CN203171617U - Humanoid synchronous wireless control mechanical hand system - Google Patents
Humanoid synchronous wireless control mechanical hand system Download PDFInfo
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- CN203171617U CN203171617U CN 201320116497 CN201320116497U CN203171617U CN 203171617 U CN203171617 U CN 203171617U CN 201320116497 CN201320116497 CN 201320116497 CN 201320116497 U CN201320116497 U CN 201320116497U CN 203171617 U CN203171617 U CN 203171617U
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- hand
- finger
- drive
- doublejointed
- arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
Abstract
The utility model discloses a humanoid synchronous wireless control mechanical hand system which comprises a mechanical part and a control part, wherein the mechanical part comprises a mechanical hand part and a hand motion information collecting part, the mechanical hand part comprises a palm part and an arm part, the control part comprises a collecting end MCU, a wireless transmission module and a main MCU, the collecting end MCU is used for collecting resistance value information of each potentiometer in the hand motion information collecting part and transmitting angle data of each joint of a human hand to the main MCU through the wireless transmission module, and the main MCU controls corresponding steering engines in the mechanical hand part to rotate corresponding angles to achieve synchronous movement of the mechanical hand part and the human hand. Compared with prior mechanical hands, the humanoid synchronous wireless control mechanical hand system is more flexible and easier to control. Due to the fact that the system is designed strictly according to the shape and the degree of freedom of the human hand, the humanoid synchronous wireless control mechanical hand system can be applied to the medical field to assist the recovery of the hand function of the disabled as well as to the fields like the military industry and spaceflight as an assistance hand.
Description
Technical field
The utility model belongs to robot and bionics techniques field, relates to the synchronous duplicator's hand motion of a kind of energy, and realizes wireless remotely-controlled arm-and-hand system.
Background technology
Manipulator at first begins to develop from the U.S..U.S. Allied Control Company developed first manipulator in 1958.
Manipulator mainly is made up of hand, motion and control system three parts, Leonardo da Vinci's robotic surgical system, and American I ntuitive Surgical company product obtains drugs approved by FDA.2. ZEUS Zeus robotic surgical device surgery systems, U.S. Computer Motion company product obtains drugs approved by FDA.The tele-robotic surgery systems mainly is made up of console and motion arm two parts.Console is the core of robotic surgical system, is made up of computer system, operation technique monitor, robot control monitor, operating grip and input-output equipment etc., causes medical circle and even global concern.But the motion of this manipulator is to be controlled by control stick, will be through training for a long time before the doctor uses, and experienced doctor can't bring into play the technical merit of oneself.
The nearly twenty or thirty year of human research's manipulator, but the manipulator that produces seldom can be finished dexterous action.Present most of manufacturer production be industry mechanical arm entirely, can only finish basic functions such as grasping release.If manipulation accuracy is not difficult to realize accurately control by programming.
The FESTO company of Germany has developed a kind of pneumatic shillful manipulator recently, mainly also is by the control of pulling strings, but the manipulator of pneumatic muscles control is very expensive, and required peripheral hardware condition is very high, more can't be applied under the vacuum condition in the universe.
Summary of the invention
The utility model is intended to by the method for pulling strings drive part and control section are installed at the arm position, and hand weight is alleviated greatly, increases the flexibility of hand exercise.Control mode of the present utility model copies the forms of motion of controlling hand for strict, allows the more direct control of the mankind.Adopt wireless far distance controlled, interface is general, is widely used.
As follows for solving the problems of the technologies described above the technical scheme that adopts:
The wireless arm-and-hand system of controlling of apery homochronousness of the present utility model includes mechanical part and control section, and wherein mechanical part includes manipulator part and hand motion information gathering part; Described control section includes collection terminal MCU, wireless transport module and main MCU; Described collection terminal MCU gathers the information of hand motion information gathering part, and by wireless transport module each joint angles data of human hand is passed to main MCU, and main MCU controls the corresponding steering wheel rotation corresponding angle in the mechanical hand portion.
Described manipulator partly comprises palm portion and arm segment, and palm portion includes first and owes to drive the doublejointed finger 1, second of pulling strings and owe to drive the doublejointed finger the 2, the 3rd of pulling strings and owe to drive the doublejointed finger the 3, the 4th of pulling strings and owe to drive doublejointed pull strings finger 4, first drive line 5, second drive line 6, the 3rd drive line 7, the 4th drive line 8, doublejointed thumb 11 and metal hand metacarpal bone frame 14;
Owe to drive pull strings finger 1,2,3,4 and doublejointed thumb 11 of doublejointed and be connected to metal hand metacarpal bone frame 14 front portions for described four, doublejointed thumb 11 is by two small-sized steering wheels controls, the one degree of freedom of each small-sized steering wheel control thumb;
Every drive line front end respectively with owe to drive the doublejointed finger of pulling strings and be connected, the rear end is by miniature steering wheel 12 pullings, make that owe to drive the pull strings drive line length of finger interior of doublejointed reduces, make that to owe to drive the doublejointed finger of pulling strings crooked, when 12 revolutions of miniature steering wheel, owe to drive that doublejointed pulls strings that the joint of finger places returns the power torsion spring and drive and owe to drive the doublejointed finger of pulling strings and reset.Manipulator has just realized copying the motion of human hand like this.
Described arm segment includes the 5th drive line 9, the 6th drive line 10, arm support 17, wrist support 18 and wrist side-to-side movement bearing 19;
The both sides of arm support 17 fixedly have 13, two steering wheels 13 of two steering wheels to swing by the 5th drive line 9 and the 6th drive line 10 driving wrist side-to-side movement bearings 19;
Metal hand metacarpal bone frame 14 in the palm portion is rotatably connected with the wrist support 18 of arm segment by the wrist bearing 15 that seesaws, driving steering wheel 24 is fixed on the wrist support 18 by clamping plate 25, the steering wheel dish 26 that drives steering wheel 24 is connected with metal hand metacarpal bone frame 14, and then drives the palm swing;
The rear end of arm support 17 is rotatably connected with bearing 28 by arm bearing 16.
Described hand motion information gathering partly comprises basic gloves 27, potentiometer 20, potentiometer swing arm 21, finger spanner 22 and finger fingerstall 23, described potentiometer 20 is fixed on the basic gloves 27 by finger fingerstall 23, people's hand finger is pulled finger spanner 22, and then rotational potentiometer swing arm 21 changes the resistance of potentiometer 20.
Hand motion mainly comprises finger movement and palm action.Wherein finger has flexibility, two parameters of angular speed to need to gather.Palm has the anglec of rotation and two parameters of angular speed to need to gather.Other then are the crooked order problems of concrete finger, so point the collection of number information in addition.The hand angle information is calculated by the resistance of potentiometer 20, and hand exercise speed draws the time differentiate by angle is changed, finger numbering problem by set up one to one many independently information transmission path just can solve.
Described control section includes collection terminal MCU, wireless transport module and main MCU;
Collection terminal MCU gathers the resistance information of each potentiometer 20 in the hand motion information gathering part, and by wireless transport module each joint angles data of human hand are passed to main MCU, main MCU generates the pwm signal of multichannel particular duty cycle according to these data, control the corresponding steering wheel rotation corresponding angle in the mechanical hand portion, realization manipulator part is synchronized with the movement with human hand.
The whole system operation process:
One, operating personnel need connect power supply then with the basic gloves of going up in the hand action message collecting part;
Two, there is change in location in operating personnel's hand joint, and the corresponding potentiometer 20 that will drive in the hand motion information gathering part rotates, and causes the voltage change in the circuit, and at this moment collection terminal MCU collects angle information;
Three, collection terminal MCU sends the angle information that changes to main MCU by wireless transport module;
Four, main MCU produces the pwm signal of multichannel particular duty cycle according to angle information, and signal sends corresponding steering wheel in the manipulator part to by control circuit, and the steering wheel rotation drives drive line, realizes being synchronized with the movement of manipulator part and human hand.
The beneficial effects of the utility model are: along with development of internet technology, the networking operational issue of manipulator will be the direction of technical development from now on, and the utility model can be controlled by network remote easily, and application is greatly improved.The utility model is more flexible than manipulator in the past, and easier controlling has the main trend that replaces original manipulator in market.In addition, because this system can be applied to medical field fully according to human hand profile and free degree design, help the disabled person to recover hand function, can also be applied to fields such as military project space flight as the power-assisted hand.
Description of drawings
Fig. 1 is workflow diagram of the present utility model
Fig. 2 is the palm portion machine drawing in the manipulator part
Fig. 3 is the arm segment machine drawing in the manipulator part
Fig. 4 is the seesaw machine drawing in joint of the wrist in the manipulator part
Fig. 5 is the integral installation figure of hand motion information gathering part
Fig. 6 is the schematic diagram of an angular transducer in the hand motion information gathering part
Among the figure:
1: owe to drive doublejointed pull strings the finger A, 2: owe to drive doublejointed pull strings the finger B, 3: owe to drive doublejointed pull strings the finger C,
4: owe to drive doublejointed pull strings the finger D, 5: drive line, 6: drive line A, 7: drive line B, 8: drive line C,
9: drive line D, 10: drive line E, 11: doublejointed thumb F, 12: miniature steering wheel, 13: steering wheel,
14: metal hand metacarpal bone frame, 15: movable joint behind the wrist axis brought forward, 16: the arm bearing, 17: arm support,
18: the wrist support, 19: wrist side-to-side movement bearing, 20: potentiometer, 21: the potentiometer swing arm, 22: the finger spanner,
23: finger fingerstall, 24: drive steering wheel, 25: clamping plate, 26: steering wheel dish, 27: basic gloves, 28: bearing
The specific embodiment
Below in conjunction with accompanying drawing the utility model further is introduced.
The wireless arm-and-hand system of controlling of apery homochronousness of the present utility model includes mechanical part and control section, and wherein mechanical part includes manipulator part and hand motion information gathering part; Described manipulator partly comprises palm portion and arm segment, and described control section includes collection terminal MCU, wireless transport module and main MCU; Collection terminal MCU gathers the information of hand motion information gathering part, and by wireless transport module each joint angles data of human hand is passed to main MCU, and main MCU controls the corresponding steering wheel rotation corresponding angle in the mechanical hand portion.
Described manipulator partly comprises palm portion and arm segment;
Fig. 2 is the palm portion machine drawing in the manipulator part, including first owes to drive the doublejointed finger 1, second of pulling strings and owes to drive the doublejointed finger the 2, the 3rd of pulling strings and owe to drive the doublejointed finger the 3, the 4th of pulling strings and owe to drive doublejointed pull strings finger 4, the first drive lines 5, second drive line 6, the 3rd drive line 7, the 4th drive line 8, doublejointed thumb 11 and metal hand metacarpal bone frame 14;
Owe to drive pull strings finger 1,2,3,4 and doublejointed thumb 11 of doublejointed for four and be connected to metal hand metacarpal bone frame 14 front portions, doublejointed thumb 11 is by two small-sized steering wheels controls, the one degree of freedom of each small-sized steering wheel control thumb;
Every drive line front end respectively with owe to drive the doublejointed finger of pulling strings and be connected, the rear end is by miniature steering wheel 12 pullings, make that owe to drive the pull strings drive line length of finger interior of doublejointed reduces, make that to owe to drive the doublejointed finger of pulling strings crooked, when 12 revolutions of miniature steering wheel, owe to drive that doublejointed pulls strings that the joint of finger places returns the power torsion spring and drive and owe to drive the doublejointed finger of pulling strings and reset.Manipulator has just realized copying the motion of human hand like this.
Fig. 3 is the arm segment machine drawing in the manipulator part, includes the 5th drive line 9, the 6th drive line 10, arm support 17, wrist support 18 and wrist side-to-side movement bearing 19;
The both sides of arm support 17 fixedly have 13, two steering wheels 13 of two steering wheels to swing by the 5th drive line 9 and the 6th drive line 10 driving wrist side-to-side movement bearings 19;
Fig. 4 is the seesaw machine drawing in joint of the wrist in the manipulator part, as seen the metal hand metacarpal bone frame 14 in the palm portion is rotatably connected with the wrist support 18 of arm segment by the wrist bearing 15 that seesaws, driving steering wheel 24 is fixed on the wrist support 18 by clamping plate 25, the steering wheel dish 26 that drives steering wheel 24 is connected with metal hand metacarpal bone frame 14, and then drives the palm swing;
The rear end of arm support 17 is rotatably connected with bearing 28 by arm bearing 16.
Fig. 5 is the integral installation figure of hand motion information gathering part, and visible described hand motion information gathering partly comprises basic gloves 27, potentiometer 20, potentiometer swing arm 21, finger spanner 22 and finger fingerstall 23;
Fig. 6 is the schematic diagram of an angular transducer in the hand motion information gathering part, as seen described potentiometer 20 is fixed on the basic gloves 27 by finger fingerstall 23, people's hand finger is pulled finger spanner 22, and then rotational potentiometer swing arm 21 changes the resistance of potentiometer 20.
Hand motion mainly comprises finger movement and palm action.Wherein finger has flexibility, two parameters of angular speed to need to gather.Palm has the anglec of rotation and two parameters of angular speed to need to gather.Other then are the crooked order problems of concrete finger, so point the collection of number information in addition.The hand angle information is calculated by the resistance of potentiometer 20, and hand exercise speed draws the time differentiate by angle is changed, finger numbering problem by set up one to one many independently information transmission path just can solve.
Described control section includes collection terminal MCU, wireless transport module and main MCU;
Collection terminal MCU gathers the resistance information of each potentiometer 20 in the hand motion information gathering part, and by wireless transport module each joint angles data of human hand are passed to main MCU, main MCU generates the pwm signal of multichannel particular duty cycle according to these data, control the corresponding steering wheel rotation corresponding angle in the mechanical hand portion, realization manipulator part is synchronized with the movement with human hand.
Fig. 1 is workflow diagram of the present utility model, and visible whole system operation process is:
One, operating personnel need connect power supply then with the basic gloves of going up in the hand action message collecting part;
Two, there is change in location in operating personnel's hand joint, and the corresponding potentiometer 20 that will drive in the hand motion information gathering part rotates, and causes the voltage change in the circuit, and at this moment collection terminal MCU collects angle information;
Three, collection terminal MCU sends the angle information that changes to main MCU by wireless transport module;
Four, main MCU produces the pwm signal of multichannel particular duty cycle according to angle information, and signal sends corresponding steering wheel in the manipulator part to by control circuit, and the steering wheel rotation drives drive line, realizes being synchronized with the movement of manipulator part and human hand.
Claims (6)
1. the wireless arm-and-hand system of controlling of apery homochronousness includes mechanical part and control section, it is characterized in that:
Described mechanical part includes manipulator part and hand motion information gathering part; Described control section includes collection terminal MCU, wireless transport module and main MCU;
Described collection terminal MCU gathers the information of hand motion information gathering part, and by wireless transport module each joint angles data of human hand is passed to main MCU, and main MCU controls the corresponding steering wheel rotation corresponding angle in the mechanical hand portion.
2. the wireless arm-and-hand system of controlling of a kind of apery homochronousness as claimed in claim 1 is characterized in that:
Described manipulator partly comprises palm portion and arm segment, and palm portion includes first and owes to drive the doublejointed finger (1), second of pulling strings and owe to drive the doublejointed finger (2), the 3rd of pulling strings and owe to drive the doublejointed finger (3), the 4th of pulling strings and owe to drive doublejointed pull strings finger (4), first drive line (5), second drive line (6), the 3rd drive line (7), the 4th drive line (8), doublejointed thumb (11) and metal hand metacarpal bone frame (14);
Owe to drive pull strings finger (1,2,3,4) and doublejointed thumb (11) of doublejointed and be connected to metal hand metacarpal bone frame (14) front portion for described four, doublejointed thumb (11) is by two small-sized steering wheel controls, the one degree of freedom of each small-sized steering wheel control thumb;
Every drive line front end respectively with owe to drive the doublejointed finger of pulling strings and be connected, the rear end is spurred by miniature steering wheel (12), make that owe to drive the pull strings drive line length of finger interior of doublejointed reduces, make that to owe to drive the doublejointed finger of pulling strings crooked, when miniature steering wheel (12) turns round, owe to drive that doublejointed pulls strings that the joint of finger places returns the power torsion spring and drive and owe to drive the doublejointed finger of pulling strings and reset.
3. the wireless arm-and-hand system of controlling of a kind of apery homochronousness as claimed in claim 2 is characterized in that:
Described arm segment includes the 5th drive line (9), the 6th drive line (10), arm support (17), wrist support (18) and wrist side-to-side movement bearing (19);
Fixedly there are two steering wheels (13) both sides of arm support (17), and two steering wheels (13) drive wrist side-to-side movement bearing (19) by the 5th drive line (9) and the 6th drive line (10) and swing; The rear end of arm support (17) is rotatably connected with bearing (28) by arm bearing (16).
4. the wireless arm-and-hand system of controlling of a kind of apery homochronousness as claimed in claim 3 is characterized in that:
Metal hand metacarpal bone frame (14) in the palm portion is rotatably connected with the wrist support (18) of arm segment by the wrist bearing (15) that seesaws, driving steering wheel (24) is fixed on the wrist support (18) by clamping plate (25), the steering wheel dish (26) that drives steering wheel (24) is connected with metal hand metacarpal bone frame (14), and then drives the palm swing.
5. the wireless arm-and-hand system of controlling of a kind of apery homochronousness as claimed in claim 1 is characterized in that:
Described hand motion information gathering partly comprises basic gloves (27), potentiometer (20), potentiometer swing arm (21), finger spanner (22) and finger fingerstall (23), described potentiometer (20) is fixed on the basic gloves (27) by finger fingerstall (23), people's hand finger is pulled finger spanner (22), and then rotational potentiometer swing arm (21) changes the resistance of potentiometer (20).
6. the wireless arm-and-hand system of controlling of a kind of apery homochronousness as claimed in claim 5 is characterized in that:
Described collection terminal MCU gathers the resistance information of each potentiometer (20) in the hand motion information gathering part, and by wireless transport module each joint angles data of human hand are passed to main MCU, main MCU generates the pwm signal of multichannel particular duty cycle according to these data, control the corresponding steering wheel rotation corresponding angle in the mechanical hand portion, realization manipulator part is synchronized with the movement with human hand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320116497 CN203171617U (en) | 2013-03-14 | 2013-03-14 | Humanoid synchronous wireless control mechanical hand system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320116497 CN203171617U (en) | 2013-03-14 | 2013-03-14 | Humanoid synchronous wireless control mechanical hand system |
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| CN203171617U true CN203171617U (en) | 2013-09-04 |
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| CN 201320116497 Expired - Fee Related CN203171617U (en) | 2013-03-14 | 2013-03-14 | Humanoid synchronous wireless control mechanical hand system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103170960A (en) * | 2013-03-14 | 2013-06-26 | 吉林大学 | Human-imitation synchronous wireless control mechanical arm system |
| CN105690386A (en) * | 2016-03-23 | 2016-06-22 | 北京轩宇智能科技有限公司 | Teleoperation system and teleoperation method for novel mechanical arm |
| CN106990806A (en) * | 2017-04-21 | 2017-07-28 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of armrest handle device with Zero-point switch |
| CN107160419A (en) * | 2017-06-09 | 2017-09-15 | 东华大学 | A kind of robot movement mechanism of electromyographic signal control |
| CN111930239A (en) * | 2020-08-28 | 2020-11-13 | 安徽鸿程光电有限公司 | Remote control device based on screen |
| CN113457080A (en) * | 2021-06-25 | 2021-10-01 | 山东体育学院 | Stretcher for body building in sports classroom |
| CN114701583A (en) * | 2022-04-18 | 2022-07-05 | 东北大学秦皇岛分校 | Rope-driven flexible double-joint bionic crab and control method |
-
2013
- 2013-03-14 CN CN 201320116497 patent/CN203171617U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103170960A (en) * | 2013-03-14 | 2013-06-26 | 吉林大学 | Human-imitation synchronous wireless control mechanical arm system |
| CN105690386A (en) * | 2016-03-23 | 2016-06-22 | 北京轩宇智能科技有限公司 | Teleoperation system and teleoperation method for novel mechanical arm |
| CN105690386B (en) * | 2016-03-23 | 2019-01-08 | 北京轩宇智能科技有限公司 | A kind of mechanical arm remote control system and teleoperation method |
| CN106990806A (en) * | 2017-04-21 | 2017-07-28 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of armrest handle device with Zero-point switch |
| CN106990806B (en) * | 2017-04-21 | 2018-05-22 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of armrest handle device with Zero-point switch |
| CN107160419A (en) * | 2017-06-09 | 2017-09-15 | 东华大学 | A kind of robot movement mechanism of electromyographic signal control |
| CN111930239A (en) * | 2020-08-28 | 2020-11-13 | 安徽鸿程光电有限公司 | Remote control device based on screen |
| CN113457080A (en) * | 2021-06-25 | 2021-10-01 | 山东体育学院 | Stretcher for body building in sports classroom |
| CN114701583A (en) * | 2022-04-18 | 2022-07-05 | 东北大学秦皇岛分校 | Rope-driven flexible double-joint bionic crab and control method |
| CN114701583B (en) * | 2022-04-18 | 2023-02-24 | 东北大学秦皇岛分校 | Rope-driven flexible double-joint bionic crab and control method |
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| 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: 20130904 Termination date: 20140314 |