CN210414516U

CN210414516U - Working machine with man-machine synchronous motion

Info

Publication number: CN210414516U
Application number: CN201921257697.5U
Authority: CN
Inventors: 米召礼; 米木十; 米梓一; 米木尚
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-08-06
Filing date: 2019-08-06
Publication date: 2020-04-28
Anticipated expiration: 2029-08-06

Abstract

The utility model discloses a man-machine synchronous motion's work machine, it is applied to the human engineering technology field, and it is including setting up at the signal detector at human head, upper limbs activity position, setting up driving machine and the connection on the work machine signal detector is connected with the controller of driving machine, the signal detector is connected with the input electricity of controller, the output and the driving machine electricity of controller are connected, the utility model discloses simple structure, the modern design is low to the environmental requirement, and application scope is wide, and man-machine adaptability is good, and operating personnel can control the motion state, the direction of motion of work machine at will, satisfies the work machine and moves according to people's wish completely, makes the work machine replace mankind and operate under abominable, high risk environment, has the protection mankind, lets mankind keep away from the effect of high risk environment, and its meaning is far away.

Description

Working machine with man-machine synchronous motion

Technical Field

The utility model relates to a human-computer engineering technical field, specific man-machine synchronous motion's work machine that says so.

Background

At present, man-machine synchronous equipment is low in control precision and limited in use environment, and cannot completely replace human beings to finish operation according to human will. The human body can work in a severe and high-risk environment, the human health is affected, the human body can be injured, even the life is threatened, and irreparable pain is caused to families and society.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the technical problem that needs to solve provides a man-machine simultaneous movement's work machine, can replace the mankind to accomplish the operation completely, plays protection mankind, makes mankind keep away from dangerous effect.

In order to solve the technical problem, the utility model discloses the technical scheme who adopts is:

the utility model discloses a set up at the signal detector of human head, upper limbs activity position, set up driving machine and the connection on the working machine the controller of signal detector and driving machine, the signal detector is connected with the input electricity of controller, the output and the driving machine electricity of controller are connected.

The utility model discloses a further improvement lies in: the signal detector is an angle sensor which comprises a first angle sensor arranged on the top of the head, a second angle sensor arranged on the neck, a third angle sensor arranged on the shoulder, a fourth angle sensor arranged on the elbow, a fifth angle sensor arranged on the wrist and a sixth angle sensor arranged on the finger joint, which are movably connected with each other through a bracket in sequence, the driving machine comprises a head torsion driving machine, a head pitch driving machine, a shoulder driving machine, an elbow driving machine, a wrist driving machine and a finger joint driving machine, wherein the head torsion driving machine is arranged on the neck and corresponds to the first angle sensor, the head pitch driving machine is arranged on the neck and corresponds to the second angle sensor, the shoulder driving machine is arranged on the shoulder and corresponds to the third angle sensor, the elbow driving machine is arranged on the elbow and corresponds to the fourth angle sensor, the wrist driving machine is arranged on the wrist and corresponds to the fifth angle sensor, and the finger joint driving machine is arranged on the finger joint and corresponds to the sixth angle sensor.

The utility model discloses a further improvement lies in: the foot of a person is provided with a pedal plate, the lower part of the driving machine is provided with a walking device for supporting and changing displacement, the pedal plate is provided with a forward sensor, a backward sensor, a left sensor and a right sensor for controlling the movement direction of the walking device, the forward sensor, the backward sensor, the left sensor and the right sensor are respectively and electrically connected with the input end of a controller, and the output end of the controller is electrically connected with the walking device.

The utility model discloses a further improvement lies in: the head torsion driving machine and the head pitching driving machine are both connected with a camera, and the camera is connected with the video and audio receiving device.

The utility model discloses a further improvement lies in: the video and audio receiving device is a display.

The utility model discloses a further improvement lies in: the controller is characterized by further comprising a wireless transmission device, the controller is provided with the wireless transmission device, the wireless transmission device comprises a wireless transmitter and a wireless receiver, and the wireless transmitter and the wireless receiver are electrically connected with the controller.

The utility model discloses a further improvement lies in: the camera is electrically connected with the display through the wireless video and audio transmission device.

The utility model discloses a further improvement lies in: the wireless audio-video transmission device comprises a wireless transmitting end and a wireless receiving end, wherein the wireless transmitting end is electrically connected with the camera, and the wireless receiving end is electrically connected with the display.

The utility model discloses a further improvement lies in: the display is a VR head mounted display.

Since the technical scheme is used, the utility model discloses the beneficial effect who gains is:

the utility model discloses simple structure, the modern design requires lowly to the environment, and application scope is wide, and man-machine adaptability is good, and people can control motion state, the direction of motion of work machine at will, satisfies the work machine and works according to people's wish completely, makes the work machine replace mankind to operate under abominable, high-risk environment, has the protection mankind, lets mankind keep away from the effect of high-risk environment, and its meaning is far away.

The motion information detected in real time by the signal detectors arranged at the motion parts of the head, the upper limb and the like of the human body is transmitted to the input end of the controller, the controller calculates and processes the signal, the detected motion information is restored and transmitted to the working machine through the output end of the controller, the working machine restores the motion information and drives the working machine to move, the working machine moves according to the motion information detected by the signal detectors, and the purpose of replacing the operation of human beings in severe and high-risk environments is achieved. Can be widely applied to the industry of national production such as industry, agriculture, national defense and fire fighting, and has the need of great popularization.

Drawings

Fig. 1 is a schematic structural diagram of the wired connection between the camera and the display according to the present invention;

FIG. 2 is a schematic structural view of the wireless connection between the camera and the display according to the present invention;

FIG. 3 is a schematic diagram of a controller with cable transmission according to the present invention;

fig. 4 is a schematic diagram of the structure of the wireless transmission of the controller of the present invention.

Wherein, 1, a first angle sensor; 2. a VR head mounted display; 3. a second angle sensor; 4. a third angle sensor; 5. a fourth angular sensor; 6. a fifth angle sensor; 7. a sixth angle sensor; 8. a foot pedal; 9. a head torsion driver; 10. a camera; 11. a head pitch drive; 12. a shoulder driver; 13. an elbow driver; 14. a wrist driver; 15. a finger joint driver; 16. a traveling device; 17. a wireless receiving end; 18. a wireless transmitting terminal; 19. a controller; 20. a wireless transmitter; 21. a wireless receiver.

Detailed Description

The present invention will be described in further detail with reference to the following examples:

a working machine with man-machine synchronous movement is disclosed, as shown in fig. 1-4, and comprises signal detectors arranged on the head and upper limb moving parts of a human body, a driving machine arranged on the working machine, and a controller 19 connecting the signal detectors and the driving machine, wherein the signal detectors are electrically connected with the input end of the controller 19, and the output end of the controller is electrically connected with the driving machine. The signal detector transmits the detected motion information of the head and the upper limbs of the human body to the input end of the controller 19, the controller 19 transmits the signals to a driving machine arranged on the working machine through the output end of the controller 19 after operation and processing, and the working machine simulates the motion of the human body to be completed by the human body.

The controller 19 is a steering engine control board, can be used as wireless, wired or wireless and wired cross use, and can be used directly after a program is written in the steering engine control board and debugging and testing are performed before the steering engine control board leaves a factory. The driving machine is electrically driven, can also be hydraulically driven according to needs, and can be selected according to needs. The following description will be made in detail taking the electric drive as an example. The driving machine is a large-torque steering engine, the steering engines are connected through a support, and the support comprises a multifunctional support, a U-shaped support, a cup-shaped bearing, a metal steering wheel and a connecting screw. The steering engine is connected together through the multifunctional support, the U-shaped support, the cup-shaped bearing and the metal steering wheel by the connecting screw, and human body action is simulated.

As shown in fig. 1-4, the signal detector is an angle sensor, the number of the angle sensors and the number of the steering engines can be increased or decreased according to needs, and the angle sensors can be arranged on the head, neck, shoulders, elbows, wrists, hand joints or waist and other moving parts of a person. The working principle of the angle sensor is simply illustrated by taking six angle sensors as an example, the angle sensors comprise a first angle sensor 1 arranged on the top of the head, a second angle sensor 3 arranged on the neck, a third angle sensor 4 arranged on the shoulder, a fourth angle sensor 5 arranged on the elbow, a fifth angle sensor 6 arranged on the wrist and a sixth angle sensor 7 arranged on the finger joint, which are sequentially movably connected by a support, and the driving machines comprise a head torsion driving machine 9 arranged on the neck and corresponding to the first angle sensor, a head elevation driving machine 11 arranged on the neck and corresponding to the second angle sensor, a shoulder driving machine 12 arranged on the shoulder and corresponding to the third angle sensor 4, an elbow four corner driving machine 13 arranged on the elbow and corresponding to the third angle sensor, a wrist driving machine 14 arranged on the wrist and corresponding to the fifth angle sensor and a sixth angle driving machine arranged on the finger joint and corresponding to the sixth angle sensor The sensor corresponds to the finger joint driver 15.

The first angle sensor 1 and the second angle sensor 3 transmit detected motion information of left turning, right turning, head raising or head lowering and the like of the head of the human body to the input end of the controller 19, the controller 19 performs operation and processing after detecting the transmitted head motion information, and then transmits the motion information to the head torsion driving machine 9 and the head pitch driving machine 11 which are connected with the output end of the controller 19 through the output end of the controller 19, so that the working machine can complete the information of left turning, right turning, head lowering and head raising of the head. The motion information of the shoulders, elbows, wrists and finger joints of the human body detected by the third angle sensor 4, the fourth angle sensor 5, the fifth angle sensor 6 and the sixth angle sensor 7 is transmitted to the input end of the controller 19, the controller 19 controls the shoulder driving machine 12, the elbow driving machine 13, the wrist driving machine 14 and the finger joint driving machine 15 on the working machine to act after operation and processing, so that the working machine completely simulates the actions of lifting arms, hanging arms, carrying, grabbing and pinching of the human body, the working machine replaces the human body to complete the work to be done by the human body, the human body is thoroughly released from heavy physical labor, and the life quality of the human body is improved.

As shown in fig. 1 and 2, a foot pedal 8 is provided under the foot of a person, a walking device 16 for supporting and changing displacement is provided at the lower part of the driving machine, a forward sensor, a backward sensor, a left sensor and a right sensor for controlling the movement direction of the walking device 16 are provided on the foot pedal 8, the forward sensor, the backward sensor, the left sensor and the right sensor are respectively electrically connected with the input end of a controller 19, and the output end of the controller 19 is electrically connected with the walking device 16. When the working machine needs to move forwards, a forward signal detected by the forward sensor is transmitted to the input end of the controller 19, the controller 19 controls the walking device 16 to move forwards, and the working machine can move backwards, leftwards and rightwards similarly. The walking device 16 may be a lower limb of a human body, or may be a wheel, a crawler belt, or the like.

As shown in fig. 1, the head torsion driver 9 and the head pitch driver 11 are both connected to a camera 10, the camera 10 is connected to an audio/video receiving device, the audio/video receiving device is a display, and the display is a VR head mounted display 2. The camera 10 is a head of the working machine and is an infrared night vision monitor, and the image quality of the camera is clear and fine and clear at night vision. High image definition, good color reproduction, vivid and bright color, low night vision noise and good brightness. The picture that camera 10 shot clearly shows through wearing VR head mounted display 2 at human head, VR head mounted display 2 is the LCD display, watches comfortablely, has unique bridge of the nose design moreover, wears comfortablely. The operator controls the working machine to complete the operation according to the real picture of the VR head-mounted display 2. The camera 10 has functions of image capturing, voice communication, and image and voice combination, is convenient to operate and flexible to use, and can use the functions of image capturing, voice communication, and video call communication in which voice and image are combined.

As shown in fig. 2 and 4, the wireless transmission device is further included, the controller 19 is provided with a wireless transmission device, the wireless transmission device includes a wireless transmitter 20 and a wireless receiver 21, and both the wireless transmitter 20 and the wireless receiver 21 are electrically connected with the controller 19. When the person is far away from the working machine, the person needs to be electrically connected with the controller 19 through the wireless transmission device, and the signal collected by the signal detector is transmitted to the driving machine connected with the output end of the controller 19 through the wireless transmission device. At the moment, two steering engine control boards are needed, a wireless transmitting end 20 and a wireless receiver 21 are respectively inserted on the two steering engine control boards, the input end of a controller 19 inserted into the wireless transmitter 20 is connected with a signal detector, and the output end of the controller 19 inserted into the wireless receiver 21 is connected with a driving machine. Thus, the signal of the human body movement information detected by the signal detector is transmitted to the driver through the controller 19 and the wireless transmission device, and the driver simulates the human body.

As shown in fig. 2, the camera 10 is electrically connected to a display through a wireless video transmission device, the display is a VR head-mounted display 2, when the camera 10 is far away from the VR head-mounted display 2, the camera 10 transmits the captured video and audio information to the VR head-mounted display 2 through the wireless video transmission device, and an operator controls the operation of the driver according to the picture displayed by the VR head-mounted display 2 and the heard audio information. The wireless video transmission device comprises a wireless transmitting end 18 and a wireless receiving end 17, wherein the wireless transmitting end 18 is electrically connected with the camera 10, and the wireless receiving end 17 is electrically connected with the VR head-mounted display 2.

In the implementation process, an operator controls the head and the upper limbs of the human body to act according to information displayed on the VR head-mounted display 2, the signal detector detects that the information is transmitted to the input end of the controller 19, and the controller 19 controls the action of a driving machine electrically connected with the output end of the controller 19 through operation and processing to complete the operation. Thus, the working machine can completely replace human beings to finish various operations according to the wishes of the human beings. The working machine can replace human beings to work in severe and high-risk environments, has the effects of protecting the human beings and keeping the human beings away from the high-risk environments, has profound significance and has the need of vigorous popularization.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present invention.

Claims

1. A man-machine synchronous motion working machine is characterized in that: the device comprises signal detectors arranged at the head and upper limb moving parts of a human body, a driving machine arranged on a working machine and a controller (19) connected with the signal detectors and the driving machine, wherein the signal detectors are electrically connected with the input end of the controller (19), and the output end of the controller is electrically connected with the driving machine.

2. The synchronous human-machine working machine according to claim 1, wherein: the signal detector is angle sensor, angle sensor is including looping through support swing joint's first angle sensor (1) of setting on the overhead, set up second angle sensor (3) at the neck, set up third angle sensor (4) at the shoulder, set up fourth angle sensor (5) at the elbow, set up fifth angle sensor (6) at wrist and set up sixth angle sensor (7) at finger joint department, the driving machine is including looping through axle joint swing joint's setting at head torsion driving machine (9) that neck and first angle sensor correspond, set up head pitching driving machine (11) that neck and second angle sensor correspond, set up shoulder driving machine (12) that shoulder and third angle sensor correspond, set up driving machine (13) that elbow and fourth angle sensor correspond, A wrist driving machine (14) arranged at the wrist and corresponding to the fifth angle sensor and a finger joint driving machine (15) arranged at the finger joint and corresponding to the sixth angle sensor.

3. The synchronous human-machine working machine according to claim 2, wherein: a foot pedal (8) is arranged under the foot of a person, a walking device (16) for supporting and changing displacement is arranged at the lower part of the driving machine, a forward sensor, a backward sensor, a leftward sensor and a rightward sensor for controlling the moving direction of the walking device (16) are arranged on the foot pedal (8), the forward sensor, the backward sensor, the leftward sensor and the rightward sensor are respectively and electrically connected with the input end of a controller (19), and the output end of the controller (19) is electrically connected with the walking device (16).

4. The synchronous human-machine working machine according to claim 3, wherein: the head torsion driver (9) and the head pitching driver (11) are both connected with a camera (10), and the camera (10) is connected with a video and audio receiving device.

5. The synchronous human-machine working machine according to claim 4, wherein: the video and audio receiving device is a display.

6. The synchronous human-machine working machine according to any one of claims 1 to 5, wherein: the wireless transmission device is arranged on the controller (19) and comprises a wireless transmitter (20) and a wireless receiver (21), and the wireless transmitter (20) and the wireless receiver (21) are electrically connected with the controller (19).

7. The synchronous human-machine working machine according to claim 4, wherein: the camera (10) is electrically connected with the display through a wireless video transmission device.

8. The synchronous human-machine working machine according to claim 7, wherein: the wireless video transmission device comprises a wireless transmitting end (18) and a wireless receiving end (17), wherein the wireless transmitting end (18) is electrically connected with the camera (10), and the wireless receiving end (17) is electrically connected with the display.

9. The synchronous human-machine working machine according to claim 8, wherein: the display is a VR head mounted display (2).