CN207534811U - A kind of auxiliary power mechanical arm based on outside control - Google Patents

Abstract

The utility model discloses a kind of auxiliary power mechanical arms based on outside control, including front swing arm and rear-swing arm, the two bottom sides of front swing arm have been fixedly connected with the first short slab, one end rotation connection with two the second short slabs, the other end of two the second short slabs are respectively fixedly connected in one end both sides of rear-swing arm respectively for two one end of the first short slab far from front swing arm；One end side of the rear-swing arm far from the second short slab is fixed with connecting plate, and connecting plate is fixed on by multiple bolts on retainer plate, and retainer plate is fixedly connected on through one end of axis.The rotation connection that the utility model front swing arm and rear-swing arm pass through two short slabs, controller passes through the control device connecting communication with outside, it can realize the operation and stopping of two motors, so as to provide auxiliary force to movements such as human arm bendings, it is ingenious in design, it is easy to implement, can be with the labor intensity of reduction human body under certain environment.

Description

A kind of auxiliary power mechanical arm based on outside control

Technical field

The utility model is related to mechanical arm technical field, specially a kind of auxiliary power mechanical arm based on outside control.

Background technology

With the development of science and technology, automation is gradually applied in more and more fields, there is industrial machinery in many industries People replaces manually, such as automated production, military project, space flight, exploration, scientific research, civilian etc., in general industrial machinery people, Either automation equipment is all to carry out relevant operation according to set program or route, wherein have one disadvantage in that be exactly can not The action of some subjectivities is completed, than if desired for the action being adjusted after being judged；

Now with Internet of Things and wearable device rapid development with it is universal, human-computer interaction is made move towards to show since the imagination Real, in general direct human-computer interaction, acquires the action of human body and machinery realizes simulation to the more demanding of equipment, cost It is larger, and existing defects or the weaker crowd of strength are for can be on some crowds in many cases, particularly some limbs The device that auxiliary improves itself strength has urgent need, and the work(of auxiliary human body is reached using controller control machinery device Can, people can be helped to complete some work larger to physical fitness requirement.For this purpose, propose a kind of auxiliary power machine based on outside control Tool arm.

Utility model content

The purpose of this utility model is to provide a kind of auxiliary power mechanical arm based on outside control, to solve above-mentioned background skill The problem of being proposed in art.

To achieve the above object, the utility model provides following technical solution：A kind of auxiliary power machinery based on outside control Arm, including front swing arm and rear-swing arm, the two bottom sides of the front swing arm have been fixedly connected with the first short slab, and two the first short slabs are remote One end one end rotation connection with two the second short slabs respectively from front swing arm, the other end of two the second short slabs is fixed respectively to be connected One end both sides of rear-swing arm are connected on, the upper surface of the rear-swing arm is fixed with axillare, and the upper surface both sides of the axillare are equipped with First connecting plate is rotatably connected to the first connecting shaft between two the first connecting plates, fixation is fixedly connected in the middle part of the first connecting shaft Axis, the one end of the fixing axle far from the first connecting shaft are fixedly connected on one end of connecting bushing, and the connecting bushing is far from fixed One end fixing sleeve of axis is connected to fixed cover, and the side for being internally located at connecting bushing of the fixed cover, which is fixed, is plugged with the first electricity Machine, first motor are located at the first rotating shaft that one end inside fixed cover is equipped with and are connected by belt and the second shaft, and described the Two shafts are fixed on one end of snail disk, and the snail disk is rotatably connected on the inside of connecting bushing, and the inside engagement grafting of snail disk There is worm screw, the outer end of the worm screw is through the second shaft and fixed cover and the middle part for being fixed on the second connecting shaft, second connecting shaft Both ends be rotatably connected on respectively on two the second connecting plates, two the second connecting plates are each attached on the medial surface of front swing arm；

One end side of the rear-swing arm far from the second short slab is fixed with connecting plate, and the connecting plate is fixed on by multiple bolts On retainer plate, the retainer plate is fixedly connected on through one end of axis, described to run through fixation through the one end of axis far from retainer plate Plate extends to the inner wall of gearcase, and the gearcase is fixed on the side of fixed plate by the bolt that its quadrangle is equipped with, described to pass through It wears the one end of axle position inside gearcase to be rotatably connected on gearcase intracavity sidewall, the external stability through axis is socketed with Second Knucle-gear, the side of second Knucle-gear are equipped with the first Knucle-gear, and the second Knucle-gear and the first Knucle-gear pass through the One reduction gearing is connected with the second reduction gearing, and the first reduction gearing and the second reduction gearing are rotatably connected on the interior of gearcase On chamber side wall, first Knucle-gear is fixedly attached on the motor shaft that the second motor is located in gearcase inner cavity, and described second Motor is fixed on the lateral wall of gearcase, and the lateral wall of the gearcase is equipped with controller, and the controller and first Motor, the electrical connection of the second motor..

Preferably, the front lower portion of the front swing arm, which is fixed with, holds plate.

Preferably, the both sides of the front swing arm and rear-swing arm are equipped with folded plate.

Preferably, described hold is equipped with rubber pad in plate, front swing arm, rear-swing arm and fixed plate.

Preferably, first reduction gearing and the second reduction gearing are double-layer gear.

Compared with prior art, the beneficial effects of the utility model are：The utility model front swing arm and rear-swing arm pass through two The rotation connection of a short slab, realizing the present apparatus can be bent with apish arm, can be with by worm screw in connecting bushing The angle that shortens and can control between two swing arms is freely extended, rear-swing arm is rotatably connected on by connecting plate to be fixed in fixed plate Motor shaft on, realize rear-swing arm, by the reduction gearing in gearcase, can realize with apish arm into line tilt The present apparatus controls very accurate in tilt accuracy, and the present apparatus controls the operation of two motors, controller by controller External signal can be received, the effect set so as to the operating status for controlling motor.

Description of the drawings

Fig. 1 is the structure diagram of the utility model；

Fig. 2 is the front swing arm of the utility model and the local attachment structure schematic diagram of rear-swing arm；

Fig. 3 is first motor of the utility model and the part connection sectional view of connecting bushing；

Fig. 4 is the connecting plate of the utility model and the local attachment structure schematic diagram of fixed plate；

Fig. 5 is enlarged drawing at the A of the utility model Fig. 4；

Fig. 6 is the gearcase internal structure schematic diagram of the utility model.

In figure：1st, front swing arm, the 101, first short slab, 102, hold plate, 2, rear-swing arm, the 201, second short slab, 3, fixed plate, 4, First motor, 5, connecting bushing, 6, connecting plate, 7, gearcase, 8, axillare, 9, retainer plate, 10, fixing axle, the 11, first connecting shaft, 12, Worm screw, the 13, second connecting shaft, the 14, second motor, 15, controller, the 16, first Knucle-gear, the 17, first reduction gearing, 18, second Reduction gearing, the 19, second Knucle-gear, 20, fixed cover, 21, first rotating shaft, the 22, second shaft, 23, belt, the 24, first connection Plate, the 25, second connecting plate, 26, snail disk, 27, through axis.

Specific embodiment

The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out It clearly and completely describes, it is clear that the described embodiments are only a part of the embodiments of the utility model rather than whole Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work All other embodiments obtained shall fall within the protection scope of the present invention.

- 6 are please referred to Fig.1, the utility model provides a kind of technical solution：A kind of auxiliary power mechanical arm based on outside control, Including front swing arm 1 and rear-swing arm 2, the two bottom sides of the front swing arm 1 have been fixedly connected with the first short slab 101, two first short The one end of plate 101 far from front swing arm 1 respectively with the rotation connection of one end of two the second short slabs 201, front swing arm 1 and rear-swing arm 2 it Between can be bent with angle of inclination, apish arm, the other end of two the second short slabs 201 is respectively fixedly connected in rear pendulum One end both sides of arm 2, the upper surface of the rear-swing arm 2 are fixed with axillare 8, and the upper surface both sides of the axillare 8 are equipped with first Connecting plate 24 is rotatably connected to the first connecting shaft 11 between two the first connecting plates 24, and the middle part of the first connecting shaft 11 is fixedly connected with Fixing axle 10, the one end of the fixing axle 10 far from the first connecting shaft 11 are fixedly connected on one end of connecting bushing 5, the connecting shaft 5 one end fixing sleeves far from fixing axle 10 of set are connected to fixed cover 20, the side for being internally located at connecting bushing 5 of the fixed cover 20 Fixation is plugged with the first motor 4, and first motor 4 is located at the first rotating shaft 21 that 20 inside one end of fixed cover is equipped with and passes through belt 23 and second shaft 22 connect, second shaft 22 is fixed on one end of snail disk 26, and the snail disk 26 is rotatably connected on connection The inside of axle sleeve 5, and the inside engagement of snail disk 26 is plugged with worm screw 12, the rotation of first rotating shaft 21 drives second turn by belt 23 Axis 22 rotates, and the rotation of snail disk 26 drives worm screw 12 to slide back and forth, and the angle between two swing arms changes, and the outer end of the worm screw 12 is passed through It wears the second shaft 22 and fixed cover 20 and is fixed on the middle part of the second connecting shaft 13, the both ends of second connecting shaft 13 company of rotation respectively It is connected on two the second connecting plates 25, two the second connecting plates 25 are each attached on the medial surface of front swing arm 1；

One end side of the rear-swing arm 2 far from the second short slab 201 is fixed with connecting plate 6, and the connecting plate 6 passes through multiple bolts It is fixed on retainer plate 9, the retainer plate 9 is fixedly connected on through one end of axis 27, and the axis 27 that runs through is far from retainer plate 9 One end extends to the inner wall of gearcase 7 through fixed plate 3, and the gearcase 7 is fixed on fixation by the bolt that its quadrangle is equipped with The side of plate 3, fixed plate 3 are to support the pedestal of the present apparatus, and fixed plate 3 can be fixed on the shoulder and back of people, described It is rotatably connected on 7 intracavity sidewall of gearcase through one end that axis 27 is located inside gearcase 7, the outside through axis 27 is consolidated Surely the second Knucle-gear 19 is socketed with, the side of second Knucle-gear 19 is equipped with the first Knucle-gear 16, and 19 He of the second Knucle-gear First Knucle-gear 16 is connected by the first reduction gearing 17 and the second reduction gearing 18, and two reduction gearing can realize dual subtract Speed, improves the accuracy of the present apparatus, and the first reduction gearing 17 and the second reduction gearing 18 are rotatably connected on the interior of gearcase 7 On chamber side wall, first Knucle-gear 16 is fixedly attached on the motor shaft that the second motor 14 is located in 7 inner cavity of gearcase, described Second motor 14 is fixed on the lateral wall of gearcase 7, and the lateral wall of the gearcase 7 is equipped with controller 15, and the control Device 15 processed is electrically connected with the first motor 4, the second motor 14, and controller 15 is connected as whole device with external power supply and provides power Source, and controller 15 connect with external processor, analyzer and receives action signal, and action command is converted by external equipment The operating instruction of two motors passes to controller 15, and the relevant action of two motors is then realized by controller 15.

Specifically, the front lower portion of the front swing arm 1 is fixed with and holds plate 102, plate 102 is held as hand-held device, is conveniently made User is operated and is held with a firm grip.

Specifically, the both sides of the front swing arm and rear-swing arm are equipped with folded plate, a fixing limit and protective effect are played.

Specifically, described hold is equipped with rubber pad in plate 102, front swing arm 1, rear-swing arm 2 and fixed plate 3, improves and relax Adaptive.

Specifically, 17 and second reduction gearing 18 of the first reduction gearing is double-layer gear, fortune is adjusted to realize Dynamic angle, improves precision.

Operation principle：The fixed plate 3 of the present apparatus is fixed on to the shoulder or back of user, one hand holds plate 102, then the first motor 4 and the second motor 14 are powered on, carried by controller 15 to the first motor 4 and the second motor 14 Forward swing is independently carried out so as to fulfill mechanical arm for the instruction that switchs and run, puts, lift afterwards, putting down etc. and is a series of dynamic Make, swing is rotated for the first motor 4 of driving, and the first motor 4 drives snail disk 26 to rotate by belt 23, and the rotation of snail disk 26 can To drive the elongation of worm screw 12 or shortening, lift and put down, be by the way that the second motor 14 is controlled to rotate, passes through reduction gearing Drive is rotated through axis 27, and so as to drive lifting and putting down for rear-swing arm 2, controller 15 can connect with external circuit control device It connects, realizes motor operating control, such control motor movement and the circuit and equipment that stop have much at present, are disclosed Technical solution, and where the technology contents of this patent therefore do not illustrate not.

In addition during the experiment, it is the production of ST companies also using the external equipment to communicate with controller 15 The ARM chips of STM32F4 series, the data that ARM chips receive are the TGAM modules of NeuroSky companies production as brain wave The brain electric information of user is obtained and is arranged so as to pass to ARM chips, is then then converted to by signal acquisition sensor The run signal of two motors that controller 15 can identify can substantially increase the convenience used by E.E.G control, The seminar of the Wang Mei professors of Xi'an Technology University has certain correlative study in related field, can during follow-up study It studies E.E.G control and the combination of the present apparatus, external E.E.G control device herein belongs to other devices of the outside of this patent, therefore It is not elaborated.

While there has been shown and described that the embodiment of the utility model, for the ordinary skill in the art, It is appreciated that can these embodiments be carried out with a variety of variations in the case of the principle and spirit for not departing from the utility model, repaiied Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.

Claims (5)

1. a kind of auxiliary power mechanical arm based on outside control, including front swing arm (1) and rear-swing arm (2), it is characterised in that：Before described The two bottom sides of swing arm (1) have been fixedly connected with the first short slab (101), two the first short slabs (101) far from front swing arm (1) one One end rotation connection with two the second short slabs (201), the other end of two the second short slabs (201) are respectively fixedly connected with respectively at end In one end both sides of rear-swing arm (2), the upper surface of the rear-swing arm (2) is fixed with axillare (8), the upper surface of the axillare (8) Both sides are equipped with the first connecting plate (24), and the first connecting shaft (11) is rotatably connected between two the first connecting plates (24), and first connects Fixing axle (10) is fixedly connected in the middle part of axis (11), the one end of the fixing axle (10) far from the first connecting shaft (11) is fixedly connected In one end of connecting bushing (5), one end fixing sleeve of the connecting bushing (5) far from fixing axle (10) is connected to fixed cover (20), The side for being internally located at connecting bushing (5) of the fixed cover (20), which is fixed, is plugged with the first motor (4), first motor (4) first rotating shaft (21) being equipped with positioned at the internal one end of fixed cover (20) is connected by belt (23) and the second shaft (22), institute One end that the second shaft (22) is fixed on snail disk (26) is stated, the snail disk (26) is rotatably connected on the inside of connecting bushing (5), and The inside engagement of snail disk (26) is plugged with worm screw (12), and the second shaft (22) and fixed cover are run through in the outer end of the worm screw (12) (20) and the middle parts of the second connecting shaft (13) is fixed on, the both ends of second connecting shaft (13) are rotatably connected on two second companies respectively On fishplate bar (25), two the second connecting plates (25) are each attached on the medial surface of front swing arm (1)；

One end side of the rear-swing arm (2) far from the second short slab (201) is fixed with connecting plate (6), and the connecting plate (6) is by multiple Bolt is fixed on retainer plate (9), and the retainer plate (9) is fixedly connected on through one end of axis (27), described to run through axis (27) One end far from retainer plate (9) extends to the inner wall of gearcase (7) through fixed plate (3), and the gearcase (7) passes through its quadrangle The bolt being equipped with is fixed on the side of fixed plate (3), described to be rotatablely connected through axis (27) positioned at the internal one end of gearcase (7) On gearcase (7) intracavity sidewall, the external stability through axis (27) is socketed with the second Knucle-gear (19), second circle The side of gear (19) is equipped with the first Knucle-gear (16), and the second Knucle-gear (19) and the first Knucle-gear (16) slow down by first Gear (17) and the second reduction gearing (18) connection, the first reduction gearing (17) and the second reduction gearing (18) are rotatably connected on On the intracavity sidewall of gearcase (7), first Knucle-gear (16) is fixedly attached to the second motor (14) in gearcase (7) On motor shaft in chamber, second motor (14) is fixed on the lateral wall of gearcase (7), the outside of the gearcase (7) Wall is equipped with controller (15), and the controller (15) is electrically connected with the first motor (4), the second motor (14).

2. a kind of auxiliary power mechanical arm based on outside control according to claim 1, it is characterised in that：The front swing arm (1) front lower portion, which is fixed with, holds plate (102).

3. a kind of auxiliary power mechanical arm based on outside control according to claim 1, it is characterised in that：The front swing arm (1) and the both sides of rear-swing arm (2) are equipped with folded plate.

4. a kind of auxiliary power mechanical arm based on outside control according to claim 2, it is characterised in that：It is described to hold plate (102), it is equipped with rubber pad in front swing arm (1), rear-swing arm (2) and fixed plate (3).

5. a kind of auxiliary power mechanical arm based on outside control according to claim 2, it is characterised in that：Described first slows down Gear (17) and the second reduction gearing (18) are double-layer gear.