CN201135561Y - Mechanical arm for invalid wheelchair - Google Patents
Mechanical arm for invalid wheelchair Download PDFInfo
- Publication number
- CN201135561Y CN201135561Y CN 200720077281 CN200720077281U CN201135561Y CN 201135561 Y CN201135561 Y CN 201135561Y CN 200720077281 CN200720077281 CN 200720077281 CN 200720077281 U CN200720077281 U CN 200720077281U CN 201135561 Y CN201135561 Y CN 201135561Y
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- joint
- mechanical arm
- wheelchair
- help
- motor
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Abstract
The utility model relates to a mechanical arm system used for the wheelchair for the disabled person. The mechanical arm system is composed of a shoulder part, upper arms, forearms, wrists and clipping fingers; the clipping fingers can be ensured to reach the specified positions and postures in arbitrary posture through the revolution, the pitching, the swaying and the grabbing actions of the seven joints, to help the senior or the disabled person with low livelihood self-servicing ability to complete the basic actions in daily life; the mechanical arm system can meet the requirements in daily life and can be folded into three sections, and is convenient for portability and storage, simultaneously the mechanical arm system has very high security, and the security of the user, the person and goods adjacent to the mechanical arms can be guaranteed by limiting the torque when obstacles and other states are encountered.
Description
Technical field
This utility model relates to a kind of mechanical arm system, particularly a kind of mechanical arm system of the wheelchair that is used to help the disabled.
Background technology
In the prior art, robot is used for specific or risky operation occasions such as industry, mine, ocean more, is used to help the mankind to finish some particular tasks.And because human lives's content is comparatively complicated, the article of contact are more, therefore having relatively high expectations to mechanical arm.Mechanical arm system of the prior art is generally referred to etc. to form by pedestal, shoulder, upper arm, forearm, wrist and folder, but its corresponding degree of freedom is less, can only be limited to and finish some simple actions in certain three dimensions scope.
The utility model content
The purpose of this utility model is to overcome the deficiency in the above-mentioned technology, provide a kind of have a 7 degree of freedom be used to help the disabled the mechanical arm system of wheelchair, can pass through output order, help people with disability or old man to finish comparatively complicated life requirement action.
In order to achieve the above object, technical solution of the present utility model is: a kind of mechanical arm system of the wheelchair that is used to help the disabled, comprise that pedestal, shoulder, upper arm, forearm, wrist and folder refer to, pedestal is installed on a side of the wheelchair of helping the disabled, it is characterized in that: this system also comprises seven joints, wherein, first joint connects shoulder and pedestal, second joint connects forearm and shoulder, the 3rd joint connects upper arm and forearm, and the 4th joint connects upper arm and wrist, and the 5th joint and the 6th joint cooperate flexible connection, and be located between wrist and folder refer to, the 7th joint is located at folder and is referred to.
Described base interior is equipped with several direct current generators that power is provided for each joint of mechanical arm.
Described first joint is a drive system that comprises motor and the gear reduction unit that is connected with motor.
Described second joint is the drive system of a spider gear decelerator that comprises motor, links to each other with motor and the harmonic gear reducer that links to each other with the spider gear decelerator.
Described the 3rd joint is a drive system that the harmonic gear reducer that comprises motor, the planetary reducer that links to each other with motor, the bevel gear driver that links to each other with planetary reducer and link to each other with the bevel gear driver is formed.
Described the 4th joint is a drive system that comprises motor and the gear reduction unit that links to each other with motor.
Described the 5th joint and described the 6th joint are the drive system of a worm type of reduction gearing that comprises motor, the planetary reducer that links to each other with motor and link to each other with planetary reducer.
Described the 7th joint is the drive system of a four-bar mechanism that comprises motor, the planetary reducer that links to each other with motor, the worm and wormwheel that links to each other with planetary reducer and link to each other with worm and wormwheel.
The pick off that detects moment of torsion is housed in the joint.
Revolution, the pitching of this utility model by seven joints, wave and grasping movement, can folder be pointed to any attitude and reach appointed positions, can help low old people of self care ability or people with disability to finish comparatively complicated life requirement action, pick off by each joint limits torque simultaneously, has guaranteed the safety of user.
Description of drawings
Fig. 1 is this utility model seven freedom mechanical arm system extended configuration structure chart;
Fig. 2 is this utility model seven freedom mechanical arm system folded state structure chart;
Among the figure, 1,2 is shoulder joint, and 3 is elbow joint, and 4,5,6 is carpal joint, and 7 is articulations digitorum manus.
The specific embodiment
Referring to Fig. 1 and Fig. 2, this utility model is a kind of mechanical arm system of the wheelchair that is used to help the disabled, comprise that pedestal, shoulder, upper arm, forearm, wrist and folder refer to, pedestal is installed on a side of the wheelchair of helping the disabled, it is characterized in that: this system also comprises seven joints, wherein, first joint 1 connects shoulder and pedestal, second joint 2 connects forearm and shoulder, the 3rd joint 3 connects upper arm and forearm, and the 4th joint 4 connects upper arm and wrist, and the 5th joint 5 and the 6th joint 6 cooperate flexible connection, and be located between wrist and folder refer to, the 7th joint 7 is located at folder and is referred to.
Described base interior is equipped with several direct current generators that power is provided for each joint of mechanical arm.
Described first joint 1 is a drive system that comprises motor and the gear reduction unit that is connected with motor, realizes shoulder with respect to pedestal do revolution action, and the maximum rotation angle is 330 °.
Described second joint 2 is the drive system of a spider gear decelerator that comprises motor, links to each other with motor and the harmonic gear reducer that links to each other with the spider gear decelerator, realizes that forearm does the pitching action with respect to shoulder, and the maximum rotation angle is 330 °.
Described the 3rd joint 3 is a drive system that the harmonic gear reducer that comprises motor, the planetary reducer that links to each other with motor, the bevel gear driver that links to each other with planetary reducer and link to each other with the bevel gear driver is formed, and the realization upper arm is done the pitching action with respect to forearm.
Described the 4th joint 4 is a drive system that comprises motor and the gear reduction unit that links to each other with motor, realizes wrist with respect to upper arm do revolution action, and the maximum rotation angle is 330 °.
Described the 5th joint 5 and described the 6th joint 6 are the drive system of a worm type of reduction gearing that comprises motor, the planetary reducer that links to each other with motor and link to each other with planetary reducer, wherein the 5th joint 5 can realize that folder refers to do the pitching action with respect to wrist, the 6th joint 6 can realize that folder refers to make rocking action with respect to wrist, by the 5th joint 5 and 6 common cooperations of the 6th joint realizing that folder refers to do orthogonal motion with respect to wrist.
Described the 7th joint 7 is the drive system of a four-bar mechanism that comprises motor, the planetary reducer that links to each other with motor, the worm and wormwheel that links to each other with planetary reducer and link to each other with worm and wormwheel, makes folder refer to finish grasping movement.
Pick off is housed in the joint.The effect of pick off is torque limiting.When moment of torsion reached certain value, pick off sends a signal to control circuit made mechanical arm stop action, guarantees safe in utilization.
Carafe on operation this utility model is taken table, the manipulation wheelchair stops near walking to desk.Open the mechanical arm master cock, revolution, the pitching in seven joints by stick control mechanical arm, wave and grasping movement, folder is pointed to reach appointed positions and attitude, grasp carafe.And then handle mechanical arm just carafe deliver to the user mouth, the user by suction pipe with in the beverage suction inlet.Drink and finish, the user can control mechanical arm by stick, and carafe is put back on the table.
The meal dish of food is housed on operation this utility model is taken dining table, and the manipulation wheelchair stops near walking to dining table.Open the mechanical arm master cock, revolution, the pitching in seven joints by stick control mechanical arm, wave and grasping movement, folder is pointed to reach appointed positions and attitude, grasp the meal dish.By control system will eat dish deliver to the front and the location, dip food with spoon then and send in the mouth.Having a dinner finishes, and the user can control mechanical arm by stick, and the dish of will eating is put back on the dining table.
Revolution, the pitching of this utility model by seven joints, wave and grasping movement, can folder be pointed to any attitude and reach appointed positions, help low old people of self care ability or people with disability to finish comparatively complicated life requirement action, finish the basic acts that is applicable to life, and pedestal movably under the situation mechanical three-dimensional repeatable accuracy less than 2mm.It is 2kg that maximum of the present utility model is mentioned weight, can satisfy the needs of daily life.
The utlity model has good safety.When moment of torsion reached certain value, the pick off on each joint sends a signal to control circuit made mechanical arm stop action, makes wheelchair that rollover or bump and other actual bodily harms can not take place, and guarantees the safety of user.
This utility model is owing to have 7 degree of freedom, and it is folding to carry out syllogic, and complete machine weight is no more than 15kg, and collection is easy to carry.
This utility model also has very high safety, can guarantee the safety of personnel and the article mechanical arm near when running into states such as obstacle by torque limiting.
Above embodiment is only for the usefulness that this utility model is described, but not to restriction of the present utility model, person skilled in the relevant technique, under the situation that does not break away from spirit and scope of the present utility model, can also make various conversion or modification, therefore all technical schemes that are equal to also should belong to category of the present utility model, should be limited by each claim.
Claims (9)
1. the mechanical arm system of the wheelchair that is used to help the disabled, comprise that pedestal, shoulder, upper arm, forearm, wrist and folder refer to, pedestal is installed on a side of the wheelchair of helping the disabled, it is characterized in that: this system also comprises seven joints, wherein, first joint (1) connects shoulder and pedestal, second joint (2) connects forearm and shoulder, the 3rd joint (3) connects upper arm and forearm, the 4th joint (4) connects upper arm and wrist, the 5th joint (5) and the 6th joint (6) cooperate and flexibly connect, and are located between wrist refers to folder, and the 7th joint (7) are located to press from both sides and are referred to.
2. the mechanical arm system of the wheelchair that is used to help the disabled according to claim 1, it is characterized in that: described base interior is equipped with several direct current generators that power is provided for each joint of mechanical arm.
3. the mechanical arm system of the wheelchair that is used to help the disabled according to claim 1, it is characterized in that: described first joint (1) is a drive system that comprises motor and the gear reduction unit that is connected with motor.
4. the mechanical arm system of the wheelchair that is used to help the disabled according to claim 1 is characterized in that: described second joint (2) is the drive system of a spider gear decelerator that comprises motor, links to each other with motor and the harmonic gear reducer that links to each other with the spider gear decelerator.
5. the mechanical arm system of the wheelchair that is used to help the disabled according to claim 1 is characterized in that: described the 3rd joint (3) is a drive system that the harmonic gear reducer that comprises motor, the planetary reducer that links to each other with motor, the bevel gear driver that links to each other with planetary reducer and link to each other with the bevel gear driver is formed.
6. the mechanical arm system of the wheelchair that is used to help the disabled according to claim 1, it is characterized in that: described the 4th joint (4) is a drive system that comprises motor and the gear reduction unit that links to each other with motor.
7. the mechanical arm system of the wheelchair that is used to help the disabled according to claim 1 is characterized in that: described the 5th joint (5) and described the 6th joint (6) are the drive system of a worm type of reduction gearing that comprises motor, the planetary reducer that links to each other with motor and link to each other with planetary reducer.
8, the mechanical arm system of the wheelchair that is used to help the disabled according to claim 1, it is characterized in that: described the 7th joint (7) is the drive system of a four-bar mechanism that comprises motor, the planetary reducer that links to each other with motor, the worm and wormwheel that links to each other with planetary reducer and link to each other with worm and wormwheel.
9. according to the mechanical arm system of each described wheelchair that is used to help the disabled of claim 1 to 9, it is characterized in that: the pick off that detects moment of torsion is housed in the joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200720077281 CN201135561Y (en) | 2007-12-26 | 2007-12-26 | Mechanical arm for invalid wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200720077281 CN201135561Y (en) | 2007-12-26 | 2007-12-26 | Mechanical arm for invalid wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201135561Y true CN201135561Y (en) | 2008-10-22 |
Family
ID=40036249
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200720077281 Expired - Fee Related CN201135561Y (en) | 2007-12-26 | 2007-12-26 | Mechanical arm for invalid wheelchair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201135561Y (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103448064A (en) * | 2013-08-20 | 2013-12-18 | 洛阳理工学院 | Detachable mechanical arm installable on wheelchairs of different types |
| CN103445918A (en) * | 2013-08-20 | 2013-12-18 | 洛阳理工学院 | Mechanical arm-detachable wheelchair |
| CN104398346A (en) * | 2014-11-07 | 2015-03-11 | 上海交通大学 | Intelligent wheelchair capable of opening door independently and independent door opening method of intelligent wheelchair |
| CN105058419A (en) * | 2015-08-14 | 2015-11-18 | 哈尔滨工大服务机器人有限公司 | Two-degree-of-freedom elbow joint driving device for garment model robot |
| CN107175651A (en) * | 2017-04-28 | 2017-09-19 | 温州职业技术学院 | The portable handicapped-resisting mechanical arm of diaphragm type |
| CN107212976A (en) * | 2017-05-08 | 2017-09-29 | 深拓科技（深圳）有限公司 | A kind of grasping body method of grasping body equipment, device and grasping body equipment |
-
2007
- 2007-12-26 CN CN 200720077281 patent/CN201135561Y/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103448064A (en) * | 2013-08-20 | 2013-12-18 | 洛阳理工学院 | Detachable mechanical arm installable on wheelchairs of different types |
| CN103445918A (en) * | 2013-08-20 | 2013-12-18 | 洛阳理工学院 | Mechanical arm-detachable wheelchair |
| CN103445918B (en) * | 2013-08-20 | 2017-06-30 | 洛阳理工学院 | A kind of dismountable wheelchair of mechanical arm |
| CN104398346A (en) * | 2014-11-07 | 2015-03-11 | 上海交通大学 | Intelligent wheelchair capable of opening door independently and independent door opening method of intelligent wheelchair |
| CN105058419A (en) * | 2015-08-14 | 2015-11-18 | 哈尔滨工大服务机器人有限公司 | Two-degree-of-freedom elbow joint driving device for garment model robot |
| CN107175651A (en) * | 2017-04-28 | 2017-09-19 | 温州职业技术学院 | The portable handicapped-resisting mechanical arm of diaphragm type |
| CN107212976A (en) * | 2017-05-08 | 2017-09-29 | 深拓科技（深圳）有限公司 | A kind of grasping body method of grasping body equipment, device and grasping body equipment |
| CN107212976B (en) * | 2017-05-08 | 2018-12-14 | 深拓科技（深圳）有限公司 | A kind of the grasping body method, apparatus and grasping body equipment of grasping body equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20081022 Termination date: 20100126 |