CN211842030U - Wearable mechanical arm controller - Google Patents
Wearable mechanical arm controller Download PDFInfo
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- CN211842030U CN211842030U CN202020134990.9U CN202020134990U CN211842030U CN 211842030 U CN211842030 U CN 211842030U CN 202020134990 U CN202020134990 U CN 202020134990U CN 211842030 U CN211842030 U CN 211842030U
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Abstract
The utility model relates to a wearing formula mechanical arm controller, its characterized in that: comprises an arm motion processor for sending control instructions originating from operator motions to the robot; the shoulder joint action sensing mechanism is used for collecting the shoulder joint action information of an operator; the upper arm action sensing mechanism is used for collecting upper arm action information of an operator; the forearm action sensing mechanism is used for acquiring forearm action information of an operator; the shoulder joint motion sensing mechanism is movably connected with the upper arm motion sensing mechanism, and a rotation angle feedback device for detecting a relative rotation angle is arranged between the shoulder joint motion sensing mechanism and the upper arm motion sensing mechanism; the upper arm action sensor mechanism is movably connected with the forearm action sensor mechanism, and a rotation angle feedback device is arranged between the upper arm action sensor mechanism and the forearm action sensor mechanism; the rotation angle feedback device and a control chip on the arm action processor are communicated and interconnected by action information. The system has the characteristics of sensitive reflection, high accuracy, simple and convenient operation, stable control performance, capability of realizing accurate simulation and the like.
Description
Technical Field
The utility model relates to a robot control device specifically is a wearing formula mechanical arm controller.
Background
The robot controller is a device for controlling the robot to complete a series of actions or operation tasks according to instructions and sensing information, is the heart of the robot and determines the quality of the performance of the robot; the controller for the intelligent bionic small robot in the current market is generally in handle remote control, the handle remote control generally adopts a plurality of or dozens of keys to form control, the controller is suitable for controlling the movement of a robot chassis, some edited specific actions, single repeated specific actions and the like, each group of actions is controlled by more than one key, each key corresponds to one group of actions, and if other actions are required to be changed, the editing is carried out again, so that the operation is very complicated, and the control difficulty is high. Therefore, there is a need for further improvements to existing robot controllers.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome the not enough of above-mentioned prior art existence, and provide a wearing formula mechanical arm controller, it has the reflection sensitivity, and the degree of accuracy is high, and easy operation is convenient, and control performance is stable, can realize characteristics such as accurate imitation.
The purpose of the utility model is realized like this:
the utility model provides a wearing formula mechanical arm controller which characterized in that: comprises that
An arm motion processor for transmitting control instructions originating from the operator's motions to the robot;
the shoulder joint action sensing mechanism is used for collecting the shoulder joint action information of an operator;
the upper arm action sensing mechanism is used for collecting upper arm action information of an operator;
the forearm action sensing mechanism is used for acquiring forearm action information of an operator;
the shoulder joint motion sensing mechanism is movably connected with the upper arm motion sensing mechanism, and a rotation angle feedback device for detecting a relative rotation angle is arranged between the shoulder joint motion sensing mechanism and the upper arm motion sensing mechanism; the upper arm action sensor mechanism is movably connected with the forearm action sensor mechanism, and the rotation angle feedback devices are arranged between the upper arm action sensor mechanism and the forearm action sensor mechanism;
the rotation angle feedback device and a control chip on the arm action processor are communicated and interconnected through action information.
The shoulder joint motion sensing mechanism comprises a shoulder joint fixing support, a first transmission rod and a first universal connecting piece, wherein the first transmission rod is used for movably connecting the upper arm motion sensing mechanism; the first universal connecting piece is hinged with the shoulder joint fixing support and the first transmission rod through the corresponding rotation angle feedback devices respectively, so that the movable connection between the shoulder joint fixing support and the first transmission rod is realized.
The first transmission rod comprises a first connecting rod and a second connecting rod which are rotationally connected with each other; the first connecting rod is movably connected with the shoulder joint fixing support through a first universal connecting piece, the first connecting rod is rotatably connected with the second connecting rod through the corresponding rotating angle feedback device, and the second connecting rod is movably connected with the upper arm action sensing mechanism.
The upper arm action sensing mechanism comprises a second transmission rod, an upper arm fixing support and a second universal connecting piece, wherein the second transmission rod is used for movably connecting the shoulder joint action sensing mechanism; the second universal connecting piece is respectively hinged with the first transmission rod and the second transmission rod through the corresponding rotation angle feedback devices, so that the movable connection between the shoulder joint motion sensing mechanism and the upper arm motion sensing mechanism is realized; the second transmission rod is connected with the upper arm fixing support.
The forearm motion sensing mechanism comprises a forearm fixing support which is movably connected with the upper arm motion sensing mechanism; the forearm fixing support is hinged with the upper arm fixing support through the corresponding rotation angle feedback device.
And the upper arm fixing support and/or the forearm fixing support are/is provided with clamping jaws for grasping corresponding limbs of an operator.
The wearable mechanical arm controller also comprises a hand action sensing mechanism; the hand action sensing mechanism comprises a forearm wearing piece worn on the forearm of the operator and a wrist wearing piece worn on the wrist of the operator, wherein the forearm wearing piece is hinged with the wrist wearing piece through the corresponding rotation angle feedback device so as to collect wrist action information of the operator.
The hand motion sensing mechanism also comprises more than one group of finger wearing components worn on corresponding fingers of an operator; the finger wearing assembly comprises a first finger joint moving part, a second finger joint moving part and a third finger joint moving part; the first finger joint moving part is movably connected with the wrist wearing part; a third universal connecting piece is arranged between the first finger joint moving piece and the second finger joint moving piece, and the third universal connecting piece is respectively hinged with the first finger joint moving piece and the second finger joint moving piece through the corresponding rotation angle feedback devices; the second finger joint moving part is hinged with the third finger joint moving part.
And finger rings used for being worn by corresponding fingers are arranged on the first finger joint moving part and/or the second finger joint moving part and/or the third finger joint moving part.
The rotation angle feedback device comprises a device shell fixedly connected with one movable end and a rotating shaft fixedly connected with the other movable end; when the two movable ends rotate relatively, the rotating shaft rotates relatively to the device shell and generates corresponding rotation angle information.
The utility model has the advantages as follows:
the wearable mechanical arm controller is provided with a plurality of rotation angle feedback devices to sense the actions of different parts on the arm of an operator, and respectively send the action information of the different parts to the bionic robot through a control chip on the arm action processor, and the bionic robot immediately makes corresponding actions according to the received action information; the shoulder joint, upper arm, forearm and hand action sensing mechanisms in the system can be well worn on corresponding limbs of an operator, so that the rotation angle fed back is very accurate, and the synchronization effect is good; the bionic robot can be controlled by sensing the actions of the operator, more actions can be more closely simulated by the operator without learning a control method, the operation is simple and convenient, and the bionic robot can be used by hands; in addition, this system sets up a plurality of swing joint positions, makes the control system flexibility increase, can do nothing and hinder the operator to make any action, can set up rotation angle feedback device on every swing joint position, and each rotation angle feedback device is all relative coordinate axis correlation each other, and mutual influence obtains relevant action information through the algorithm to control bionic robot can accomplish all actions, and this system can improve the accuracy and the stability of the action data of returning of feedback greatly.
Drawings
Fig. 1 is a schematic view illustrating a wearable robot controller worn on an operator according to an embodiment of the present invention.
Fig. 2 is a schematic view of an overall structure of the wearable robot controller according to an embodiment of the present invention.
Fig. 3 is an enlarged schematic view at H in fig. 2.
Fig. 4 is an enlarged schematic view at J in fig. 2.
Fig. 5 is an exploded view of an upper arm motion sensing mechanism and forearm motion sensing mechanism according to an embodiment of the present invention.
Fig. 6 is a schematic view illustrating the hand motion sensing mechanism of the present invention being worn on the hand of an operator.
Fig. 7 is a schematic structural diagram of a rotation angle feedback device according to an embodiment of the present invention.
Fig. 8 is a sectional view of a rotation angle feedback device according to an embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples.
Referring to fig. 1-8, the wearable mechanical arm controller comprises
An arm motion processor for transmitting a control command originating from a motion of the operator P to the biomimetic robot; the arm action processor is provided with a control chip;
the shoulder joint motion sensing mechanism A is worn at a position corresponding to the shoulder of the operator and is used for collecting the motion information of the shoulder joint P of the operator;
the upper arm action sensing mechanism B is worn at the upper arm position of an operator and is used for acquiring the upper arm action information of the operator P;
the forearm action sensing mechanism C is worn at the forearm position of the operator and is used for acquiring the forearm action information of the operator P;
the hand action sensing mechanism D is worn at the hand position of the operator and is used for acquiring the action information of the wrist and the finger of the operator P;
the shoulder joint motion sensing mechanism A and the upper arm motion sensing mechanism B are movably connected, and a rotation angle feedback device 17 for detecting a relative rotation angle is arranged between the shoulder joint motion sensing mechanism A and the upper arm motion sensing mechanism B; the upper arm action sensor mechanism is movably connected with the forearm action sensor mechanism C, and a rotation angle feedback device 17 is arranged between the upper arm action sensor mechanism and the forearm action sensor mechanism C;
the rotation angle feedback device 17 communicates with the control chip on the arm action processor by action information;
in order to meet the control of the two arms of the operator P, two sets of the shoulder joint motion sensing mechanism a, the upper arm motion sensing mechanism B, the forearm motion sensing mechanism C and the hand motion sensing mechanism D are respectively arranged and respectively worn on the two arms of the operator P.
Further, the shoulder joint motion sensing mechanism a includes a shoulder joint fixing bracket 1 worn on the back of the operator P, a first transmission rod 3 for movably connecting the upper arm motion sensing mechanism B, and a first universal connector 2 (in this embodiment, two sets of shoulder joint motion sensing mechanisms a share one shoulder joint fixing bracket 1); two ends of the first universal connecting piece 2 are respectively hinged with one end of the shoulder joint fixing support 1 and one end of the first transmission rod 3 through corresponding rotation angle feedback devices 17, so that the movable connection between the shoulder joint fixing support 1 and the first transmission rod 3 is realized, the action of the shoulder joint P of an operator is adapted, and the action information of the shoulder joint can be calculated more accurately by matching with a related algorithm; in order to prevent the arm motion processor from affecting the normal control of the operator P, the arm motion processor is disposed on the shoulder joint fixing bracket 1.
Further, the first transmission lever 3 includes a first link 301 and a second link 302 rotatably connected to each other, the first link 301 and the second link 302 being coaxially engaged; one end of a first connecting rod 301 is movably connected with one end of a shoulder joint fixing support 1 through a first universal connecting piece 2, the other end of the first connecting rod 301 is rotatably connected with one end of a second connecting rod 302 through a corresponding rotation angle feedback device 17, and the other end of the second connecting rod 302 is movably connected with an upper arm action sensing mechanism B; as the rotatable structure is additionally arranged on the first transmission rod 3, the shoulder joint action sensing mechanism A can more accurately and comprehensively acquire the action information of the shoulder joint position of the operator P, and finally the bionic robot can more accurately and closely simulate the action of the operator P. Specifically, referring to fig. 3, a rotation axis between the first universal joint 2 and the shoulder joint fixing bracket 1 is an axis x1, a rotation axis between the first universal joint 2 and the first transmission rod 3 (the first link 301) is an axis x2, and the axis x1 is perpendicular to the axis x 2.
Further, the upper arm motion sensing mechanism B comprises a second transmission rod 5 used for movably connecting the shoulder joint motion sensing mechanism A, an upper arm fixing bracket 6 and a second universal connecting piece 4; two ends of the second universal connecting piece 4 are respectively hinged with the other end (specifically, the other end of the second connecting rod 302) of the first transmission rod 3 and one end of the second transmission rod 5 through corresponding rotation angle feedback devices 17, so that the movable connection between the shoulder joint motion sensing mechanism A and the upper arm motion sensing mechanism B is realized; the other end of the second transmission rod 5 is hinged with one end of the upper arm fixing bracket 6, and in the actual use process, no relative movement or small relative movement degree exists between the second transmission rod 5 and the upper arm fixing bracket 6. Specifically, referring to fig. 3, a rotation axis between the first driving lever 3 (the second link 302) and the second universal joint 4 is an axis x3, a rotation axis between the second universal joint 4 and the second driving lever 5 is an axis x4, and the axis x3 is perpendicular to the axis x 4; referring to fig. 4, the rotation axis between the second driving rod 5 and the upper arm fixing bracket 6 is an axis x5, and the axis x4 and the axis x5 are parallel to each other.
Further, the forearm motion sensing mechanism C comprises a forearm fixing bracket 8 which is movably connected with the upper arm motion sensing mechanism B; one end of the forearm fixing bracket 8 is hinged with the other end of the upper arm fixing bracket 6 through a corresponding rotation angle feedback device 17; specifically, referring to fig. 4, the rotation axis between the forearm fixing support 8 and the upper arm fixing support 6 is an axis x6, and the axis x5 and the axis x6 are perpendicular to each other.
Further, the upper arm fixing support 6 and the forearm fixing support 8 are provided at their side portions with claws 7 for grasping the corresponding limb of the operator P, respectively. Specifically, referring to fig. 5, two clamping jaws 7 are respectively hinged to two sides of an upper arm fixing support 6, a clamping jaw 7 is respectively hinged to a forearm fixing support 8, and the clamping jaw 7 can rotate relative to the fixing support where the clamping jaw is located, so that the corresponding limb on the arm of the operator P can be tightly held.
Further, referring to fig. 6, the hand motion sensing mechanism D includes a forearm wearing member 9 worn on the end of the forearm of the operator P and a wrist wearing member 11 worn on the outer side of the wrist of the operator P, the forearm wearing member 9 is hinged to the wrist wearing member 11 through a corresponding rotation angle feedback device 17 to acquire wrist motion information of the operator P; two sides of the forearm wearing piece 9 are respectively hinged with a clamping jaw 7 so as to hold the end part of the forearm tightly.
Further, the hand motion sensing mechanism D further comprises five finger wearing assemblies D1 worn on the corresponding fingers of the operator P, the five finger wearing assemblies D1 being worn on the thumb, the index finger, the middle finger, the ring finger and the tail finger, respectively; the finger worn assembly D1 includes a first hinge 12, a second hinge 14 and a third hinge 16; one end of the first knuckle moving part 12 is movably connected with the wrist wearing part 11; a third universal connecting piece 13 is arranged between the other end of the first finger joint moving piece 12 and one end of the second finger joint moving piece 14, and the third universal connecting piece 13 is respectively hinged with the first finger joint moving piece 12 and the second finger joint moving piece 14 through corresponding rotation angle feedback devices 17; the other end of the second knuckle moveable member 14 is hinged to one end of a third knuckle moveable member 16. Specifically, the rotation axis between the first knuckle moving part 12 and the third universal connecting part 13 is an axis x7, the rotation axis between the second knuckle moving part 14 and the third universal connecting part 13 is an axis x8, and the axis x7 is perpendicular to the axis x 8; the axis of rotation between second knuckle moveable member 14 and third knuckle moveable member 16 is axis x9, and axis x8 and axis x9 are parallel to each other.
Further, a finger ring 15 is formed on the inside of the second knuckle 14 for wearing with a corresponding finger.
Further, referring to fig. 7 and 8, the rotation angle feedback device 17 includes a device housing 1701 for fixedly coupling one movable end, and a rotation shaft 1702 for fixedly coupling the other movable end; when the two movable ends rotate relatively, the rotation shaft 1702 rotates relative to the device housing 1701, and corresponding rotation angle information is generated.
The rotation angle feedback device 17 related to this embodiment is a potentiometer, which includes a first fixed contact 1703, a second fixed contact 1705 and a sliding contact 1704, a fixed contact 1706 fixed relatively and a movable contact 1707 rotatable relatively are disposed in the inner cavity of the device housing 1701, the first fixed contact 1703 and the second fixed contact 1705 are electrically connected to two ends of the fixed contact 1706 respectively, the movable contact 1707 is connected to a rotation shaft 1702 and a conductive plastic 1708 respectively, the movable contact 1707 and the conductive plastic 1708 rotate with the rotation shaft 1702 respectively, the movable contact 1707 is electrically connected to the fixed contact 1706 through the conductive plastic 1708, the conductive plastic 1708 slides on the fixed contact 1706 relatively when rotating with the rotation shaft 1702, the rotation is converted into sliding motion in actual use, the resistance value between the sliding contact 1704 and the two fixed contacts is changed by the sliding motion, different resistance values of the output terminal and the input terminal are generated, and the rotation angle corresponding to the rotation shaft 1702 can be known by reading the resistance values. In addition, the rotation angle feedback device 17 may be a servo motor, which is controlled by a feedback signal to achieve the purpose of detecting the rotation angle, and the precision is higher than that of a potentiometer, but the volume is larger, compared to the prior potentiometer, which is the rotation angle feedback device 17.
The potentiometer has a resistance value change rule which is the rule of the relationship between the rotation angle of the shaft and the change of the resistance value, besides the nominal value, the inclination power and the error grade of the potentiometer are the same as those of a common resistor; the potentiometer with resistance value uniformly changing with the inner degree of the rotation shaft 1702 is called a linear potentiometer, the resistance value changes little at the beginning and then changes faster and faster, and is similar to a potentiometer with exponential law, so the potentiometer is called an exponential potentiometer. The application occasions of the potentiometers with different change rules are different.
Potentiometers differ from variable resistors in both appearance and use. Specifically, in appearance, the variable resistor generally has only two wiring, and the potentiometer has three wiring terminals; the variable resistor can only change the resistance value between the maximum value and the minimum value when in use, and the potentiometer can not only change the resistance value between the maximum value and the minimum value but also adjust the potential level of the rotating arm and the two ends through the rotating shaft 1702 when in use, so the potentiometer is called. The potentiometers are classified into carbon film potentiometers, carbon solid core potentiometers, metal film potentiometers, glass glaze potentiometers, line-level potentiometers, and the like according to the difference of resistance materials.
The foregoing is a preferred embodiment of the present invention showing and describing the basic principles, main features and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to illustrate the principles of the invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention, and the scope of the invention is to be protected. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a wearing formula mechanical arm controller which characterized in that: comprises that
An arm motion processor for sending control instructions originating from the motion of the operator (P) to the robot;
the shoulder joint motion sensing mechanism (A) is used for collecting shoulder joint motion information of an operator (P);
the upper arm action sensing mechanism (B) is used for collecting upper arm action information of an operator (P);
the forearm motion sensing mechanism (C) is used for collecting forearm motion information of an operator (P);
the shoulder joint motion sensing mechanism (A) is movably connected with the upper arm motion sensing mechanism (B), and a rotation angle feedback device (17) for detecting a relative rotation angle is arranged between the shoulder joint motion sensing mechanism (A) and the upper arm motion sensing mechanism (B); the upper arm action sensor mechanism is movably connected with the forearm action sensor mechanism (C), and a rotation angle feedback device (17) is arranged between the upper arm action sensor mechanism and the forearm action sensor mechanism;
the rotation angle feedback device (17) is communicated and interconnected with a control chip on the arm action processor through action information.
2. The wearable robotic arm controller of claim 1, wherein: the shoulder joint motion sensing mechanism (A) comprises a shoulder joint fixing support (1), a first transmission rod (3) used for movably connecting the upper arm motion sensing mechanism (B) and a first universal connecting piece (2); the first universal connecting piece (2) is hinged with the shoulder joint fixing support (1) and the first transmission rod (3) through the corresponding rotation angle feedback device (17), so that the movable connection between the shoulder joint fixing support (1) and the first transmission rod (3) is realized.
3. The wearable robotic arm controller of claim 2, wherein: the first transmission rod (3) comprises a first connecting rod (301) and a second connecting rod (302) which are rotationally connected with each other; the first connecting rod (301) is movably connected with the shoulder joint fixing support (1) through a first universal connecting piece (2), the first connecting rod (301) is rotatably connected with a second connecting rod (302) through a corresponding rotation angle feedback device (17), and the second connecting rod (302) is movably connected with an upper arm action sensing mechanism (B).
4. The wearable robotic arm controller of claim 2, wherein: the upper arm action sensing mechanism (B) comprises a second transmission rod (5) used for movably connecting the shoulder joint action sensing mechanism (A), an upper arm fixing support (6) and a second universal connecting piece (4); the second universal connecting piece (4) is respectively hinged with the first transmission rod (3) and the second transmission rod (5) through the corresponding rotation angle feedback device (17), so that the movable connection between the shoulder joint motion sensing mechanism (A) and the upper arm motion sensing mechanism (B) is realized; the second transmission rod (5) is connected with the upper arm fixing bracket (6).
5. The wearable robotic arm controller of claim 4, wherein: the forearm motion sensing mechanism (C) comprises a forearm fixing support (8) which is movably connected with the upper arm motion sensing mechanism (B); the forearm fixing support (8) is hinged with the upper arm fixing support (6) through the corresponding rotation angle feedback device (17).
6. The wearable robotic arm controller of claim 5, wherein: the upper arm fixing support (6) and/or the forearm fixing support (8) are/is provided with a clamping jaw (7) for grasping the corresponding limb of the operator (P).
7. The wearable robotic arm controller of claim 1, wherein: the hand motion sensing mechanism (D) is also included; hand action sensing mechanism (D) wears piece (9) including wearing in forearm on operator (P) forearm and wearing in the wrist from operator (P) wrist and wear piece (11), and forearm wears piece (9) and articulates with wrist through corresponding rotation angle feedback device (17) to gather operator (P)'s wrist action information.
8. The wearable robotic arm controller of claim 7, wherein: the hand motion sensing mechanism (D) further comprises more than one group of finger wearing components (D1) worn on corresponding fingers of the operator (P); the finger wear assembly (D1) including a first knuckle moveable member (12), a second knuckle moveable member (14), and a third knuckle moveable member (16); the first finger joint moving part (12) is movably connected with the wrist wearing part (11); a third universal connecting piece (13) is arranged between the first finger joint moving piece (12) and the second finger joint moving piece (14), and the third universal connecting piece (13) is respectively hinged with the first finger joint moving piece (12) and the second finger joint moving piece (14) through corresponding rotation angle feedback devices (17); the second finger joint moving part (14) is hinged with the third finger joint moving part (16).
9. The wearable robotic arm controller of claim 8, wherein: finger rings (15) used for being worn by corresponding fingers are arranged on the first finger joint moving part (12), the second finger joint moving part (14) and/or the third finger joint moving part (16).
10. The wearable robotic arm controller of claim 1, wherein: the rotation angle feedback device (17) comprises a device shell (1701) fixedly connected with one movable end and a rotating shaft (1702) fixedly connected with the other movable end; when the two movable ends rotate relatively, the rotating shaft (1702) rotates relative to the device shell (1701), and corresponding rotation angle information is generated.
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| CN202020134990.9U CN211842030U (en) | 2020-01-19 | 2020-01-19 | Wearable mechanical arm controller |
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| CN202020134990.9U CN211842030U (en) | 2020-01-19 | 2020-01-19 | Wearable mechanical arm controller |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111113457A (en) * | 2020-01-19 | 2020-05-08 | 路邦科技授权有限公司 | Wearable mechanical arm controller |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111113457A (en) * | 2020-01-19 | 2020-05-08 | 路邦科技授权有限公司 | Wearable mechanical arm controller |
| CN111113457B (en) * | 2020-01-19 | 2023-09-26 | 路邦科技授权有限公司 | Wearable mechanical arm controller |
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