CN204149159U - Human body sensing mechanical arm - Google Patents

Human body sensing mechanical arm Download PDF

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Publication number
CN204149159U
CN204149159U CN201420415472.9U CN201420415472U CN204149159U CN 204149159 U CN204149159 U CN 204149159U CN 201420415472 U CN201420415472 U CN 201420415472U CN 204149159 U CN204149159 U CN 204149159U
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CN
China
Prior art keywords
mechanical arm
external member
joint
angular
manipulator
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Expired - Fee Related
Application number
CN201420415472.9U
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Chinese (zh)
Inventor
张鹏
赵艺兵
王驰
张天禹
兰智杰
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Nanjing Institute of Technology
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Nanjing Institute of Technology
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Priority to CN201420415472.9U priority Critical patent/CN204149159U/en
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Publication of CN204149159U publication Critical patent/CN204149159U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model provides a kind of human body sensing mechanical arm, comprises mechanical arm external member, manipulator external member and sensory package; Mechanical arm external member, manipulator external member adopt not yielding and the titanium alloy of light weight or aluminium alloy; Sensory package comprises angular-rate sensor, acceleration transducer; Mechanical arm external member comprises the humerus part, ulna part, the connectivity kit between carpal bone part and joint that are flexibly connected successively; Acceleration transducer is set at the humerus of mechanical arm external member, ulna, carpal bone place, at the shoulder joint of mechanical arm external member, elbow joint, articulatio radiocarpea, articulatio carpometacarpicus communis, articulations digitorum manus, angular-rate sensor is set respectively; By the discrete dismounting of mechanical arm manipulator, combination improves flexibility and practicality, can complete high accuracy task, have a wide range of applications in scientific research, medical treatment, disaster relief field under rugged environment.

Description

Human body sensing mechanical arm
Technical field
The utility model relates to a kind of human body sensing mechanical arm, belongs to automated machine application of installation field.
Background technology
Mechanical arm is the automated machine device obtaining most broad practice in current robotics, can see its figure in fields such as industry manufacture, therapeutic treatment, entertainment service, military affairs, semiconductor manufacturing and space probations.Although their form is had nothing in common with each other, they have a common feature, can accept instruction exactly, carry out relevant operation.
But, found by research, conventional machines people can only do some simple mechanical motion flexibilities according to preset program, and adaptability cannot meet the demand of modern society's each side far away, and is difficult to larger development within the new science and technology field short time of intelligent robot representative.
Utility model content
The purpose of this utility model is to provide a kind of novel automatic mechanical arm, overcome the maintenance difficulty that strong and conventional machine mechanical arm and manipulator the non-dismountable property of practicality that traditional program-circuit-steering wheel type mechanical arm operationally causes compared with the long distortion that causes and wearing and tearing because of the operating time causes large, the problem of very flexible.
The utility model realizes the technical scheme that above-mentioned purpose adopts:
A kind of human body sensing mechanical arm, comprises mechanical arm external member, manipulator external member and sensory package; Mechanical arm external member, manipulator external member adopt not yielding and the titanium alloy of light weight or aluminium alloy; Sensory package comprises angular-rate sensor, acceleration transducer;
Described mechanical arm external member comprises the humerus part, ulna part, the connectivity kit between carpal bone part and joint that are flexibly connected successively; Acceleration transducer is set at the humerus of mechanical arm external member, ulna, carpal bone place, at the shoulder joint of mechanical arm external member, elbow joint, articulatio radiocarpea, articulatio carpometacarpicus communis, articulations digitorum manus, angular-rate sensor is set respectively;
Described manipulator external member comprises metacarpal bone part and is movably connected in thumb part, forefinger part, middle finger, unknown finger, little finger that metacarpal bone part sets gradually, and metacarpal bone part is formed with tiger's jaw, and thumb part and forefinger part divide the both sides being located at tiger's jaw; Each finger comprises the proximal phalanx part, middle phalanx part, the distal phalanx part that are flexibly connected successively; Metacarpal bone part, proximal phalanx part, middle phalanx part, distal phalanx part are respectively equipped with acceleration transducer, and the active connection place of metacarpal bone part, proximal phalanx part, middle phalanx part, distal phalanx part is provided with angular-rate sensor.
Further, angular-rate sensor, acceleration transducer connect apery mechanical arm by controller, i.e. controlled mechanical arm.
Further, it is 155*65mm that this apery mechanical arm makes size according to the proportional sizes of 1:1, the wrist joint of apery mechanical arm is made up of four steering wheels, each mechanical finger has 2 frees degree, apery mechanical arm adopts aluminum alloy to make, arrange bearing in articulation part, articulation aspect adopts the all-metal gear steering wheel of SR04.
Further, the framework of mechanical arm external member has 4 frees degree, puts the sensor of six axles as its transmission sources carrier at each steel joint.
The beneficial effects of the utility model are: by the discrete dismounting of mechanical arm manipulator, combination improves flexibility and practicality, in addition mechanical arm and manipulator external member are carried out relevant action by human body and are transmitted attitude information and corrected by naked eyes to controlled mechanical arm, reduce because of distortion and the problem of the very flexible brought of wearing and tearing, high accuracy task can be completed under rugged environment, have a wide range of applications in scientific research, medical treatment, disaster relief field.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model embodiment;
Fig. 2 is the left side view of the manipulator external member in embodiment;
Fig. 3 is the perspective view of the manipulator external member in embodiment;
Fig. 4 is the palm of the hand direction structure schematic diagram of the manipulator external member in embodiment;
Fig. 5 is the structural representation of the mechanical arm external member in embodiment;
Fig. 6 is the explanation block diagram of embodiment human body sensing mechanical arm and apery mechanical arm;
Wherein: 1-humerus part, 2-ulna part, 3-carpal bone part, 4-metacarpal bone part, 5-thumb part, 6-forefinger part, finger in 7-, the unknown finger of 8-, the little finger of 9-, 10-proximal phalanx part, 11-middle phalanx part, 12-distal phalanx part, 13-angular-rate sensor, 14-acceleration transducer.
Detailed description of the invention
Below in conjunction with Figure of description and specific embodiment, the utility model is described in detail:
Embodiment
Based on the induction machine mechanical arm of angular-rate sensor and acceleration transducer, angular-rate sensor 13 is placed in manipulator profile frame, manipulator profile frame is through in human arm, this angular-rate sensor 13 is in order to respond to control end, i.e. human arm, attitudes vibration, comprise angle and acceleration, then return apery mechanical arm to do equal work.
The joint of embodiment owing to being the medical-therapeutic treatment of human body mechanical arm overlapped in advance at human arm, put acceleration and angular-rate sensor 13 respectively, read the attitudes vibration of human body mechanical arm, realized the equal attitudes vibration of mechanical arm by two block controllers and wireless module, the attitude regulation precision overcoming existing body propagated sensation sensor is not high, cannot carry out micro-process, the problems such as production cost is higher, in scientific research, medical treatment, disaster relief field has a wide range of applications.
Manipulator external member comprises metacarpal bone part 4 and is movably connected in thumb part 5, forefinger part 6, middle finger 7, unknown finger 8, little finger 9 that metacarpal bone part 4 sets gradually, and metacarpal bone part 4 is formed with tiger's jaw, and thumb part 5 and forefinger part 6 points are located at the both sides of tiger's jaw; Each finger comprises the proximal phalanx part 10, middle phalanx part 11, the distal phalanx part 12 that are flexibly connected successively; Metacarpal bone part 4, proximal phalanx part 10, middle phalanx part 11, distal phalanx part 12 are respectively equipped with acceleration transducer 14, the active connection place of metacarpal bone part 4, proximal phalanx part 10, middle phalanx part 11, distal phalanx part 12 is provided with angular-rate sensor 13, as shown in Figure 1, Figure 2, Fig. 3, Fig. 4.
Mechanical arm external member comprises the humerus part 1, ulna part 2, the connectivity kit between carpal bone part 3 and joint that are flexibly connected successively; Acceleration transducer 14 is set at the humerus of mechanical arm external member, ulna, carpal bone place, at the shoulder joint of mechanical arm external member, elbow joint, articulatio radiocarpea, articulatio carpometacarpicus communis, articulations digitorum manus, angular-rate sensor 13 is set respectively, as Fig. 5.
First human arm need put on tool light weight and on-deformable aluminium alloy joint comprises humerus, ulna, carpal bone joint junction adopts has the mechanical arm external member that good plasticity and flexible stainless steel or bronze material makes, and staff also needs to bring tool plasticity and flexible manipulator external member.At human body mechanical arm stock, six axle sensors are installed at place, the value of acceleration is measured respectively by the sensor at humerus, ulna, carpal bone place, comprise direction and size, by measuring the value of angular speed at the sensor of shoulder joint, elbow joint, articulatio radiocarpea, articulatio carpometacarpicus communis, articulations digitorum manus, comprise direction and size, namely on human body machinery stock, acceleration and the angular speed that six axle sensors measure human arm 26 frees degree is installed.
Then, by attitude algorithm device, coordinate Kalman filtering can accurate output module is current under dynamic environment attitude, attitude measurement accuracy 0.01 degree, stability is high, above-mentioned data are sent to master control two ARM by master control one ARM by wireless device, and master control two completes synchronization action by controlling corresponding steering wheel.
It is 155*65mm that Apery manipulator makes size according to the proportional sizes of 1:1, the wrist joint of this manipulator is made up of four steering wheels, and each mechanical finger is by 2 frees degree, and the design's profile farthest can simulate staff, adopt aluminum alloy mass light, hardness is high.Specially with the addition of bearing in articulation part, moderate dimensions, smooth degree is reliable and stable.
The framework of mechanical arm external member copies human arm size, has 4 frees degree, puts the sensor of six axles as its transmission sources carrier at each steel joint.
By installing acceleration and the angular speed that six axle sensors measure human arm 26 frees degree on human body machinery stock.By attitude algorithm device, coordinate Kalman filtering can accurate output module is current under dynamic environment attitude, attitude measurement accuracy 0.01 degree, stability is high, the data gathered are sent to master control two by master control one by wireless device, master control two completes synchronization action, as Fig. 6 by controlling corresponding steering wheel.When MCU produces pwm signal, amplify through FET, series inductance before motor, interference to power supply when removing steering wheel motor starting and stop, during startup, electric current is larger, can in a flash supply voltage being dragged down of starting, because inductance can lead to low frequency resistance high frequency so the voltage change of power end when can reduce motor starting, thus its steady operation can be ensured.Play the effect of afterflow at motor two ends shunt capacitance, thus improve the average voltage of motor to a certain extent.
Below be schematically described the utility model and embodiment thereof, this description does not have restricted, and shown in accompanying drawing is also one of embodiment of the present utility model, and actual structure is not limited thereto.So, if those of ordinary skill in the art enlightens by it, when not departing from this creation aim, designing the frame mode similar to this technical scheme and embodiment without creationary, protection domain of the present utility model all should be belonged to.

Claims (4)

1. a human body sensing mechanical arm, is characterized in that: comprise mechanical arm external member, manipulator external member and sensory package; Mechanical arm external member, manipulator external member adopt not yielding and the titanium alloy of light weight or aluminium alloy; Sensory package comprises angular-rate sensor, acceleration transducer;
Described mechanical arm external member comprises the humerus part, ulna part, the connectivity kit between carpal bone part and joint that are flexibly connected successively; Acceleration transducer is set at the humerus of mechanical arm external member, ulna, carpal bone place, at the shoulder joint of mechanical arm external member, elbow joint, articulatio radiocarpea, articulatio carpometacarpicus communis, articulations digitorum manus, angular-rate sensor is set respectively;
Described manipulator external member comprises metacarpal bone part and is movably connected in thumb part, forefinger part, middle finger, unknown finger, little finger that metacarpal bone part sets gradually, and metacarpal bone part is formed with tiger's jaw, and thumb part and forefinger part divide the both sides being located at tiger's jaw; Each finger comprises the proximal phalanx part, middle phalanx part, the distal phalanx part that are flexibly connected successively; Metacarpal bone part, proximal phalanx part, middle phalanx part, distal phalanx part are respectively equipped with acceleration transducer, and the active connection place of metacarpal bone part, proximal phalanx part, middle phalanx part, distal phalanx part is provided with angular-rate sensor.
2. human body sensing mechanical arm as claimed in claim 1, is characterized in that: angular-rate sensor, acceleration transducer connect apery mechanical arm by controller, i.e. controlled mechanical arm.
3. human body sensing mechanical arm as claimed in claim 2, it is characterized in that: it is 155*65mm that this apery mechanical arm makes size according to the proportional sizes of 1:1, the wrist joint of apery mechanical arm is made up of four steering wheels, each mechanical finger has 2 frees degree, apery mechanical arm adopts aluminum alloy to make, arrange bearing in articulation part, articulation aspect adopts the all-metal gear steering wheel of SR04.
4. human body sensing mechanical arm as claimed in claim 3, is characterized in that: the framework of mechanical arm external member has 4 frees degree, puts the sensor of six axles as its transmission sources carrier at each steel joint.
CN201420415472.9U 2014-07-28 2014-07-28 Human body sensing mechanical arm Expired - Fee Related CN204149159U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105666497A (en) * 2016-04-21 2016-06-15 奇弩(北京)科技有限公司 Universal mechanical arm with gesture learning function
CN106263161A (en) * 2016-09-13 2017-01-04 张有明 High-durability machinery glove
CN113172649A (en) * 2021-05-18 2021-07-27 徐皖东 Joint data detection backpack for robot motion synchronization

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105666497A (en) * 2016-04-21 2016-06-15 奇弩(北京)科技有限公司 Universal mechanical arm with gesture learning function
CN106263161A (en) * 2016-09-13 2017-01-04 张有明 High-durability machinery glove
CN106263161B (en) * 2016-09-13 2017-12-29 金华市秸和环保技术咨询有限公司 High-durability machinery gloves
CN113172649A (en) * 2021-05-18 2021-07-27 徐皖东 Joint data detection backpack for robot motion synchronization

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C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20150211

Termination date: 20160728

CF01 Termination of patent right due to non-payment of annual fee