CN212445216U

CN212445216U - Wearable active exoskeleton mechanical arm

Info

Publication number: CN212445216U
Application number: CN202021074402.3U
Authority: CN
Inventors: 周燕茹; 张丽慧; 黄韬; 黄晨
Original assignee: Xiamen University of Technology
Current assignee: Xiamen University of Technology
Priority date: 2020-06-11
Filing date: 2020-06-11
Publication date: 2021-02-02
Anticipated expiration: 2030-06-11

Abstract

The utility model discloses a wearable active exoskeleton mechanical arm, which is used for being worn on the arm of a user to perform action sampling so as to control an external follow-up mechanical arm and comprises a small arm shell and an upper arm shell, wherein one ends of the small arm shell and the upper arm shell are mutually rotatably connected; the utility model discloses can dress and wear on user's arm, through swing joint's handheld portion, forearm inferior valve, forearm epitheca, upper arm inferior valve and upper arm epitheca for can nimble activity make required arm action when user dresses the initiative arm, provide good mobility for the external trailing arm activity of control. Through setting up forearm gear, upper arm gear, elbow joint drive gear, multiunit potentiometre and electronic gyroscope for thereby the action that the user dressed the initiative arm and made can be converted into the control signal of controlling external trailing arm with the main control system collection that supplies the outside into action information by accurate collection, real-time nature and the precision of action when accurate action information has guaranteed the external trailing arm of control.

Description

Wearable active exoskeleton mechanical arm

Technical Field

The utility model discloses be applied to, specifically be a wearing formula initiative ectoskeleton arm.

Background

The mechanical arm has been widely used in the fields of industrial assembly, safety, explosion prevention and the like due to the unique operational flexibility. Most of the existing mechanical arms are complex in structure and high in manufacturing cost, need to be preset during simultaneous use, are difficult to move flexibly in real time according to intentions and actions of operators, use scenes of the existing mechanical arms are reduced, namely the existing mechanical arms cannot flexibly control the movement according to the actions of users while being low in manufacturing cost, most of control elements of the existing mechanical arms adopt keys or remote controllers, and are difficult to control the quick and flexible swinging of the existing mechanical arms according to the needs of the users in real time.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that to prior art not enough, provide a wear type initiative ectoskeleton arm.

In order to solve the technical problem, the utility model provides a wearable active exoskeleton mechanical arm, which is used for being worn on the arm of a user to perform motion sampling so as to control an external follow-up mechanical arm and comprises a small arm shell and an upper arm shell, wherein one ends of the small arm shell and the upper arm shell are mutually rotatably connected;

the other end of the small arm shell is rotatably connected with a handheld part, a small arm gear is fixedly connected to the handheld part, and a radial wrist joint rotary potentiometer in transmission connection with the small arm gear through a potentiometer gear is mounted on the small arm shell;

the upper arm shell comprises an upper arm lower shell and an upper arm upper shell which are mutually rotatably connected, an upper arm gear is fixedly connected to the upper arm lower shell, and a radial elbow joint rotating potentiometer and an electronic gyroscope which are in transmission connection with the upper arm gear through the potentiometer gear are mounted on the upper arm upper shell;

the rotation joint of the forearm shell and the upper arm shell is provided with an elbow joint transmission gear, the elbow joint transmission gear is fixedly connected with the forearm shell and rotates along with the forearm shell, and an elbow joint rotating potentiometer in transmission connection with the elbow joint transmission gear through a potentiometer gear is installed on the lower arm shell.

As a possible implementation manner, further, the forearm shell comprises a forearm lower shell and a forearm upper shell, wherein one end of the forearm lower shell is provided with an inserting strip, the forearm upper shell is provided with a slot corresponding to the inserting strip, the inserting strip is inserted into the slot and can slide relative to the slot, more than three groups of positioning holes are formed in the inserting strip and the slot in a penetrating manner, positioning rods used for fixing the forearm lower shell and the forearm upper shell are inserted into the positioning holes, and the positioning rods are in clearance fit with the positioning holes.

As a possible implementation mode, one end of the upper arm upper shell is rotatably connected with a shoulder protection shell.

As a preferable option, the electronic gyroscope is preferably of a type of MPU 6050.

The utility model adopts the above technical scheme, following beneficial effect has:

1. the utility model discloses can dress and wear on user's arm, through swing joint's handheld portion, forearm inferior valve, forearm epitheca, upper arm inferior valve and upper arm epitheca for can nimble activity make required arm action when user dresses the initiative arm, provide good mobility for the external trailing arm activity of control.

2. The utility model discloses a set up forearm gear, upper arm gear, elbow joint drive gear, multiunit potentiometre and electronic gyroscope for thereby the user dresses the action that initiative arm made can be converted into the control signal of the external trailing arm of control with the main control system collection that supplies the outside into action information by accurate collection, action information when having guaranteed the external trailing arm of control real-time and the precision of action.

3. The utility model discloses the setting realizes dismantling and adjustable connection's forearm inferior valve and forearm epitheca through cutting and slot for the device can be applicable to different arm length's use crowd.

Drawings

The present invention will be described in further detail with reference to the following drawings and embodiments:

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a side view of the structure of the present invention;

fig. 3 is a schematic view of the radial direction of the structure of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention will be combined to clearly and completely describe the technical solutions of the embodiments of the present invention.

As shown in fig. 1-3, the present invention provides a wearable active exoskeleton mechanical arm, which is used for being worn on an arm of a user to perform motion sampling to control an external slave mechanical arm, and comprises a small arm housing 101 and an upper arm housing 102, one ends of which are rotatably connected with each other, wherein the rotatable connection can be achieved by using a joint connection nail to cooperate with a joint nail sleeve for rotatable connection, or by using a rotatable connection manner such as pin connection, and the rotatable connection manner which can be used here is common knowledge of those skilled in the art, and is not described herein again; the forearm shell 101 and the upper arm shell 102 are designed to be arc-shaped shells, so that a user can put in a hand to wear the forearm shell when using the forearm shell; the other end of the small arm shell 101 is rotatably connected with a handheld part 103, a small arm gear 104 is fixedly connected to the handheld part 103, the small arm gear 104 is a ring gear, and a user can put a hand into the small arm gear 104 to wear the small arm shell when the small arm shell is used; a radial wrist joint rotary potentiometer 105 which is in transmission connection with the forearm gear 104 through a potentiometer gear is arranged on the forearm shell 101; the forearm shell 101 comprises a forearm lower shell 101a and a forearm upper shell 101b, wherein one end of the forearm lower shell 101a is provided with a cutting 111, the forearm upper shell 101b is provided with a slot 112 corresponding to the cutting 111, the cutting 111 is inserted into the slot 112 and can slide relative to the slot, more than three groups of positioning holes 113 are formed in the cutting 111 and the slot 112 in a penetrating manner, positioning rods 114 used for fixing the forearm lower shell 101a and the forearm upper shell 101b are inserted into the positioning holes 113, and the positioning rods 114 are in clearance fit with the positioning holes 113 so that the positioning rods 114 are not easy to slide out when being used after being inserted into the positioning holes 113 for positioning. The upper arm housing 102 comprises an upper arm lower shell 102a and an upper arm upper shell 102b which are mutually radially and rotatably connected, an upper arm gear 106 is fixedly connected to the upper arm lower shell 102a, the upper arm gear 106 is a ring gear, and a user can put his hand into the ring gear and penetrate through the upper arm gear 106 to wear the ring gear. The upper arm upper shell 102b is provided with a radial elbow joint rotating potentiometer 107 and an electronic gyroscope 108 which are in transmission connection with an upper arm gear 106 through a potentiometer gear; the electronic gyroscope 108 has a model of MPU 6050. An elbow joint transmission gear 109 is arranged at the rotary joint of the forearm shell 101 and the upper arm shell 102, the elbow joint transmission gear 109 is fixedly connected with the forearm shell 101 and rotates along with the forearm shell, and an elbow joint rotary potentiometer 110 which is in transmission connection with the elbow joint transmission gear 109 through a potentiometer gear is installed on the lower arm shell 102 a. One end of the upper arm upper shell 102b is rotatably connected with a shoulder protecting shell 115. The wrist joint rotating potentiometer 105 collects data of wrist rotation taking an arm as an axis, the elbow joint rotating potentiometer 109 collects data of elbow joint rotation taking an elbow joint as an axis, the radial elbow joint rotating potentiometer 107 collects data of elbow rotation taking the arm as an axis, the electronic gyroscope 108 collects data of two directions of shoulder joint rotation, and the two directions take a left shoulder connecting line, a right shoulder connecting line and a front shoulder connecting line and a rear shoulder connecting line as axes respectively.

During the use, the user collects the action by wearing the active mechanical arm and converts the collected action information into a control signal by utilizing an external master control system to control the external servo mechanical arm which needs to be controlled, and the method comprises the following steps: s1, an operator wears the active mechanical arm and changes the posture according to the requirement to set the motion posture of the active mechanical arm; s2, the external main control system acquires data from the data acquisition system on the active mechanical arm to acquire the motion attitude information of the active mechanical arm; s3, calculating by the external main control system according to the feedback quantity of the active mechanical arm to obtain the control signal quantity of each joint of the mechanical arm; and S4, the external master control system sends a control command to the follow-up system on the external follow-up mechanical arm, a synchronous follow-up control period is finished, and the steps S1-S4 are repeated to finish the synchronous follow-up control of the active mechanical arm. In the process, the external master control system can extract the full attitude signal of the electronic gyroscope 108 in real time and will extract the full attitude signal of the electronic gyroscopeAfter algorithm conversion, assigning a value to a timer to output a PWM duty ratio variable so as to realize angle control of the steering engine; the signal transmission protocol of the electronic gyroscope 108 is I²Protocol C, by I²The protocol C directly extracts six basic data of the gyroscope: three-directional acceleration and three-directional angular velocity. And simultaneously, voltage values of middle pins of the potentiometers are extracted in real time, and are assigned to a timer to output a PWM duty ratio variable after digital-to-analog conversion and algorithm conversion so as to realize angle control of a steering engine on an external follow-up mechanical arm.

The above embodiments are the embodiments of the present invention, and for those skilled in the art, according to the teaching of the present invention, the equivalent changes, modifications, replacements and variations made by the claims of the present invention should all belong to the scope of the present invention without departing from the principle and spirit of the present invention.

Claims

1. A wearable active exoskeleton mechanical arm, comprising: the device comprises a small arm shell and an upper arm shell, wherein one ends of the small arm shell and the upper arm shell are mutually and rotatably connected;

2. The wearable active exoskeleton robot of claim 1, wherein: the forearm shell comprises a forearm lower shell and a forearm upper shell, wherein one end of the forearm lower shell is provided with an inserting strip, the corresponding inserting strip on the forearm upper shell is provided with a slot, the inserting strip is inserted into the slot and can slide relative to the slot, the inserting strip and the slot are provided with more than three groups of positioning holes in a penetrating manner, and positioning rods used for fixing the forearm lower shell and the forearm upper shell are inserted into the positioning holes and are in clearance fit with the positioning holes.

3. The wearable active exoskeleton robot of claim 1, wherein: one end of the upper arm shell is rotatably connected with a shoulder protecting shell.

4. The wearable active exoskeleton robot of claim 1, wherein: the model of the electronic gyroscope is MPU 6050.