CN112589778B - Foldable telescopic outer limb mechanical arm with streamline housing - Google Patents
Foldable telescopic outer limb mechanical arm with streamline housing Download PDFInfo
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- CN112589778B CN112589778B CN202011532777.4A CN202011532777A CN112589778B CN 112589778 B CN112589778 B CN 112589778B CN 202011532777 A CN202011532777 A CN 202011532777A CN 112589778 B CN112589778 B CN 112589778B
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- 210000003414 extremity Anatomy 0.000 description 49
- 230000006870 function Effects 0.000 description 14
- 230000033001 locomotion Effects 0.000 description 11
- 238000013461 design Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 5
- 210000004556 brain Anatomy 0.000 description 4
- 238000004891 communication Methods 0.000 description 4
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- 239000003638 chemical reducing agent Substances 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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Abstract
The invention relates to a foldable telescopic outer limb mechanical arm with a streamline shell, which comprises a telescopic module and a plurality of rotary modules, wherein a telescopic outer cylinder in the telescopic module is connected with a tail end rotary module, a primary telescopic inner rod, a secondary telescopic inner rod and a telescopic outer cylinder are sequentially sleeved, a telescopic servo steering engine is arranged in the telescopic outer cylinder and fixedly connected with a screw rod, a primary nut in the primary telescopic inner rod and a secondary nut in the secondary telescopic inner rod are both sleeved on the screw rod, the primary nut is positioned at a screw thread section of the screw rod when the telescopic module is retracted, the secondary nut is positioned at a screw axis diameter reducing section of the screw rod, meanwhile, the secondary telescopic inner rod is connected with the telescopic outer cylinder through a spring pin locking assembly, the spring pin locking assembly is separated from the telescopic outer cylinder and is connected with the secondary telescopic inner rod and the primary telescopic inner rod when the primary telescopic inner rod is extended in place, and the primary telescopic inner rod is continuously lifted to enable the primary nut to be separated from the screw rod and the secondary nut to be moved to the screw thread section of the screw rod. The invention has compact structure in the non-working state and increases the working space of the outer limb.
Description
Technical Field
The invention relates to the field of wearable robots, in particular to a foldable telescopic outer limb mechanical arm with a streamline housing.
Background
The wearable robot mainly comprises an exoskeleton robot, a prosthetic robot and an outer limb robot, wherein the exoskeleton robot binds mechanical exoskeleton and upper and lower limbs of a human body together, detects the movement intention of the limbs of the human body through a sensor, further applies extra force to help the human body to complete certain heavy operation tasks, and lightens the load of the human body or increases the operation capacity of the human body; the artificial limb robot judges the intention of a human body through electromyographic signals and electroencephalogram signals detection and processing technology so as to help the disabled people to realize normal life as far as possible; the outer limb robot is different from the former two, is independent of the original limb of the human body, has no binding relation with the original limb, is equivalent to the extra limb of the human body, and can help the human body to complete a plurality of tasks which cannot be completed only by the original limb due to independent movement, namely the essence of the outer limb.
The robot with outer limbs is generally connected with human body through a knapsack device, along with the development of brain electric technology, the connection between the outer limbs and brain electric is established in the future, the action of the outer limbs is controlled through brain electric waves, so that the human body really feels like the outer limbs of the human body, but the control is still in a research stage at present, and the control of the outer limbs is mainly realized in the prior art through rocker, off-line programming, mapping programming established at other parts of the human body, sensor feedback learning programming and other modes.
The outer limb robot is widely applied, for example, in the agricultural field, when farmers need to bend down, the outer limbs can help the farmers to support bodies, improve skeleton stress environments and reduce abrasion of skeletons, in the daily life field, people can use the outer limbs to help us to make coffee while typing with both hands, in the military field, the outer limbs can help soldiers to hold firearms, shooting is carried out in multiple directions without dead angles, and the individual combat capability is enhanced. In a word, the outer limb can help us to complete tasks which cannot be completed by a common person or which are required to be completed by a plurality of persons in a cooperative manner, so that the research significance of the outer limb robot is great.
Compared with other wearable robots, the outer limb robot has little result, the research belongs to the starting stage, and the main research difficulties are as follows: 1) The weight of the outer limb is a problem, and the outer limb is required to help the human body to realize function enhancement on the premise of ensuring light weight, otherwise, the outer limb is a burden on the human body; 2) The safety problem of the outer limb, the action state of the human body must be known when the outer limb works, and then the operation of the human body is planned, otherwise, collision occurs, and the wearer is injured; 3) The problem of the operation dexterity of the outer limb, the outer limb needs to have enough dexterous operation capability and as large operation space as possible; 4) The problem of control interface, brain electricity control and myoelectricity control are all technical means for realizing connection between a person and an outer limb in the future.
Disclosure of Invention
The invention aims to provide a foldable telescopic outer limb mechanical arm with a streamline housing, which has folding and telescopic functions, wherein the folding function enables the outer limb to be very compact in structure in a non-working state, the occupied space is small, and the telescopic function increases the working space of the outer limb.
The aim of the invention is realized by the following technical scheme:
the utility model provides a collapsible flexible outer limbs arm with streamline housing, includes a plurality of rotary module that establish ties in proper order, and rotary module and the back device of head end are connected, terminal rotary module and a flexible module are connected, flexible module includes flexible servo steering wheel, lead screw, one-level flexible interior pole, second grade flexible interior pole, flexible urceolus and spring pin locking component, wherein flexible urceolus is connected with terminal rotary module, second grade flexible interior pole cartridge is in flexible urceolus, one-level flexible interior pole cartridge is in second grade flexible interior pole, flexible servo steering wheel locates flexible urceolus lower part and links firmly with the lead screw that locates flexible urceolus upper portion, be equipped with one-level nut suit in the flexible interior pole of one-level be equipped with in on the lead screw, the lead screw is equipped with optical axis undergauge section with flexible servo steering wheel link, and during flexible module withdrawal the one-level nut suit is on the screw section of lead screw, second grade nut suit in optical axis undergauge section to second grade flexible interior pole and flexible urceolus pass through spring pin locking component connects, and the flexible interior pole of one-level flexible nut suit is broken away from when stretching out the flexible interior pole and is connected with flexible interior pole and the flexible nut of second grade, and the flexible interior pole drive screw is advanced to the one-level, and the flexible nut is continued to the one-level to drive the one-level to stretch up.
The spring pin locking assembly comprises a pin frame, a spring and a pin, wherein the pin frame is fixedly arranged on a secondary telescopic inner rod, the pin comprises a positioning head end at the front end, a middle limiting convex part and a rear shaft part, an inserting hole is formed in the upper end of the telescopic outer cylinder, a guide hole is formed in the upper end of the primary telescopic inner rod, the rear shaft part of the pin penetrates through the pin frame and then is inserted into the corresponding inserting hole, the limiting convex part in the middle of the pin is arranged in the guide hole, a spring is sleeved on the pin between the limiting convex part and the pin frame, and a positioning hole matched with the positioning head end at the front end of the pin is formed in the lower end of the primary telescopic inner rod.
When the primary telescopic inner rod stretches out and reaches a proper position, the rear shaft part of the pin breaks away from the jack at the upper end of the telescopic outer cylinder under the action of the spring, and meanwhile, the positioning head end of the front end is inserted into the positioning hole corresponding to the lower end of the primary telescopic inner rod.
And a steering engine positioning fixing ring is arranged on the telescopic servo steering engine and fixedly connected with the telescopic outer cylinder.
The telescopic inner rod comprises a first-stage telescopic inner rod and a second-stage telescopic inner rod, wherein a plurality of guide grooves are circumferentially uniformly distributed on the outer side of the first-stage telescopic inner rod, a plurality of ribs are arranged inside the second-stage telescopic inner rod, the guide grooves are correspondingly matched with the ribs, and the pins slide along the corresponding guide grooves.
The rotary module located the head end includes bottom plate, head end shell, head end servo steering wheel and head end output ring flange, wherein the bottom plate is connected with the back carrying device, the head end servo steering wheel set firmly in on the bottom plate, the head end shell lower extreme with the bottom plate links firmly and wraps up the head end servo steering wheel, the head end output ring flange install in on the steering wheel of the head end servo steering wheel and be connected with the shell of next rotary module, be equipped with the head end guide ring on the head end servo steering wheel, just the head end guide ring is located between head end shell tip and the shell tip of next rotary module.
All the other rotary modules except the head end rotary module and the tail end rotary module are identical in structure and comprise a shell, a driving servo steering engine and an output flange plate, wherein the driving servo steering engine is arranged in the shell, a positioning fixing ring and a guide ring are arranged on the driving servo steering engine, the positioning fixing ring is fixedly connected with the shell, the guide ring is arranged between the shell ends of two adjacent rotary modules, and the output flange plate is arranged on the steering wheel of the driving servo steering engine and is connected with the shell of the next rotary module.
The shell is integrally bent, comprises two connecting parts and is connected between the two connecting parts through a necking part, one connecting part is connected with the last rotary module, and the other connecting part is connected with the next rotary module and is internally provided with a driving servo steering engine.
The rotary module located at the tail end comprises a tail end shell, a tail end servo steering engine and an output flange seat, wherein the tail end shell and the output flange seat wrap the tail end servo steering engine together, a tail end positioning fixing ring and a tail end guiding ring are arranged on the tail end servo steering engine, the tail end positioning fixing ring is fixedly connected with the tail end shell, the tail end guiding ring is located between the tail end shell and the output flange seat, and the upper end of the output flange seat is connected with the telescopic module.
The first rotating module, the second rotating module, the third rotating module, the fourth rotating module, the fifth rotating module and the sixth rotating module are sequentially connected, wherein the first rotating module is connected with a carrying device, the carrying device is tied on a human body through a carrying strap, and the sixth rotating module is connected with the telescopic module.
The invention has the advantages and positive effects that:
1. the invention has folding and telescopic functions, wherein the folding function enables the outer limb to have very compact structure in a non-working state, the occupied space is small, the telescopic function increases the working space of the outer limb, and the whole outer limb has seven degrees of freedom, is flexible to work and has stronger obstacle avoidance capability.
2. The shell is based on a streamline design concept, and is novel in appearance and attractive in appearance. The diameter of the envelope section of the steering engine of the shell is large, the diameter of the middle transition section is small, the mass is reduced, and the shell is provided with two through openings for positioning and is reliable in positioning and fixing.
3. In the design process of the rotational freedom degree, the positioning fixing ring and the guide ring can ensure high coaxiality and installation firmness of the rotational freedom degree, in addition, the steering engine fixing piece is positioned at the tail part of the steering engine, the guide ring is positioned at the middle part of the steering engine, the steering wheel is positioned at the top part of the steering engine, the stress characteristic is good, and the connection is reliable.
4. The steering engine and the shell of each module are fixed in a manner and the connection between the modules is particularly convenient, the disassembly and the maintenance are very simple, all the rotating modules adopt similar design structures, the overall configuration of the outer limb mechanical arm can be changed by changing DH parameters of the modules, other complex designs are not needed, and the upgrade and the maintenance are convenient.
5. The telescopic module adopts a screw-nut transmission mode, is stable in transmission, and utilizes the spring pin locking assembly to complete locking and unlocking conversion between the telescopic outer cylinder and the secondary telescopic inner rod and between the secondary telescopic inner rod and the primary telescopic inner rod in a telescopic process, so that a plurality of functions of one structure are realized, the design of redundant parts is reduced, and the quality is further reduced.
Drawings
Figure 1 is a schematic view of the appearance of the present invention,
figure 2 is a schematic view of the invention in use in a fully extended state,
figure 3 is a schematic view of the fully folded state of the invention in use,
figure 4 is a schematic view of the working state of the invention when in use,
figure 5 is an exploded view of the first rotary module of figure 1,
figure 6 is an exploded view of the second rotary module of figure 1,
figure 7 is an exploded view of the sixth rotary module of figure 1,
figure 8 is an exploded view of the telescoping module of figure 1,
figure 9 is an exploded view of the spring pin lock assembly of figure 8,
figure 10 is a cross-sectional view of the telescoping module of figure 8,
figure 11 is a schematic view of the expansion module of figure 10 in an extended position,
figure 12 is a schematic view of the expansion module of figure 10 in a second extended position,
figure 13 is an enlarged view at a in figure 10,
fig. 14 is an enlarged view at B in fig. 10.
Wherein 1 is a first rotary module, 101 is a bottom plate, 1011 is a mounting block, 1012 is a connecting bolt, 1013 is a square spigot, 102 is a head end housing, 103 is a head end servo steering engine, 104 is a head end guide ring, 105 is a head end output flange, 1051 is a mounting table, and 1052 is a weight reduction groove; 2 is a second rotating module, 201 is a shell, 2011 is a connecting part A,2022 is a connecting part B,202 is a driving servo steering engine, 203 is a positioning fixing ring, 204 is a guide ring, and 205 is an output flange plate; 3 is a third rotary module, 301 is a third housing; 4 is a fourth rotation module; 5 is a fifth rotation module; 6 is a sixth rotating module, 601 is a tail end shell, 602 is a tail end positioning fixing ring, 603 is a tail end servo steering engine, 604 is a tail end guiding ring, 605 is an output flange seat, 6051 is a connecting table; 7 is a telescopic module, 701 is a telescopic servo steering engine, 702 is a steering engine positioning fixing ring, 703 is a lead screw, 7031 is an optical axis diameter-reducing section, 704 is a secondary telescopic inner rod, 7041 is a secondary nut, 705 is a pin frame, 706 is a spring, 707 is a pin, 7071 is a positioning head end, 7072 is a positioning convex part, 7073 is a rear shaft part, 708 is a primary telescopic inner rod, 7081 is a guiding groove, 7082 is a primary nut, 7083 is a positioning hole, 709 is an end cover, 710 is a telescopic outer cylinder, and 7101 to an inserting hole; 8 is a human body; 9 is a knapsack device.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 to 14, the invention comprises a first rotating module 1, a second rotating module 2, a third rotating module 3, a fourth rotating module 4, a fifth rotating module 5, a sixth rotating module 6 and a telescopic module 7 which are sequentially connected, wherein the first rotating module 1 is connected with a carrying device 9, the carrying device 9 is tied on the upper half body of a human body 8 through a carrying strap, and each rotating degree of freedom module and the telescopic module 7 form the outer limb mechanical arm of the invention, and the outer limb mechanical arm is used as a third limb of the human body and cooperates with the original limb of the human body.
As shown in fig. 5, the first rotation module 1 is a head end rotation module, which includes a base plate 101, a head end housing 102, a head end servo steering engine 103, a head end guide ring 104 and a head end output flange 105, where the head end servo steering engine 103 is a rotary joint motion power source, the lower part of the whole appearance is cuboid, four circumferential surfaces and the bottom are all provided with mounting threaded holes, the upper end is a cylindrical steering wheel, the steering wheel is uniformly provided with mounting threaded holes, the head end servo steering engine 103 is internally integrated with components such as a control board, a driving board, a speed reducer, a cross roller bearing and a sensor, and is a modularized functional body, the output torque is large, the control is simple, and the steering wheel can bear stress in all directions. In this embodiment, the head end servo steering engine 103 and the servo steering engines adopted by the other respective modules are all industrial-level servo steering engines, which are commercially available products.
As shown in fig. 5, the base plate 101 is used for fixing the head end servo steering engine 103, the base plate 101 is provided with a mounting hole for connecting with the carrying device 9, the lower end of the head end housing 102 is fixedly connected with the base plate 101 and wraps the head end servo steering engine 103, the head end servo steering engine 103 is provided with a head end guide ring 104, an annular boss is arranged on the lower side of the head end guide ring 104 and is matched with the upper end of the head end housing 102, an annular boss is arranged on the upper side and is matched with the lower end of the housing 201 of the next rotating module, so as to ensure the mounting coaxiality of the head end servo steering engine 103, and the head end output flange 105 is fixedly connected with a rudder disc on the upper side of the head end servo steering engine 103 and is used for outputting torque.
As shown in fig. 5, the edge of the bottom plate 101 is provided with a mounting block 1011 along the circumferential direction, the lower end of the head end housing 102 is matched with the bottom plate 101 and is fixedly connected with the bottom plate through a connecting bolt 1012, the connecting bolt 1012 is horizontally arranged to pass through the lower end of the head end housing 102 and then is in threaded connection with the corresponding mounting block 1011 on the bottom plate 101, a square spigot 1013 is arranged on the bottom plate 101, the lower end of the head end servo steering engine 103 is embedded into the square spigot 1013, so that the coaxiality of the head end servo steering engine 103 is ensured, the inner side of the square spigot 1013 is matched with the circumferential surface of the head end servo steering engine 103, the thickness of the spigot is not too thick, and the mass is reduced maximally.
As shown in fig. 5, the head end housing 102 adopts a streamline design concept, the main shape is obtained by lofting upper circles, lower circles and spline constraint lines, a housing is obtained by drawing a housing with equal thickness, a cylindrical end face for matching positioning is added on the basis of the housing, and a mounting hole is formed so as to obtain the final shape.
In this embodiment, the head end guide ring 104 is made of a wear-resistant material, and the head end guide ring 104 is provided with slots along the circumferential direction for introducing the power line and the communication line into the next module. As shown in fig. 5, the middle part of the head end guide ring 104 is a square mounting hole, the inner surface of the mounting hole is matched with the circumferential outer surface of the head end servo steering engine 103, and the head end guide ring 104 is positioned near the axial midpoint of the head end servo steering engine 103, so that the head end servo steering engine 103 is well stressed, and the guide rings of the other modules all have the same design structure and are different in size.
As shown in fig. 5, the middle part of the head end output flange 105 is uniformly provided with a plurality of mounting holes along the circumferential direction, and is fixedly connected with the rudder disc of the head end servo steering engine 103 by screws, the outer edge of the head end output flange 105 is uniformly provided with a plurality of mounting platforms 1051 along the circumferential direction, the mounting platforms 1051 are provided with threaded holes, the mounting platforms 1051 are fixed with the outer shell 201 outside the second rotating module 2 by horizontally arranged bolts, in addition, the middle part of the head end output flange 105 is provided with through holes, and the outer end is uniformly provided with a plurality of fan-shaped weight reducing grooves 1052 along the circumferential direction so as to reduce the mass, and the output flanges of the other modules all have the same design structures and are different in size.
The second rotary module 2, the third rotary module 3, the fourth rotary module 4, and the fifth rotary module 5 have the same structure except for different sizes, and the second rotary module 2 will be described as an example.
As shown in fig. 6, the second rotary module 2 includes a housing 201, a driving servo steering engine 202, a positioning fixing ring 203, a guiding ring 204 and an output flange 205, where the driving servo steering engine 202 is a power source and is wrapped by the housing 201, the driving servo steering engine 202 is provided with the positioning fixing ring 203 and the guiding ring 204, where the positioning fixing ring 203 is fixedly connected with the housing 201 and fixes the second servo motor 202 in the housing 201, positioning blocks are uniformly distributed on the outer edge of the positioning fixing ring 203 along the circumferential direction, bolts pass through the housing 201 and are screwed with corresponding positioning blocks, so as to realize the fixation of the positioning fixing ring 203 with the housing 201, the guiding ring 204 is used to ensure the mounting coaxiality of the driving servo steering engine 202, one side of the guiding ring 204 is provided with an annular boss and the end of the housing 201 of the module, the other side is provided with an annular boss and the end of the housing 201 of the next rotary module, the output flange 205 is mounted on the rudder disk of the driving servo steering engine 202, and is used to output torque, the structure and principle of the positioning fixing ring are the same as the housing 201, the housing 201 is designed in the same as the head end output flange 105, the head end design method, and the head end design method is similar to the housing 102, the other end design method requires more spline curves in the middle section of the housing 201, and the rest of the middle section is similar to the method except that the rest of the housing is needed to be placed in the rest of the rotation section, and the rest of the model, and the model is needed to be placed in the rest, and the model.
As shown in fig. 6, the whole casing 201 is in a bent shape, and includes two connection portions, and the two connection portions are connected through a necking portion, where the connection portion a2011 is connected with the head end output flange 105 of the first rotary module 1, the driving servo steering engine 202 is disposed in the connection portion B2012, the middle portion of the positioning fixing ring 203 is also provided with a square slot, the inner surface of the positive slot is matched with the circumferential surface of the driving servo steering engine 202, the outer edge of the positioning fixing ring 203 is matched with the inner wall of the casing 201, the positioning fixing ring 203 is provided with slots for leading out a power line and a communication line, and the positioning fixing rings of the other modules have the same structure and only different sizes.
As shown in fig. 7, the sixth rotary module 6 is an endmost rotary module, and includes an end housing 601, an end servo steering engine 603, an end positioning fixing ring 602, an end guiding ring 604 and an output flange seat 605, where the end servo steering engine 603 is a power source and is jointly wrapped by the end housing 601 and the output flange seat 605, the outer side of the end servo steering engine 603 is provided with the end positioning fixing ring 602 and the end guiding ring 604, the end positioning fixing ring 602 is fixed with the end housing 601 and fixes the end servo steering engine 603 in the end housing 601, the end guiding ring 604 is used for ensuring coaxiality of the end servo steering engine 603, one side of the end guiding ring 604 is provided with an annular boss matched with the end of the end housing 601, the other side is provided with an annular boss matched with the lower end of the output flange seat 605, the output flange seat 605 is fixedly connected with a steering wheel of the end servo steering engine 603, the output flange seat 605 plays a role of housing, the upper side of the output flange seat 605 is provided with four connecting platforms 6051 for connecting with the telescopic module 7, and in addition, the upper side of the output flange seat 605 is provided with four sector slots for reducing mass and communication wires and leading out wires.
As shown in fig. 8-14, the telescopic module 7 comprises a telescopic servo steering engine 701, a steering engine positioning fixing ring 702, a lead screw 703, a primary telescopic inner rod 708, a secondary telescopic inner rod 704, a telescopic outer cylinder 710 and a spring pin locking assembly, wherein the telescopic servo steering engine 701 is a power source, the telescopic servo steering engine 701 is fixed with the telescopic outer cylinder 710 through the steering engine positioning fixing ring 702, the fixing principle is the same as that of the positioning fixing ring 202, the lower end of the telescopic outer cylinder 710 is fixedly connected with four connecting platforms 6051 of an output flange seat 605 on the sixth rotating module 6, the lead screw 703, the primary telescopic inner rod 708 and the secondary telescopic inner rod 704 are all arranged in the telescopic outer cylinder 710, the lower end of the lead screw 703 is provided with a flange fixedly connected with a steering wheel of the telescopic servo steering engine 701, the lead screw 703 is driven to rotate through the telescopic servo steering engine 701, the primary telescopic inner rod 708 is inserted in the secondary telescopic inner rod 704, the upper end of the primary telescopic inner rod 708 is provided with an end cover 709, as shown in fig. 14, a primary nut 7082 is arranged in the primary telescopic inner rod 708 and sleeved on the secondary inner rod 703, the primary nut 7082 is sleeved on the primary inner rod 7031, the primary telescopic inner rod 7031 is completely separated from the primary telescopic inner rod 703, the primary inner rod 7031 is completely meshed with the telescopic inner rod 7041, and the primary telescopic inner rod 7031 is completely meshed with the telescopic inner rod 7031, the primary inner rod 7031 is completely separated from the primary inner rod 7031, the primary inner rod is completely screwed into the telescopic inner rod is completely, and the primary inner rod is completely screwed into the telescopic inner rod has the telescopic inner rod, and is completely screwed into the telescopic inner rod assembly, and is completely fixed, and is in the upper. And the upper end of the secondary telescopic inner rod 704 is fixed with the lower end of the primary telescopic inner rod 708, then the primary telescopic inner rod 708 continues to ascend, the primary nut 7082 is separated from the lead screw 703, meanwhile, the secondary nut 7041 moves onto the threaded section of the lead screw 703, the lead screw 703 continues to drive the secondary nut 7041 to ascend, and as the primary telescopic inner rod 708 and the secondary telescopic inner rod 704 are fixedly connected, at this time, as shown in fig. 12, the secondary nut 7041 drives the primary telescopic inner rod 708 and the secondary telescopic inner rod 704 to synchronously extend.
As shown in fig. 9 and 13, the spring pin lock assembly includes a pin frame 705, a spring 706 and a pin 707, wherein the pin frame 705 is fixedly mounted on the secondary telescopic inner rod 704, the pin 707 includes a positioning head end 7071 at a front end, a middle limiting boss 7072 and a rear shaft portion 7073, a jack 7101 is provided at an upper end of the telescopic outer rod 710, a guide hole is provided at an upper end of the primary telescopic inner rod 708, and the rear shaft portion 7073 of the pin 707 is inserted into the corresponding jack 7101 after passing through the pin frame 705, the limiting boss 7072 in the middle of the pin 707 is provided in the guide hole, and a spring 706 is sleeved on the pin 707 shaft between the limiting boss 7072 and the pin frame 705, as shown in fig. 14, the positioning hole 7083 is provided at a lower end of the primary telescopic inner rod 708, as shown in fig. 11, and after the primary telescopic inner rod 708 is lifted into position, the pin 707 is inserted into the corresponding positioning hole 7083 at the head end 7071 of the front end under the action of the spring 706, thereby realizing that the lower end of the primary telescopic inner rod 708 and the secondary inner rod 704 are connected to the secondary telescopic inner rod 704, and the secondary telescopic inner rod 704 is not lifted up and the primary telescopic inner rod 704 is connected with the secondary telescopic inner rod 704, and the secondary telescopic inner rod 704 is lifted up, and the primary telescopic inner rod 704 is not shown in the telescopic inner rod 704, and the telescopic inner rod 710 is lifted.
As shown in fig. 9, four guide grooves 7081 are circumferentially uniformly distributed on the outer side of the primary telescopic inner rod 708 and are in clearance fit with four ribs inside the secondary telescopic inner rod 704, so that on one hand, the circumferential rotation of the primary telescopic inner rod 708 is limited, and on the other hand, the axial movement guiding function is completed. The lower end of the guide groove 7081 is further provided with the positioning hole 7083, and the pin 707 slides along the corresponding guide groove 7081 when the one-stage telescopic inner rod 708 is lifted.
The working principle of the invention is as follows:
the outer limb mechanical arm comprises six rotational degrees of freedom and one telescopic degree of freedom, each joint is driven to move through seven industrial servo steering engines, the whole outer limb mechanical arm is connected with a human body 8 through a carrying device 9, and the carrying device 9 is tied on the upper half body of the human body 8 through a carrying belt. The industrial-grade steering engines are connected in series, half-duplex asynchronous serial communication is adopted, a control board, a driver, a speed reducer, a crossed roller bearing and a sensor are integrated in each steering engine, the steering engine internal control board is a subtask control board and is mainly responsible for reading position speed and acceleration instructions of a central controller, and meanwhile, a speed, temperature, moment and other sensor systems are transmitted to the central control board. The central control board is internally integrated with a motion planning algorithm, meanwhile, human body motion state information is received, the human body motion state can be obtained through an inertial sensor and a human body model, and the motion of the outer limbs is controlled according to the human body motion state information and the outer limb motion state information by combining the motion planning algorithm.
When the invention works, the head end servo steering engine 103 in the first rotating module 1 drives the second rotating module 2 to rotate, the second rotating module 2, the third rotating module 3, the fourth rotating module 4, the fifth rotating module 5 and the sixth rotating module 6 are sequentially connected, the servo steering engine in the previous module drives the next module to rotate, the telescopic module 7 is arranged on the sixth rotating module 6 and is driven to rotate by the sixth rotating module 6, the telescopic module 7 comprises a telescopic servo steering engine 701, a lead screw 703, a first-stage telescopic inner rod 708, a second-stage telescopic inner rod 704, a telescopic outer cylinder 710 and a spring pin locking assembly, wherein the lead screw 703 is driven to rotate by the telescopic servo steering engine 701, a first-stage nut 7082 is arranged in the first-stage telescopic inner rod 708 and is sleeved on the lead screw 703, a second-stage nut 7041 is arranged in the second-stage telescopic inner rod 704 and is sleeved on the lead screw 703, and the lower end of the screw 703 is provided with an optical axis reducing section 7031, when the telescopic module 7 is completely contracted, the secondary nut 7041 is sleeved on the optical axis reducing section 7031 and is not meshed with the threaded section of the screw 703, when the screw 703 rotates, the screw 703 drives the primary nut 7082 to drive the primary telescopic inner rod 708 to extend, at the moment, the secondary telescopic inner rod 704 is fixed with the telescopic outer cylinder 710 through the spring pin locking assembly and cannot move, when the primary telescopic inner rod 708 is about to rise to the limit position, the spring pin locking assembly is separated from the telescopic outer cylinder 710, the upper end of the secondary telescopic inner rod 704 is fixed with the lower end of the primary telescopic inner rod 708, then the primary telescopic inner rod 708 continuously rises, the primary nut 7082 is separated from the screw 703, simultaneously the secondary nut 7041 moves onto the threaded section of the screw 703, then the screw 703 continuously drives the secondary nut 7041 to rise, thereby driving the primary telescoping inner rod 708 and the secondary telescoping inner rod 704 to extend in synchronism. The retraction process of the retraction module 7 is reversed from that described above and the spring 706 in the spring pin lock assembly is compressed as it is retracted while the rear shaft portion 7073 of the pin 707 is reinserted into the socket 7101 in the upper end of the retraction outer barrel 710.
The outer limb mechanical arm adopts a streamline shell, is novel and attractive in appearance, has folding and telescopic functions, is compact in structure in a non-working state due to the folding function, increases the working space of the outer limb due to the telescopic function, better realizes the enhancement of human body functions, is simple in structure and reliable in connection, has a two-stage telescopic function, and is very convenient to install, maintain and upgrade.
Claims (10)
1. A collapsible flexible outer limbs arm with streamline housing, its characterized in that: including a plurality of rotary modules that establish ties in proper order, and rotary module and the back device (9) of head end are connected, and terminal rotary module is connected with a flexible module (7), flexible module (7) including flexible servo steering wheel (701), lead screw (703), one-level flexible interior pole (708), second grade flexible interior pole (704), flexible urceolus (710) and spring pin locking component, wherein flexible urceolus (710) are connected with terminal rotary module, second grade flexible interior pole (704) cartridge is in flexible urceolus (710), one-level flexible interior pole (708) cartridge is in second grade flexible interior pole (704), flexible servo steering wheel (701) are located flexible urceolus (710) lower part and are linked firmly with lead screw (703) that are located flexible urceolus (710) upper portion, be equipped with one-level nut (7082) in one-level flexible interior pole (708) suit in lead screw (703), be equipped with in second grade nut (7041) in second grade flexible interior pole (704), lead screw (703) are equipped with flexible servo steering wheel (701) link, in one-level flexible interior pole (704) and are equipped with in flexible section (7031), in the diameter of screw (7031) shrink in one-level nut (7082) shrink in the diameter of screw (7031), and the second-stage telescopic inner rod (704) is connected with the telescopic outer cylinder (710) through the spring pin locking assembly, when the first-stage telescopic inner rod (708) stretches out of place, the spring pin locking assembly is separated from the telescopic outer cylinder (710) and is connected with the second-stage telescopic inner rod (704) and the first-stage telescopic inner rod (708), and then the first-stage telescopic inner rod (708) continuously ascends to drive the first-stage nut (7082) to separate from the screw rod (703), and simultaneously drive the second-stage nut (7041) to move to a threaded section of the screw rod (703).
2. The collapsible telescoping outer limb manipulator with streamlined skin according to claim 1, wherein: the spring pin locking assembly comprises a pin frame (705), a spring (706) and a pin (707), wherein the pin frame (705) is fixedly arranged on a secondary telescopic inner rod (704), the pin (707) comprises a positioning head end (7071) at the front end, a middle limiting convex part (7072) and a rear shaft part (7073), an inserting hole (7101) is formed in the upper end of a telescopic outer cylinder (710), a guide hole is formed in the upper end of a primary telescopic inner rod (708), the rear shaft part (7073) of the pin (707) is inserted into the corresponding inserting hole (7101) after penetrating through the pin frame (705), the middle limiting convex part (7072) of the pin (707) is arranged in the guide hole, a spring (706) is arranged between the limiting convex part (7072) and the pin frame (705) and is sleeved on the pin (707), and a positioning hole (7083) matched with the positioning head end (7071) at the front end of the pin (707) is formed in the lower end of the primary telescopic inner rod (708).
3. The collapsible telescoping outer limb manipulator with streamlined skin according to claim 2, wherein: when the primary telescopic inner rod (708) stretches out and reaches a proper position, the rear shaft part (7073) of the pin (707) is separated from the insertion hole (7101) at the upper end of the telescopic outer cylinder (710) under the action of the spring (706), and meanwhile, the positioning head end (7071) at the front end is inserted into the corresponding positioning hole (7083) at the lower end of the primary telescopic inner rod (708).
4. The collapsible telescoping outer limb manipulator with streamlined skin according to claim 1, wherein: the telescopic servo steering engine (701) is provided with a steering engine positioning fixing ring (702) which is fixedly connected with the telescopic outer cylinder (710).
5. The collapsible telescoping outer limb manipulator with streamlined skin according to claim 1, wherein: a plurality of guide grooves (7081) are circumferentially uniformly distributed on the outer side of the primary telescopic inner rod (708), a plurality of ribs are arranged inside the secondary telescopic inner rod (704), the guide grooves (7081) are correspondingly matched with the ribs, and the pins (707) slide along the corresponding guide grooves (7081).
6. The collapsible telescoping outer limb manipulator with streamlined skin according to claim 1, wherein: the rotary module located at the head end comprises a bottom plate (101), a head end shell (102), a head end servo steering engine (103) and a head end output flange plate (105), wherein the bottom plate (101) is connected with a bearing device (9), the head end servo steering engine (103) is fixedly arranged on the bottom plate (101), the lower end of the head end shell (102) is fixedly connected with the bottom plate (101) and wraps the head end servo steering engine (103), the head end output flange plate (105) is installed on a rudder disc of the head end servo steering engine (103) and is connected with a shell (201) of the next rotary module, a head end guide ring (104) is arranged on the head end servo steering engine (103), and the head end guide ring (104) is arranged between the end of the head end shell (102) and the end of the shell (201) of the next rotary module.
7. The collapsible telescoping outer limb manipulator with streamlined skin according to claim 1, wherein: all the other rotary modules except the head end rotary module and the tail end rotary module are identical in structure and comprise a shell (201), a driving servo steering engine (202) and an output flange plate (205), wherein the driving servo steering engine (202) is arranged in the shell (201), a positioning fixing ring (203) and a guide ring (204) are arranged on the driving servo steering engine (202), the positioning fixing ring (203) is fixedly connected with the shell (201), the guide ring (204) is arranged between the end parts of the shells (201) of two adjacent rotary modules, and the output flange plate (205) is arranged on a rudder plate of the driving servo steering engine (202) and is connected with the shell (201) of the next rotary module.
8. The collapsible telescoping outer limb manipulator with streamlined skin according to claim 7, wherein: the shell (201) is integrally in a bent shape, comprises two connecting parts and is connected between the two connecting parts through a necking part, one connecting part is connected with the last rotating module, and the other connecting part is connected with the next rotating module and is internally provided with a driving servo steering engine (202).
9. The collapsible telescoping outer limb manipulator with streamlined skin according to claim 1, wherein: the rotary module located at the tail end comprises a tail end shell (601), a tail end servo steering engine (603) and an output flange seat (605), wherein the tail end shell (601) and the output flange seat (605) are used for wrapping the tail end servo steering engine (603) together, a tail end positioning fixing ring (602) and a tail end guiding ring (604) are arranged on the tail end servo steering engine (603), the tail end positioning fixing ring (602) is fixedly connected with the tail end shell (601), the tail end guiding ring (604) is located between the tail end shell (601) and the output flange seat (605), and the upper end of the output flange seat (605) is connected with the telescopic module (7).
10. The collapsible telescoping outer limb manipulator with streamlined skin according to claim 1, wherein: the novel backpack comprises a first rotating module (1), a second rotating module (2), a third rotating module (3), a fourth rotating module (4), a fifth rotating module (5) and a sixth rotating module (6), wherein the first rotating module (1) is connected with a backpack device (9), the backpack device (9) is tied on a human body (8) through a strap, and the sixth rotating module (6) is connected with a telescopic module (7).
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