CN206242047U - A kind of Wearable drives hydraulic efficiency manipulator - Google Patents
A kind of Wearable drives hydraulic efficiency manipulator Download PDFInfo
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- CN206242047U CN206242047U CN201621349070.9U CN201621349070U CN206242047U CN 206242047 U CN206242047 U CN 206242047U CN 201621349070 U CN201621349070 U CN 201621349070U CN 206242047 U CN206242047 U CN 206242047U
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Abstract
Hydraulic efficiency manipulator is driven the utility model discloses a kind of Wearable, including driving gloves, singlechip controller and manipulator, the driving gloves include driving gloves palm area, the front end for driving gloves palm area is provided with driving gloves thumb area and four drive finger of glove area, the bottom for driving gloves palm area is provided with action recognition device, action recognition device is mounted in the driving gloves thumb area and driving finger of glove area, the manipulator includes manipulator palm area, the front end in the manipulator palm area is provided with manipulator thumb area and four manipulator finger areas.The utility model can automatically capture or carry axial workpiece or bar blank, while the labour intensity of workman is mitigated, effectively increase labor productivity, the drawbacks of avoiding traditional Mechanical course scheme, efficiently can sensitively be controlled by human body, and manipulator can provide powerful power using Hydraulic servo technology, the operations involving high pressure that staff cannot be completed is completed.
Description
Technical field
The utility model is related to bionic mechanical hand technical field, and specially a kind of Wearable drives hydraulic efficiency manipulator.
Background technology
Modern industry robot is similar to robot arm and telemanipulator in structure type, and control principle is then based on numerical control
With the concept of remote control.Modern industry robot is regarded as " numerical control operating arm ", the principal arm that wherein operating personnel directly operate by
Computer numerical control device is replaced.Industrial robot is passed by operation machine (basic machine), controller, servo drive system and detection
Induction device is constituted, and is the electromechanics that a kind of apery is operated, automatically controlled, repeating programming, various operations can be completed in three dimensions
Integral automation production equipment.It is particularly suitable for multi items, becomes the flexible production of batch.It is to stablizing, improve product quality,
Improve production efficiency, improves working conditions and is played a very important role with the quick update of product.Robot technology is
The height for combining the multi-door subject such as computer, cybernetics, theory of mechanisms, information and sensing technology, artificial intelligence, bionics and being formed
New technology.Robot application situation, is an important symbol for National Industrial automatization level.Robot is not simply to anticipate
Replace artificial work in justice, but combine the speciality of people and a kind of anthropomorphic electro-mechanical device of machine speciality, it is existing
, to the fast reaction of ambient condition and analysis judgement, having again can, anti-adverse environment high long lasting for work, accuracy for people
Ability, it is important production equipment and service equipment in industrial production, is also indispensable advanced manufacturing technology field
Automation equipment.Manipulator is the partial act for imitating staff, realizes capturing automatically by preset sequence, track and requirement, removes
Fortune or the robot apparatus of operation.The manipulator applied in the industrial production is referred to as " industry mechanical arm ".Applied in production
Manipulator can improve the gentle efficiency of Automated water of production；Can reduce labor intensity, ensure product quality, realize peace
Full production；Especially in the rugged environments such as high temperature, high pressure, low temperature, low pressure, dust, explosive, toxic gas and radioactivity, it
Normally worked instead of people, meaning is more great.Therefore, in machining, punching press, casting, forging, welding, heat treatment, electricity
Plating, spray painting, assembling and the aspect such as light industry, transportation are increasingly widely applied.With industrial automation journey
The raising of degree, many inflammable, the explosive contour heavy physical labour occasion that jeopardizes of industry spot will be replaced by robot.This
Aspect can mitigate the labour intensity of workman, on the other hand can greatly improve labor productivity.For example, current being permitted in China
In many small and medium-sized car productions and production in light industry, often this operation of punch forming also needs to artificial loading and unloading, both time-consuming
Arduously, efficiency is influenceed again.For example, at present in the production of many small and medium-sized cars and production in light industry of China, often punching press
It is molded this operation and also needs to artificial loading and unloading, both wasted time and energy, efficiency is influenceed again, regarding to the issue above, spy proposes that one kind is worn
Wear formula and drive hydraulic efficiency manipulator.
Utility model content
The purpose of this utility model is to provide a kind of Wearable to drive hydraulic efficiency manipulator, with solving above-mentioned background technology
The problem of proposition.
To achieve the above object, the utility model provides following technical scheme：A kind of Wearable drives hydraulic efficiency manipulator, bag
Driving gloves, singlechip controller and manipulator are included, and drives gloves and manipulator to connect with singlechip controller by electric wire
Connect, the driving gloves include driving the front end in gloves palm area, the driving gloves palm area to be provided with driving gloves thumb area
Finger of glove area is driven with four, the bottom in the driving gloves palm area is provided with action recognition device, the driving gloves
Action recognition device is mounted in thumb area and driving finger of glove area, the manipulator includes manipulator palm area, described
The left side wall in manipulator palm area, right side wall and bottom are provided with the first hydraulic motor, and the front end in the manipulator palm area is installed
There are manipulator thumb area and four manipulator finger areas, and manipulator thumb area and manipulator finger area and manipulator palm area
Junction is provided with the second hydraulic motor, and the first hydraulic pressure horse is mounted in the manipulator thumb area and manipulator finger area
Reach, the action recognition device, the first hydraulic motor and the second hydraulic motor are connected by electric conductor with singlechip controller.
Preferably, between the driving finger of glove area is evenly distributed with proparea, between middle interval and back zone three intervals, described
The quantity for driving the action recognition device installed in finger of glove area is three, and action recognition device is located at drives gloves respectively
In three intervals in finger area.
Preferably, the quantity of the action recognition device installed in the driving gloves thumb area is two, and action recognition
Device is located at the front-end and back-end for driving gloves thumb area respectively.
Preferably, the quantity of the first hydraulic motor installed in the manipulator thumb area is two, and the first hydraulic pressure horse
Up to respectively be located at manipulator thumb area in the middle part of left and right two side walls on.
Preferably, the quantity of the first hydraulic motor installed in the manipulator finger area is four, and the first hydraulic pressure horse
Up to the left and right two side walls being located at respectively on left and right two side walls of manipulator finger area front end with manipulator finger area rear end
On.
Preferably, the action recognition device includes action sensing module and acceleration sensing module.
Preferably, it is transversely mounted when first hydraulic motor is stretched flat relative to manipulator, the second hydraulic motor phase
It is longitudinally mounted when being stretched flat for manipulator.
Preferably, the electric wire is polyurethane fiber retractable wire.
Compared with prior art, the beneficial effects of the utility model are：A kind of Wearable drives hydraulic efficiency manipulator, structure letter
It is single, it is compact, it is easy to control, the action of hand is more accurately reduced, and speed when hand is acted can be reduced, fit
Inflammable, explosive contour for industry spot jeopardizes heavy physical labour occasion, can automatically capture or carry axial workpiece or rod
Material blank, while the labour intensity of workman is mitigated, effectively increases labor productivity, it is to avoid traditional Mechanical course side
The drawbacks of case, efficiently can be carried out rapidly by human body, effectively, sensitive control, and manipulator uses hydraulic servo skill
Art can provide powerful power, complete the operations involving high pressure that staff cannot be completed.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structured flowchart of action recognition device in the utility model；
Fig. 3 is the circuit diagram of action sensing module in the utility model.
In figure：1st, gloves are driven, 11, drive gloves palm area, 12, drive gloves thumb area, 13, drive finger of glove
Area, between 131, proparea, 132, middle interval, between 133, back zone, 14, action recognition device, 2, singlechip controller, 3, manipulator,
31st, manipulator palm area, the 32, first hydraulic motor, 33, manipulator thumb area, 34, manipulator finger area, the 35, second hydraulic pressure horse
Reach, 4, electric wire.
Specific embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of the utility model protection.
Fig. 1-3 are referred to, the utility model provides a kind of technical scheme：A kind of Wearable drives hydraulic efficiency manipulator, including
Gloves 1, singlechip controller 2 and manipulator 3 are driven, and drives gloves 1 and manipulator 3 to pass through electric wire 4 and Single-chip Controlling
Device 2 is connected, and the driving gloves 1 include driving gloves palm area 11, the front end for driving gloves palm area 11 to be provided with driving
Gloves thumb area 12 and four driving finger of glove areas 13, the bottom for driving gloves palm area 11 are provided with action recognition dress
14 are put, action recognition device 14, the machinery are mounted in the driving gloves thumb area 12 and driving finger of glove area 13
Hand 3 includes manipulator palm area 31, and the left side wall in the manipulator palm area 31, right side wall and bottom are provided with the first hydraulic motor
32, the front end in the manipulator palm area 31 is provided with manipulator thumb area 33 and four manipulator finger areas 34, and manipulator
Thumb area 33 and manipulator finger area 34 are provided with the second hydraulic motor 35, the machinery with the junction in manipulator palm area 31
The first hydraulic motor 32, the action recognition device 14, the first liquid are mounted in hand thumb area 33 and manipulator finger area 34
The hydraulic motor 35 of pressure motor 32 and second is connected by electric conductor with singlechip controller 2, the driving finger of glove area 13
It is evenly distributed between proparea that between 131, middle interval 132 and back zone 133 3 intervals, is installed in the driving finger of glove area 13
The quantity of action recognition device 14 is three, and action recognition device 14 is located at three intervals for driving finger of glove area 13 respectively
Interior, the quantity of the action recognition device 14 installed in the driving gloves thumb area 12 is two, and 14 points of action recognition device
The first hydraulic motor 32 of installation in the front-end and back-end in gloves thumb area 12, the manipulator thumb area 33 Wei Yu not driven
Quantity is two, and the first hydraulic motor 32 is located on left and right two side walls at the middle part of manipulator thumb area 33 respectively, the machine
The quantity of the first hydraulic motor 32 installed in tool hand finger area 34 is four, and the first hydraulic motor 32 is located at manipulator respectively
On left and right two side walls of on left and right two side walls of the front end of the finger area 34 and rear end of manipulator finger area 34, the action is known
Other device 14 includes action sensing module and acceleration sensing module, and preferably hand motion can be identified, described the
One hydraulic motor 32 is transversely mounted when being stretched flat relative to manipulator 3, when second hydraulic motor 35 is stretched flat relative to manipulator 3
Longitudinally mounted, it is possible to achieve the bionical action of manipulator, the electric wire 4 is polyurethane fiber retractable wire, can be according to need
To become the length for rewiring, simple structure is compact, easy to control, more accurately reduces the action of hand, and can be with
Speed when reduction hand is acted, it is adaptable to which the inflammable, explosive contour of industry spot jeopardizes heavy physical labour occasion, can be certainly
Axial workpiece or bar blank are carried in dynamic crawl, while the labour intensity of workman is mitigated, effectively increase work production
Rate, it is to avoid the drawbacks of traditional Mechanical course scheme, can efficiently be carried out rapidly by human body, effectively, sensitive control.
And manipulator 3 can provide powerful power using Hydraulic servo technology, the operations involving high pressure that staff cannot be completed is completed.
Operation principle：When in use, the action sensing module in action recognition device 14 and acceleration sensing module and list
Piece machine controller 2 is connected, and the data that action sensing module is collected with acceleration sensing module are by singlechip controller 2
Reason, as the input quantity of hydraulic servo automatic control system, then by the first hydraulic motor 32 and the second hydraulic pressure on manipulator 3
Motor 35 carrys out control machinery hand and acts.When initial, after whole hand threading drives gloves 1, sensing module and acceleration are acted
Sensing module can first obtain an initial position data, used as the control hydraulic servo automatic control system of singlechip controller 2
Command signal, when hand or finger are bent and moved, action sensing module will be collected with acceleration sensing module
One group of new position data, new data can feed back to hydraulic servo automatic control system by singlechip controller 2, represent real
The signal of border state compares with command signal, obtains error signal, and drive the first hydraulic motor 32 and the second hydraulic motor 35
It is adjusted rotating speed and the anglec of rotation so that manipulator 3 completes to be acted with limbs identical, after the completion of regulation, finally gives
Virtual condition signal as new command signal, can wait the input of feedback signal next time, it is to avoid traditional Mechanical course
The drawbacks of scheme, efficiently can be carried out rapidly by human body, effectively, sensitive control.And manipulator 3 uses hydraulic control
Technology, can provide powerful power, complete the operations involving high pressure that staff cannot be completed.
While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art,
It is appreciated that these embodiments can be carried out various changes in the case where principle of the present utility model and spirit is not departed from, repaiies
Change, replace and modification, scope of the present utility model is defined by the appended claims and the equivalents thereof.
Claims (8)
1. a kind of Wearable drives hydraulic efficiency manipulator, including drives gloves (1), singlechip controller (2) and manipulator (3), and
Gloves (1) and manipulator (3) is driven to be connected with singlechip controller (2) by electric wire (4), it is characterised in that：The driving
Including driving gloves palm area (11), the front end for driving gloves palm area (11) is provided with driving gloves thumb area to gloves (1)
(12) and four drive finger of glove area (13), it is described drive gloves palm area (11) bottom action recognition device is installed
(14) action recognition device (14), institute, are mounted in driving gloves thumb area (12) and driving finger of glove area (13)
Stating manipulator (3) includes manipulator palm area (31), and the left side wall of the manipulator palm area (31), right side wall and bottom are provided with
First hydraulic motor (32), the front end of the manipulator palm area (31) is provided with manipulator thumb area (33) and four manipulators
Finger area (34), and manipulator thumb area (33) and manipulator finger area (34) install with the junction in manipulator palm area (31)
There is the second hydraulic motor (35), the first hydraulic pressure horse is mounted in the manipulator thumb area (33) and manipulator finger area (34)
Up to (32), the action recognition device (14), the first hydraulic motor (32) and the second hydraulic motor (35) by electric conductor with
Singlechip controller (2) is connected.
2. a kind of Wearable according to claim 1 drives hydraulic efficiency manipulator, it is characterised in that：The driving finger of glove
Area (13) be evenly distributed with proparea between (131), it is middle interval (132) (133) three intervals and between back zone, the driving finger of glove
The quantity of the action recognition device (14) installed in area (13) is three, and action recognition device (14) is located at drives gloves respectively
In three intervals in finger area (13).
3. a kind of Wearable according to claim 1 drives hydraulic efficiency manipulator, it is characterised in that：The driving gloves thumb
The quantity of the action recognition device (14) installed in area (12) is two, and action recognition device (14) is located at drives gloves respectively
The front-end and back-end in thumb area (12).
4. a kind of Wearable according to claim 1 drives hydraulic efficiency manipulator, it is characterised in that：The manipulator thumb area
(33) quantity of the first hydraulic motor (32) installed in is two, and the first hydraulic motor (32) is located at manipulator thumb respectively
On left and right two side walls in the middle part of area (33).
5. a kind of Wearable according to claim 1 drives hydraulic efficiency manipulator, it is characterised in that：The manipulator finger area
(34) quantity of the first hydraulic motor (32) installed in is four, and the first hydraulic motor (32) is located at manipulator finger respectively
On left and right two side walls of on left and right two side walls of area (34) front end and manipulator finger area (34) rear end.
6. a kind of Wearable according to claim 1 drives hydraulic efficiency manipulator, it is characterised in that：The action recognition device
(14) including action sensing module and acceleration sensing module.
7. a kind of Wearable according to claim 1 drives hydraulic efficiency manipulator, it is characterised in that：First hydraulic motor
(32) it is transversely mounted when being stretched flat relative to manipulator (3), is indulged when second hydraulic motor (35) is stretched flat relative to manipulator (3)
To installation.
8. a kind of Wearable according to claim 1 drives hydraulic efficiency manipulator, it is characterised in that：The electric wire (4) is poly-
Urethane fiber retractable wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621349070.9U CN206242047U (en) | 2016-12-09 | 2016-12-09 | A kind of Wearable drives hydraulic efficiency manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621349070.9U CN206242047U (en) | 2016-12-09 | 2016-12-09 | A kind of Wearable drives hydraulic efficiency manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206242047U true CN206242047U (en) | 2017-06-13 |
Family
ID=59005634
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621349070.9U Expired - Fee Related CN206242047U (en) | 2016-12-09 | 2016-12-09 | A kind of Wearable drives hydraulic efficiency manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206242047U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108189052A (en) * | 2018-03-09 | 2018-06-22 | 华东师范大学 | A kind of flexible wearable gesture remote control system of synchronous radio manipulation manipulator |
| CN111200971A (en) * | 2017-10-11 | 2020-05-26 | 通用医疗梅拉泰股份公司 | System for controlling at least one movement of a mobile part of a radiological apparatus using such a system |
-
2016
- 2016-12-09 CN CN201621349070.9U patent/CN206242047U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111200971A (en) * | 2017-10-11 | 2020-05-26 | 通用医疗梅拉泰股份公司 | System for controlling at least one movement of a mobile part of a radiological apparatus using such a system |
| CN111200971B (en) * | 2017-10-11 | 2023-08-01 | 通用医疗梅拉泰股份公司 | System for controlling at least one movement of a motorized component of a radiation device using the system |
| CN108189052A (en) * | 2018-03-09 | 2018-06-22 | 华东师范大学 | A kind of flexible wearable gesture remote control system of synchronous radio manipulation manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170613 Termination date: 20171209 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |