CN207506707U - A kind of electric wheelchair mechanical arm - Google Patents
A kind of electric wheelchair mechanical arm Download PDFInfo
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- CN207506707U CN207506707U CN201720475027.5U CN201720475027U CN207506707U CN 207506707 U CN207506707 U CN 207506707U CN 201720475027 U CN201720475027 U CN 201720475027U CN 207506707 U CN207506707 U CN 207506707U
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- electric wheelchair
- video camera
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- sensings
- mechanical arm
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Abstract
The utility model discloses a kind of electric wheelchair mechanical arms, including electric wheelchair, six degree of freedom light-type biomimetic manipulator, laser radar, the first 3D body-sensings video camera, the 2nd 3D body-sensings video camera, fore-stock, after-poppet, side supports, the light-type biomimetic manipulator of the six degree of freedom is fixed on the left front of electric wheelchair by connecting the side supports of electric wheelchair, for implementing crawl and sending target object to user's mouth；The laser radar and the first 3D body-sensings video camera are fixed on the front of electric wheelchair by connecting the fore-stock of electric wheelchair；The 2nd 3D body-sensings video camera is fixed on the top of electric wheelchair by connecting the after-poppet of electric wheelchair.The utility model can fully play the functions such as the convenient, crawl safe and that object is realized the characteristics of possess intelligentized handling controller of electric wheelchair, and various utility functions can be developed so as to which old man, disabled person is helped to realize the raising of quality of life and have.
Description
Technical field
The utility model patent belongs to the electrically powered wheelchair device for carrying mechanical arm, and more particularly to a kind of carrying, there are one six
The electric wheelchair mechanical arm of the light-type biomimetic manipulator of degree of freedom.
Background technology
Along with the development of human society, the global problem of an aging population is increasingly severe, the system brought therewith
Old man's disease, such as Patients with Stroke or severe hemiplegia patient are arranged, it is increasingly common in daily life.Furthermore due to each
Kind of traffic accident, natural and man-made calamities and the people disabled is also more and more.For severe disability patient, they can neither freely walk,
Both arms also gradual loss of function, therefore, exploitation is a kind of can both to have been carried patient and had walked everywhere, the operation that can also help it is extraneous be
System is very important.Six degree of freedom light-type biomimetic manipulator has the characteristics that flexible, light and easily controllable and good
Safety and man-machine interaction, have a wide range of applications in many scientific research fields.Since electric wheelchair has convenience, peace
The full excellent in performance such as property and intelligentized handling controller, and the light-type biomimetic manipulator of six degree of freedom can be completed itself
Numerous tasks, on this basis, if can realize the combination of the two, the advantages of both giving full play to itself, more
Both benefits deficiency of itself, can must preferably realize intelligentized control.Therefore, it is proposed to the loading six degree of freedom is light
The electrically powered wheelchair device of amount type biomimetic manipulator.By the device, can fully play electric wheelchair it is convenient, it is safe with
And the characteristics of possessing intelligentized handling controller, simultaneously because the light-type biomimetic manipulator with six degree of freedom and can be real
The functions such as the crawl of existing object, so as to which old man, disabled person is helped to realize the raising of quality of life.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of setting for autonomous electric wheelchair mechanical arm
Meter method.
In order to realize above-mentioned utility unit, the technical solution of use is as follows：
A kind of electric wheelchair mechanical arm, including electric wheelchair, further includes：Six degree of freedom light-type biomimetic manipulator, laser
Radar, the first 3D body-sensings video camera, the 2nd 3D body-sensings video camera, fore-stock, after-poppet, side supports, the six degree of freedom
Light-type biomimetic manipulator is fixed on the left front of electric wheelchair by connecting the side supports of electric wheelchair, for according to target
The location information of object implements crawl task, and according to the 2nd 3D body-sensings video camera to the location information of user's mouth, by mesh
Mark object is sent to user's mouth；The laser radar and the first 3D body-sensings video camera are by connecting the fore-stock of electric wheelchair
The front of electric wheelchair is fixed on, for positioning the identification of the position of electric wheelchair and target object and positioning in real time；It is described
2nd 3D body-sensings video camera is fixed on the top of electric wheelchair by connecting the after-poppet of electric wheelchair, for user's mouth
Identification positioning.
Further,：The first 3D body-sensings video camera 5, the 2nd 3D body-sensings video camera use Kinect.
Further, the side supports are fixed on electric wheelchair chassis and extend from the left front on electric wheelchair chassis
And go out, while be provided with the mechanical interface of connection six degree of freedom light-type biomimetic manipulator and electric wheelchair and fixation respectively and connect
Mouthful.
Further, the fore-stock be fixed on electric wheelchair chassis and from the front on electric wheelchair chassis extension and
Go out, the bottom of the fore-stock is provided with triangle small rack and connects the fixed interface of electric wheelchair, the middle part of the fore-stock
The connecting tube on connection electric wheelchair chassis is additionally provided with, the top of the fore-stock is provided with to install the photography of the first 3D body-sensings
The support platform of machine.
Further, the after-poppet 7 is fixed on 1 chassis of electric wheelchair and extends from the rear on 1 chassis of electric wheelchair
And go out, the bottom of the after-poppet is provided with gusseted and connects the fixed interface of electric wheelchair, the after-poppet front end
It is provided with the fixed platform for fixing the 2nd 3D body-sensing video cameras.
Further, the left and right and bottom surface of the fixed platform is equipped with the protrusion of certain altitude, and top surface, which is provided with, to be used for
The opening of heat dissipation.Landing of the 2nd 3D body-sensings video camera in electric wheelchair moving process is prevented, while the 2nd 3D body-sensings is allowed to take the photograph
Shadow machine preferably radiates.
Further, the first 3D body-sensings camera post is in the surface of laser radar.
Further, the placement height of the laser radar is away from ground 1m-1.1m.
Further, the distance of the 2nd 3D body-sensings video camera and face is 0.7m-0.8m.
Compared with prior art, the utility model patent is made of electric wheelchair and light-type biomimetic manipulator, Neng Gouchong
Point performance electric wheelchair it is convenient, safe and the characteristics of possess intelligentized handling controller, simultaneously because having six
The light-type biomimetic manipulator of degree of freedom and can realize the functions such as the crawl of object, so as to help old man, disabled person realize
The raising of quality of life simultaneously has and can develop various utility functions.
Description of the drawings
Fig. 1 is the electric wheelchair mechanical arm overall structure diagram of the utility model embodiment.
Fig. 2 is the fore-stock of the utility model embodiment and laser radar thereon and kinect structure diagrams.
Fig. 3 is that the side supports of the utility model embodiment and six degree of freedom light-type bionic mechanical arm configuration thereon show
It is intended to.
Fig. 4 is the after-poppet and kinect models thereon of the utility model embodiment.
Shown in figure：1- electric wheelchairs；2- side supports；3- six degree of freedom light-type biomimetic manipulators；4- laser radars；
The first 3D body-sensing video cameras of 5-；6- fore-stocks；61- connecting tubes；62- triangle small racks；7- after-poppets；71- gusseteds；8-
Two 3D body-sensing video cameras.
Specific embodiment
Utility model is described further below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of electric wheelchair mechanical arm, including electric wheelchair, six degree of freedom light-type biomimetic manipulator 3,
Laser radar 4, the first 3D body-sensings video camera 5, the 2nd 3D body-sensings video camera 8, fore-stock 6, after-poppet 7, side supports 2, it is described
The light-type biomimetic manipulator 3 of six degree of freedom is fixed on the left front of electric wheelchair 1 by connecting the side supports of electric wheelchair 1
Side, for implementing crawl task according to the location information of target object, and according to the 2nd 3D body-sensings video camera 8 to user's mouth
Location information, target object is sent to user's mouth；4 and the first 3D body-sensings video camera 5 of laser radar passes through company
The fore-stock 6 for connecing electric wheelchair 1 is fixed on the front of electric wheelchair 1, for positioning the position of electric wheelchair 1 and target in real time
The identification and positioning of object；The 2nd 3D body-sensings video camera 8 is fixed on Electric Motor Wheel by connecting the after-poppet 7 of electric wheelchair 1
The top of chair 1 positions for the identification of user's mouth；The first 3D body-sensings video camera 5, the 2nd 3D body-sensings video camera 8
Using Kinect, the six degree of freedom light-type biomimetic manipulator 3 uses the bionical machine of light-type of kinova six degree of freedoms
Tool arm.
Electric wheelchair 1 can realize the space movement of electric wheelchair mechanical arm.The people being sitting on electric wheelchair can pass through
Two ways come realize the space of electric wheelchair mechanical arm move：（1）Utilize the self-contained intelligentized manipulation of electric wheelchair 1
Controller realize electric wheelchair 1 space all around and turn round etc. mobile；（2）Utilize the laser carried on fore-stock 6
Radar 4 positions place space, after laser radar 4 is to space orientation, location information is fed back to PC machine, PC machine will
Information and motion command after processing send electric wheelchair 1 to, driving electric wheelchair 1 realize space all around and
Turn etc. is mobile, so as to smoothly reach target location.
Six degree of freedom light-type biomimetic manipulator 3 therein has 6 degree of freedom, is mainly extended by 1 chassis of electric wheelchair
Side supports 2 out, which are given, to be supported.Six degree of freedom light-type biomimetic manipulator 3 with there are one the end effector that can be gripped,
It can realize the gripping to object or complete some crawl tasks.The control of six degree of freedom light-type biomimetic manipulator 3 is by one
Platform PC machine is completed, and is collected the image information of electric wheelchair objects in front in the first 3D body-sensings video camera 5 and is completed and pass through control
While circuit transmission is to PC machine, the location information transmission of the face of people can be passed through control circuit by the 2nd 3D body-sensings video camera 8
PC machine is transferred to, PC machine can information feeds back to six degree of freedom light-type biomimetic manipulator 3, six degree of freedom light weight again by treated
Type biomimetic manipulator 3 will drive after the information of PC machine is received, to complete crawl material object and send appointing for people to
Business.
Laser radar 4 and first 3D body-sensing video camera 5 schematic diagrames of the Fig. 2 for fore-stock 6 and thereon.Fore-stock 6 is by electricity
1 chassis of wheelchair extends out, and passes through hollow steel pipe and 6 nested encryptions of fore-stock on 1 chassis of electric wheelchair；The lower part of stent
Divide and the principle of triangle stability is mainly provided with triangle small rack 62 to realize the firm of stent；In stent
Portion, also a connecting tube 61 are connected with electric wheelchair chassis, the stability of further reinforced support；The peace of laser radar 4
The reason of height is put mainly in the height away from ground 1m-1.1m, is arranged on this height is that the working depth of laser radar 4 must not
It is too low, it needs near height herein, meanwhile, setting is for the first 3D body-sensings video camera 5 of installation at the top 0.2m of laser radar 4
Support platform.The present embodiment determines relative position, to the first 3D in the top of fore-stock 6 by the laser radar 4 of placement
The image information that body-sensing video camera 5 obtains carries out coordinate setting, and the first 3D body-sensings video camera 5 of 4 surface of laser radar is then complete
Into the identification and positioning of corresponding object, the identification including road conditions.By more than feature, the first 3D body-sensings video camera 5 and laser
Picture signal acquired in radar 4 can feed back the corresponding of task performed needed for six degree of freedom light-type biomimetic manipulator 3 and regard
Feel content, can realize intelligentized control method.
The model of six degree of freedom light-type biomimetic manipulators 3 of the Fig. 3 for side supports 2 and thereon.The side supports 2
It is fixed on 1 chassis of electric wheelchair and extends from the left front on 1 chassis of electric wheelchair, while be provided with connection six respectively freely
Spend the mechanical interface and fixed interface of light-type biomimetic manipulator 3 and electric wheelchair 1.The six degree of freedom carried in side supports 2
Light-type biomimetic manipulator 3 can receive location information and the work order of the object sent from PC machine, and according to upper
It states information and performs that work order such as capture and mobile object is to appointed place, and then the motor task of completion complexity.
Twoth 3D body-sensing video camera 8 models of the Fig. 4 for after-poppet 7 and thereon.The after-poppet 7 is fixed on electric wheelchair
1 chassis is simultaneously extended from the rear on 1 chassis of electric wheelchair, and the hollow steel pipe by 1 chassis of electric wheelchair is nested with after-poppet 7
Connection；The bottom of the after-poppet 7 is provided with the gusseted 71 for increasing stability and the fixed interface for connecting electric wheelchair 1；
Then after-poppet 7 can turn forward extension so that second from 1 behind of electric wheelchair around 1 seat cushion of electric wheelchair by certain angle
The distance of 3D body-sensings video camera 8 and face is in the range of 0.7m-0.8m, because the 2nd 3D body-sensings video camera 8 is known in the range
Best performance can not be obtained with the function of positioning；7 front end of after-poppet is provided with to fix the photography of the 2nd 3D body-sensings
The fixed platform of machine 8, the left and right and bottom surface of the fixed platform are equipped with the protrusion of certain altitude, prevent the 2nd 3D body-sensings from taking the photograph
Landing of the shadow machine 8 in electric wheelchair moving process, top surface are provided with the opening for heat dissipation, such design primarily to
The more enough better heat dissipations of the 2nd 3D body-sensings video camera 8 are allowed, so as to which the 2nd 3D body-sensings video camera 8 be enable normally to carry out image
Collecting work.The main task of 2nd 3D body-sensings video camera 8 is to identify image information and the positioning of face, is then passed to PC
Machine, PC machine can pass to six degree of freedom light-type biomimetic manipulator 3 again after the information processing by acquisition, so as to six degree of freedom
Light-type biomimetic manipulator 3 can successfully capture material object and accurately be sent to designated position.In the bionical machine of six degree of freedom light-type
During 3 completion task of tool arm, two 3D body-sensings video cameras can also carry out the real-time update of image information with laser radar 4,
And PC machine is constantly transferred to, PC machine is allowed to be handled.Realize that the stabilization of image obtains in real time with this configuration.Realization pair
The image identification and positioning of target object, the electric wheelchair 1 for being conducive to load six degree of freedom light-type biomimetic manipulator 3 are completed
Corresponding task.
The above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be to the present invention
Embodiment restriction.For those of ordinary skill in the art, it can also make on the basis of the above description
Other various forms of variations or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all the present invention
All any modification, equivalent and improvement made within spirit and principle etc., should be included in the protection of the claims in the present invention
Within the scope of.
Claims (9)
1. a kind of electric wheelchair mechanical arm, including electric wheelchair, which is characterized in that further include：The bionical machine of six degree of freedom light-type
Tool arm (3), laser radar (4), the first 3D body-sensings video camera (5), the 2nd 3D body-sensings video camera (8), fore-stock (6), after-poppet
(7), side supports (2), the light-type biomimetic manipulator (3) of the six degree of freedom is by connecting the lateral bolster of electric wheelchair (1)
Frame is fixed on the left front of electric wheelchair (1), for implementing crawl task according to the location information of target object, and according to second
Target object is sent to user's mouth the location information of user's mouth by 3D body-sensings video camera (8)；The laser radar
(4) and the first 3D body-sensings video camera (5) by connect the fore-stock (6) of electric wheelchair (1) be fixed on electric wheelchair (1) just before
Side, for positioning the identification and positioning of the position of electric wheelchair (1) and target object in real time；The 2nd 3D body-sensing video cameras
(8) top of electric wheelchair (1) is fixed on by connecting the after-poppet (7) of electric wheelchair (1), for the identification of user's mouth
Positioning.
2. electric wheelchair mechanical arm according to claim 1, it is characterised in that：The first 3D body-sensings video camera (5),
2nd 3D body-sensings video camera (8) uses Kinect.
3. electric wheelchair mechanical arm according to claim 1, it is characterised in that：The side supports (2) are fixed on electricity
Wheelchair (1) chassis is simultaneously extended from the left front on electric wheelchair (1) chassis, while it is light to be provided with connection six degree of freedom respectively
The mechanical interface and fixed interface of amount type biomimetic manipulator (3) and electric wheelchair (1).
4. electric wheelchair mechanical arm according to claim 1, it is characterised in that：The fore-stock (6) is fixed on electronic
Wheelchair (1) chassis is simultaneously extended immediately ahead of electric wheelchair (1) chassis, and the bottom of the fore-stock (6) is provided with triangle
The fixed interface of small rack (62) and connection electric wheelchair (1) is additionally provided with connection electric wheelchair in the middle part of the fore-stock (6)
(1) connecting tube (61) on chassis, the top of the fore-stock (6) are provided with the branch for installing the first 3D body-sensings video camera (5)
Support platform.
5. electric wheelchair mechanical arm according to claim 1, it is characterised in that：The after-poppet (7) is fixed on electronic
Wheelchair (1) chassis is simultaneously extended from the rear on electric wheelchair (1) chassis, and the bottom of the after-poppet (7) is provided with triangle branch
It supports (71) and connects the fixed interface of electric wheelchair (1), the after-poppet (7) front end is provided with to fix the 2nd 3D body-sensings
The fixed platform of video camera (8).
6. electric wheelchair mechanical arm according to claim 5, it is characterised in that：The left and right and bottom surface of the fixed platform
The protrusion of certain altitude is equipped with, top surface is provided with the opening for heat dissipation.
7. electric wheelchair mechanical arm according to claim 1, it is characterised in that：The first 3D body-sensings video camera (5)
Positioned at the surface of laser radar (4).
8. electric wheelchair mechanical arm according to claim 1, it is characterised in that：The placement height of the laser radar (4)
Away from ground 1m-1.1m.
9. electric wheelchair mechanical arm according to claim 1, it is characterised in that：The 2nd 3D body-sensings video camera (8) with
The distance of face is 0.7m-0.8m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720475027.5U CN207506707U (en) | 2017-05-02 | 2017-05-02 | A kind of electric wheelchair mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720475027.5U CN207506707U (en) | 2017-05-02 | 2017-05-02 | A kind of electric wheelchair mechanical arm |
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| Publication Number | Publication Date |
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| CN207506707U true CN207506707U (en) | 2018-06-19 |
Family
ID=62531626
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720475027.5U Active CN207506707U (en) | 2017-05-02 | 2017-05-02 | A kind of electric wheelchair mechanical arm |
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| CN (1) | CN207506707U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048918A (en) * | 2018-09-25 | 2018-12-21 | 华南理工大学 | A kind of visual guide method of wheelchair arm robot |
| CN111407568A (en) * | 2020-03-31 | 2020-07-14 | 武汉联影智融医疗科技有限公司 | Operation assisting system and control method thereof |
-
2017
- 2017-05-02 CN CN201720475027.5U patent/CN207506707U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048918A (en) * | 2018-09-25 | 2018-12-21 | 华南理工大学 | A kind of visual guide method of wheelchair arm robot |
| CN109048918B (en) * | 2018-09-25 | 2022-02-22 | 华南理工大学 | Visual guide method for wheelchair mechanical arm robot |
| CN111407568A (en) * | 2020-03-31 | 2020-07-14 | 武汉联影智融医疗科技有限公司 | Operation assisting system and control method thereof |
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