of some of the technical features；And
These are modified or replaceed, the spirit and model of technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (9)
1. a kind of man-machine working machine moved synchronously, it is characterised in that: the letter including human body head, upper limb moving part is arranged in
The controller (19) of number detector, the driving machine being arranged on working machine and the connection signal detector and driving machine, it is described
Signal detector is electrically connected with the input terminal of controller (19), the output end and driving mechatronics of the controller.
2. the man-machine working machine moved synchronously of one kind according to claim 1, it is characterised in that: the signal detector is
Angular transducer, the angular transducer include the overhead first angle sensing of setting for passing sequentially through bracket flexible connection
Device (1), the third angle sensor (4) that shoulder is arranged in, is arranged in ancon the second angle sensor (3) that neck is arranged in
Fourth angle sensor (5), be arranged at wrist the 5th angular transducer (6) and the hexagonal that is arranged at finger-joint
It spends sensor (7), the driving machine includes passing sequentially through the setting of axis joint flexible connection in neck and first angle sensor
Corresponding head twist driving machine (9) is arranged in neck head flexion-extension driving machine (11) corresponding with second angle sensor, sets
It sets corresponding with fourth angle sensor in ancon in shoulder and the corresponding shoulder driving machine (12) of third angle sensor, setting
Wrist driving machine (14) corresponding with the 5th angular transducer and setting is arranged at wrist in finger pass in ancon driving machine (13)
Finger-joint driving machine (15) corresponding with the 6th angular transducer at section.
3. the man-machine working machine moved synchronously of one kind according to claim 2, it is characterised in that: the underfooting of people is equipped with foot-operated
Plate (8), the lower part of the driving machine have been equipped with support and have changed the running gear (16) of displacement, and the foot pedal (8) is equipped with
It controls the advancement sensor of running gear (16) direction of motion, retreat sensor, left lateral sensor and right lateral sensor, before described
It is electrically connected respectively with the input terminal of controller (19) into sensor, retrogressing sensor, left lateral sensor and right lateral sensor, institute
The output end for stating controller (19) is electrically connected with running gear (16).
4. the man-machine working machine moved synchronously of one kind according to claim 3, it is characterised in that: the head twist driving
Machine (9) and head pitch driving machine (11) and connect with video camera (10), and the video camera (10) connect with video/audio receiving device.
5. the man-machine working machine moved synchronously of one kind according to claim 4, it is characterised in that: the video/audio receiving device
For display.
6. the man-machine working machine moved synchronously of one kind according to claim 1-5, it is characterised in that: further include nothing
Line transmitting device, the controller (19) are equipped with radio transmitting device, and the radio transmitting device includes wireless transmitter
(20) it is electrically connected with controller (19) with wireless receiver (21), the wireless transmitter (20) and wireless receiver (21).
7. the man-machine working machine moved synchronously of one kind according to claim 6, it is characterised in that: the video camera (10) is logical
Wireless image-sound transmitting device is crossed to be electrically connected with display.
8. the man-machine working machine moved synchronously of one kind according to claim 7, it is characterised in that: the wireless image-sound transmission
Device includes wireless transmitting terminals (18) and wireless receiving end (17), and the wireless transmitting terminals (18) are electrically connected with video camera (10),
The wireless receiving end (17) is electrically connected with display.
9. the man-machine working machine moved synchronously of one kind according to claim 8, it is characterised in that: the display is VR head
Wear display (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910719382.6A CN110328648A (en) | 2019-08-06 | 2019-08-06 | A kind of man-machine working machine moved synchronously |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910719382.6A CN110328648A (en) | 2019-08-06 | 2019-08-06 | A kind of man-machine working machine moved synchronously |
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| CN110328648A true CN110328648A (en) | 2019-10-15 |
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| CN201910719382.6A Pending CN110328648A (en) | 2019-08-06 | 2019-08-06 | A kind of man-machine working machine moved synchronously |
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|---|---|---|---|---|
| CN110744571A (en) * | 2019-11-11 | 2020-02-04 | 路邦科技授权有限公司 | Robot hand-held control device |
| CN110900639A (en) * | 2019-12-27 | 2020-03-24 | 米召礼 | Control device of bionic hand |
| CN111438673A (en) * | 2020-03-24 | 2020-07-24 | 西安交通大学 | High-altitude operation teleoperation method and system based on stereoscopic vision and gesture control |
| CN114227689A (en) * | 2021-12-30 | 2022-03-25 | 深圳市优必选科技股份有限公司 | Robot motion control system and motion control method thereof |
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