CN213499290U

CN213499290U - Simulation mechanical arm

Info

Publication number: CN213499290U
Application number: CN202022548438.7U
Authority: CN
Inventors: 杨振; 李田; 胡慧娴; 杨博
Original assignee: Wannan Medical College
Current assignee: Wannan Medical College
Priority date: 2020-11-06
Filing date: 2020-11-06
Publication date: 2021-06-22
Anticipated expiration: 2030-11-06

Abstract

The utility model discloses an artificial mechanical arm, including shoulder steering wheel, the output shaft of shoulder steering wheel is connected with the fixed block, the one end that the fixed block kept away from the shoulder steering wheel is provided with a pair of trailing arm connecting rods, and a pair of trailing arm connecting rods keep away from the one end of fixed block is connected with the elbow steering wheel respectively, the elbow steering wheel is connected with the forearm connecting rod, the other end of forearm connecting rod is connected with the wrist steering wheel, the wrist steering wheel is connected with simulation hand part; the swinging assembly is arranged between the rear arm connecting rods, the slow-flapping assembly is arranged at the joint of the wrist steering engine and the simulated hand part, the swinging assembly drives the rear arm connecting rods to swing, the slow-flapping assembly drives the simulated hand part to flap slowly, the baby is encircled by the simulated mechanical arm, and meanwhile, the baby is pacified by the simulated mechanical arm through the slow-flapping assembly and the swinging assembly arranged on the simulated mechanical arm.

Description

Simulation mechanical arm

Technical Field

The utility model relates to an arm technical field, concretely relates to simulation arm.

Background

With the opening of two-child policies and the increasing pace of life, coupled with the increasing cost of hiring sisters-in-law, the care of infants is becoming a challenge for more and more families. The baby has uncertainty in daily life and rest, the difficulty and pressure of parents for taking care of the baby are greatly increased, and particularly the baby frequently cries in the middle of the night, so that the parents are tired in operation and have physical and mental fatigue.

In the current domestic market, most of infant pacifying devices are traditional infant cradle beds depending on manpower, a small part of the infant pacifying devices are electric infant beds driven by motors and crank rocker mechanisms, and the electric infant beds and the crank rocker mechanisms have the defects of low automation and intelligence degrees and are difficult to meet the requirements of consumers. In recent years, some intelligent crib products have appeared in the market, and most of the products have the functions of automatic swinging, sound playing, crying detection, urine wetting detection and the like. However, from the experience of the user, various infant pacifying devices on the market at present have difficulty in sharing the burden of caring for the infant for parents.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an emulation arm and implementation method thereof embraces the baby through emulation arm to the baby is pacified with the human arm of rocking subassembly simulation through the bradyseism subassembly that sets up on the emulation arm simultaneously and in order to solve prior art in the cradle bed be difficult to pacify the baby for parents share the technical problem who takes care of baby's heavy burden.

In order to solve the above technical problem, the utility model particularly provides the following technical scheme:

an output shaft of the shoulder steering engine is connected with a fixed block, one end, far away from the shoulder steering engine, of the fixed block is provided with a pair of rear arm connecting rods, one ends, far away from the fixed block, of the rear arm connecting rods are respectively connected with an elbow steering engine, the elbow steering engine is connected with a front arm connecting rod, the other end of the front arm connecting rod is connected with a wrist steering engine, and the wrist steering engine is connected with a simulation hand part;

a swinging assembly is arranged between the pair of rear arm connecting rods, a slow flapping assembly is arranged at the joint of the wrist steering engine and the simulated hand part, and the swinging assembly pulls the rear arm connecting rods to swing and simultaneously pulls the simulated hand part to flap slowly;

the swing assembly comprises a propping support arranged on one of the rear arm connecting rods and an end support arranged on the other rear arm connecting rod, the end support is provided with a damping air rod which stretches along the length direction of the rear arm connecting rod, and the propping support extends towards the end support and is connected with the damping air rod.

As a preferred scheme of the utility model, the slow-patting assembly comprises a magnetic suction connecting piece arranged on the wrist steering engine, a magnetic buckling piece arranged corresponding to the magnetic suction connecting piece is arranged on the simulation hand part, and the magnetic suction connecting piece is connected with an output shaft of the damping air rod through a buffering traction piece;

the magnetic suction connecting piece comprises a fixed sleeve arranged on the wrist steering engine, a sliding sleeve is arranged in the fixed sleeve in a sliding mode, an embedded block is arranged at one end, close to the simulation hand part, of the sliding sleeve, a groove cavity is formed in the embedded block, and a magnetic suction ring is arranged on the end face of the embedded block around the groove cavity;

the magnetic buckling piece comprises an installation block which is arranged on the simulation hand part and is close to the wrist steering engine, a lug end corresponding to the groove cavity is arranged on the end face of one side of the installation block close to the wrist steering engine, and a magnetic ring corresponding to the magnetic attraction ring is arranged on the installation block around the lug end.

As an optimized scheme of the utility model, inlay and be provided with in the dress and center on the built-in cavity that the fluted chamber set up, built-in cavity to the fluted chamber direction runs through and is provided with the through-hole, be provided with spacing iron pearl in the through-hole, be provided with in the built-in cavity with spacing iron ring that spacing iron pearl contact is connected, spacing iron pearl set up in spacing iron ring is close to one side of ring is inhaled to magnetism, the lug serve be provided with spacing recess that spacing iron pearl is corresponding, the lug end inlays the dress and is in the fluted chamber and pass through spacing iron pearl with spacing recess correspondence inlays the dress in order to fix the lug end.

As a preferred scheme of the utility model, built-in cavity is close to the one end of through-hole is the toper structure, the lug end is kept away from the one end of installation piece is the toper structure, be provided with the pulling electro-magnet in the sliding sleeve, the pulling electro-magnet pulling in the built-in cavity spacing hoop with spacing iron pearl is to keeping away from the through-hole direction removes.

As an optimized scheme of the utility model in the fixed sleeve sliding sleeve goes up the cover and is equipped with buffer spring, buffer spring promotes sliding sleeve is to keeping away from wrist steering wheel direction removes, the buffering is pull the piece and is connected damping gas pole output with sliding sleeve's haulage rope.

Compared with the prior art, the utility model following beneficial effect has:

the utility model discloses an emulation mechanical arm is used for embracing the baby and with the in-process that the baby jeers slept, drive the trailing arm connecting rod through swaing the subassembly and slowly sway in order to help the baby sleep, drive the slow swing to trailing arm connecting rod direction of simulated hand part through slowly clapping the subassembly simultaneously, the simulation human body dabs the baby of sleeping in embracing in the trailing arm connecting rod that crouches to give the certain sense of security of baby, improve the sense of reality of emulation mechanical arm, improve baby sleep quality, alleviate father and mother and look after baby's heavy burden.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

Fig. 1 is a schematic view of an overall structure of a simulation mechanical arm according to an embodiment of the present invention;

fig. 2 is a schematic top view of a simulation robot according to an embodiment of the present invention;

fig. 3 is a schematic structural view of a slow-shooting assembly of the simulation mechanical arm according to the embodiment of the present invention;

the reference numerals in the drawings denote the following, respectively:

1-shoulder steering engine; 2, fixing blocks; 3-a rear arm link; 4-elbow steering engine; 5-forearm link; 6-wrist steering engine; 7-simulating a hand part; 8-a rocking assembly; 9-a slow-beat component;

81-expanding the stent; 82-end brackets; 83-damping air rod;

811-folding long pole; 812-embedding a chute cavity; 813-slide way; 814-a slider; 815-spreading the air rod;

91-magnetic attachment; 92-magnetic fasteners; 93-buffer traction member; 94-pulling the electromagnet;

910-a buffer spring; 911-fixing the sleeve; 912-a sliding sleeve; 913-an insert block; 914-groove cavity; 915-magnetic ring; 916-arranging a cavity inside; 917-a through hole; 918-limit iron bead; 919-a limiting iron ring;

921-mounting block; 922-bump ends; 923-a magnetic ring; 924-limit groove.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

As shown in fig. 1 to 3, this embodiment provides an emulation arm of emulation arm, the emulation arm includes shoulder steering wheel 1, shoulder steering wheel 1's output shaft has fixed block 2, the one end that shoulder steering wheel 1 was kept away from to fixed block 2 is provided with a pair of trailing

arm connecting rod

3, 2 one end of fixed block is kept away from respectively to a pair of trailing arm connecting rod 3 is connected with elbow steering wheel 4, elbow steering wheel 4 is connected with forearm connecting rod 5, the other end of forearm connecting rod 5 is connected with wrist steering wheel 6, wrist steering wheel 6 is connected with simulated hand part 7, shoulder steering wheel 1 drives fixed block 2 and rotates along vertical direction, trailing arm connecting rod 3 rotates along the horizontal direction for fixed block 2, be provided with between a pair of trailing arm connecting rod 3 and sway subassembly 8.

The swing assembly 8 includes a support 81 provided on one of the rear arm links 3, an end support 82 provided on the other rear arm link 3, a damping air rod 83 extending along the length direction of the rear arm link 3 is mounted on the end support 82, and the support 81 extends toward the end support 82 and is connected to the damping air rod 83.

Be provided with folding cloth pocket between a pair of postbrachium connecting rod 3 and a pair of forearm connecting rod 5 and, when emulation arm is used for embracing the baby and is lain the baby to sleep, promote a pair of postbrachium connecting rod 3 rotation back to back through strutting support 81, thereby prop apart a pair of postbrachium connecting rod 3 and a pair of forearm connecting rod 5, place the baby on folding cloth pocket, because the baby struggles easily in emulation arm when not sleeping, prior art's arm has increased the stability of embracing the baby in order to guarantee the arm to the constraint of baby, but prior art's arm reduces baby's sleep travelling comfort, be unfavorable for falling asleep of baby.

The utility model discloses an emulation arm is through being formed with the baby cloth pocket of sleeping that crouches between two trailing arm connecting rods 3, reduces baby's constraint and feels, improves the sleep travelling comfort, and lives baby's pocket through a pair of trailing arm connecting rod 3 and a pair of forearm connecting rod 5 and folding cloth pocket to improve the stability that emulation arm surroundd baby. It is through the arm than prior art, the utility model discloses an operation of embracing of baby can be accomplished through an arm to emulation arm, and the practicality is strong.

Be provided with force sensor at folding cloth pocket and trailing arm connecting rod 3's junction, when not having the infant on folding cloth pocket, force sensor pulling force value is 0, when sleeping when having the infant when crouching on folding cloth pocket, pulling force value is not 0, and the damping gas pole 83 of the subassembly 8 that sways this moment begins to stretch out and draw back to drive trailing arm connecting rod 3 swing and pacify the infant with slowly rocking.

The utility model discloses a strut support 81 is including connecting the folding stock 811 of one of them trailing arm connecting rod 3 and damping gas pole 83's output shaft, it inlays dress chute chamber 812 to be provided with what be used for folding stock 811 to install on the trailing arm connecting rod 3 of keeping away from damping gas pole 83, it is provided with slide 813 in dress chute chamber 812 to inlay, the one end of folding stock 811 is provided with slider 814 of slidable mounting in slide 813, it installs and struts gas pole 815 to be close to inlay dress chute chamber 812 rotation on the trailing arm connecting rod 3, the output shaft that struts gas pole 815 is connected with folding stock 811.

The one end that drives folding stock 811 through the flexible one-tenth air pole 815 of strutting inlays the dress in dress spout chamber 812 slides along slide 813, thereby it rotates mutually to drive two back arm connecting rod 3 at the gliding in-process of folding stock 811, in order to strut back arm connecting rod 3, when folding stock 811 along the one end of strutting air pole 815 of keeping away from that slides to slide 813, strut air pole 815 and stop the extension and keep steady state, keep stable state of strutting under the supporting role of the folding stock 811 of a pair of back arm connecting rod 3.

Because rotation is connected between trailing arm connecting rod 3 and fixed block 2 to at the flexible in-process of damping gas pole 83, promote through strutting support 81 and keep away from the trailing arm connecting rod 3 swing that damping gas pole 83 set up, and then drive the trailing arm connecting rod 3 that is close to damping gas pole 83 setting through the traction effect who struts support 81 and follow the swing, thereby realize trailing arm connecting rod 3's swing process, rock with driving the baby, play the effect of pacifying the baby.

When the rear arm connecting rod 3 is spread, the rear arm connecting rod 3 can be driven to slowly swing through the stretching of the damping air rod 83 so as to drive the baby to shake so as to enable the baby to sleep, when the hand part bends towards the direction of the wrist steering engine 6, the magnetic suction connecting piece 91 and the magnetic fastening piece 92 are used for enabling the hand part and the wrist steering engine 6 to be cascaded, the hand part is driven to flap towards the sleeping direction of the baby while the rear arm connecting rod 3 is driven to slowly swing through the stretching of the damping air rod 83, and therefore the baby can sleep.

When the rear arm connecting rod 3 does not strut, because the one end that the long support pole kept away from damping gas pole 83 and rear arm connecting rod 3 sliding connection, crooked to wrist steering wheel 6 direction when the hand part for when cascading through slowly clapping subassembly 9 between hand part and the wrist steering wheel 6, drive the hand part through the flexible of damping gas pole 83 and clap to the baby direction of sleeping, pacifying when effectively helping the baby to lie in bed.

The utility model discloses beat subassembly 9 slowly and set up in wrist steering wheel 6 and the 7 junctions of simulation hand part, simulation hand part 7 rotates to 6 directions of wrist steering wheel and is connected wrist steering wheel 6 and simulation hand part 7 through beating subassembly 9 slowly, and then drives simulation hand part 7 back and forth swing through beating subassembly 9 slowly.

Wherein, slowly clap subassembly 9 and inhale connecting piece 91 including setting up magnetism on wrist steering wheel 6, be provided with on the simulated hand part 7 and inhale magnetism lock 92 that connecting piece 91 corresponds the setting with magnetism, inhale that connecting piece 91 is connected with the output shaft of damping gas pole 83 through buffering traction element 93.

When wrist steering wheel 6 drives simulation hand part 7 and to the crooked folding of wrist steering wheel 6 direction, along with simulation hand part 7's swing, the magnetism of setting in wrist steering wheel 6 department is inhaled connecting piece 91 and simulation hand part 7 on magnetism and is inhaled the actuation gradually and be connected, treat wrist steering wheel 6 and simulation hand part 7 and connect the back of accomplishing, through the control of wrist steering wheel 6 release to simulation hand part 7, thereby simulation hand part 7 maintains stable connection state under the effect of magnetism buckling piece 92 and magnetism connecting piece 91, then damping gas pole 83 pulls the 7 swings of simulation hand part through the buffering and in order to pacify the baby, the operation authenticity of the emulation arm of improvement, improve the efficiency that the baby falls asleep.

The magnetic attraction connecting piece 91 comprises a fixed sleeve 911 arranged on the wrist steering engine 6, a sliding sleeve 912 is arranged in the fixed sleeve 911 in a sliding manner, an embedded block 913 is arranged at one end, close to the hand simulator 7, of the sliding sleeve 912, a groove cavity 914 is arranged on the embedded block 913, and a magnetic attraction ring 915 is arranged on the end face of the embedded block 913 around the groove cavity 914;

magnetic buckling piece 92 is including setting up the installation piece 921 that sets up on being close to wrist steering wheel 6 on simulating hand part 7, and installation piece 921 is provided with on being close to a side end face of wrist steering wheel 6 with the corresponding lug end 922 in recess chamber 914, and the installation piece 921 is provided with around lug end 922 with magnetism inhale the corresponding magnetic ring 923 of ring 915.

The convex end 922 of the magnetic fastener 92 is correspondingly buckled with the concave cavity 914 of the magnetic connector 91, and the magnetic ring 915 of the magnetic connector 91 and the magnetic ring 923 of the magnetic fastener 92 are used for aligning and connecting the magnetic connector 91 and the magnetic fastener 92.

The embedded block 913 is provided with a built-in cavity 916 surrounding the groove cavity 914, the built-in cavity 916 penetrates through the groove cavity 914 to be provided with a through hole 917, the through hole 917 is provided with a limiting iron bead 918, the built-in cavity 916 is provided with a limiting iron ring 919 in contact connection with the limiting iron bead 918, the limiting iron bead 918 is arranged on one side of the limiting iron ring 919 close to the magnetic attraction ring 915, a limiting groove 924 corresponding to the limiting iron bead 918 is arranged on the bump end 922, and the bump end 922 is embedded in the groove cavity 914 and is correspondingly embedded with the limiting groove 924 through the limiting iron bead 918 to fix the bump end 922.

Attract spacing hoop 919 and spacing iron bead 918 through magnetism ring 915 of inhaling, spacing iron bead 918 is inlayed in through-hole 917 under the thrust of spacing hoop 919 and the magnetism effect of magnetism ring 915 of inhaling, and maintain interim stable state, when lug end 922 removes to recess cavity 914, lug end 922 extrudes spacing iron bead 918 to built-in cavity 916, thereby make things convenient for the removal of lug end 922, when spacing recess 924 on lug end 922 corresponds with through-hole 917 relatively, spacing iron bead 918 lock under the magnetic force effect is in spacing recess 924, thereby realized the fixed position of lug end 922, and then fix the position of simulation hand member 7, wrist 6 releases the control action to simulation hand member 7 simultaneously.

In addition, in order to ensure the limiting stability of the limiting iron ball 918 on the bump end 922, a spring is arranged in the built-in cavity 916, the spring pushes the limiting iron ring 919 to move towards the side close to the magnetic attraction ring 915, and the spring is arranged on the end face of the limiting iron ring 919 at the side far away from the magnetic attraction ring 915.

The utility model discloses an one end that built-in cavity 916 is close to through-hole 917 is the toper structure, the toper terminal surface of built-in cavity 916 provides the squeezing action for the removal in spacing iron bead 918 to through-hole 917, thereby be convenient for spacing iron bead 918 to stably inlay the dress in through-hole 917, the one end that installation piece 921 was kept away from to lug end 922 is the toper structure, lug end 922's toper structure is convenient to promote spacing iron bead 918 through lug end 922 when lug end 922 removes to recess chamber 914, thereby make things convenient for lug end 922 to slide to recess chamber 914.

A pulling electromagnet 94 is arranged in the sliding sleeve 912, the pulling electromagnet 94 pulls the limiting iron ring 919 and the limiting iron bead 918 in the built-in cavity 916 to move towards the direction away from the through hole 917, after a baby sleeps, the limiting iron ring 919 and the limiting iron bead 918 in the built-in cavity 916 are attracted by the pulling electromagnet 94 to overcome the magnetic action of the magnetic attraction ring 915 to move towards the direction away from the through hole 917, so that the limiting iron bead 918 is separated from the through hole 917, and the wrist steering engine 6 is convenient to drive the simulated hand part 7 to return to the original state.

In addition, a buffer spring 910 is sleeved on a sliding sleeve 912 in the fixed sleeve 911, the buffer spring 910 pushes the sliding sleeve 912 to move in a direction away from the wrist steering engine 6, and the buffer traction piece 93 is a traction rope connecting the output end of the damping air rod 83 and the sliding sleeve 912.

Because the buffer spring 910 is arranged between the sliding sleeve 912 and the fixed sleeve 911, in the process that the damping air rod 83 pulls the sliding sleeve 912 to slide in the fixed sleeve 911 through the buffering traction piece 93, the buffer spring 910 provides a buffer effect for the movement of the sliding sleeve 912, so that the buffer effect is provided for the swing of the simulated hand part 7, the flexible buffer effect is provided for the swing of the simulated hand part 7, and the problem that the rigid swing of the simulated hand part 7 causes injury to the infant is avoided.

The above embodiments are only exemplary embodiments of the present application, and are not intended to limit the present application, and the protection scope of the present application is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present application and such modifications and equivalents should also be considered to be within the scope of the present application.

Claims

1. A simulation mechanical arm is characterized in that: the simulation mechanical arm comprises a shoulder steering engine (1), an output shaft of the shoulder steering engine (1) is connected with a fixed block (2), one end, far away from the shoulder steering engine (1), of the fixed block (2) is provided with a pair of rear arm connecting rods (3), one ends, far away from the fixed block (2), of the pair of rear arm connecting rods (3) are respectively connected with an elbow steering engine (4), the elbow steering engine (4) is connected with a front arm connecting rod (5), the other end of the front arm connecting rod (5) is connected with a wrist steering engine (6), and the wrist steering engine (6) is connected with a simulation hand part (7;

a swinging assembly (8) is arranged between the pair of rear arm connecting rods (3), a slow flapping assembly (9) is arranged at the joint of the wrist steering engine (6) and the simulated hand component (7), and the slow flapping assembly (9) pulls the simulated hand component (7) to flap slowly while the swinging assembly (8) pulls the rear arm connecting rods (3) to swing;

swing subassembly (8) including one of them prop open support (81) that set up on trailing arm connecting rod (3), another tip support (82) that set up on trailing arm connecting rod (3), install on tip support (82) and follow the flexible damping gas pole (83) of trailing arm connecting rod (3) length direction, prop open support (81) to tip support (82) direction extension and with damping gas pole (83) are connected.

2. A simulated robotic arm according to claim 1, wherein: the slow-beating component (9) comprises a magnetic suction connecting piece (91) arranged on the wrist steering engine (6), a magnetic buckling piece (92) arranged corresponding to the magnetic suction connecting piece (91) is arranged on the simulation hand part (7), and the magnetic suction connecting piece (91) is connected with an output shaft of the damping air rod (83) through a buffering traction piece (93);

the magnetic attraction connecting piece (91) comprises a fixed sleeve (911) arranged on the wrist steering engine (6), a sliding sleeve (912) is arranged in the fixed sleeve (911) in a sliding mode, an embedded block (913) is arranged at one end, close to the simulated hand part (7), of the sliding sleeve (912), a groove cavity (914) is formed in the embedded block (913), and a magnetic attraction ring (915) is arranged on the end face of the embedded block (913) around the groove cavity (914);

magnetism lock piece (92) are including setting up be close to on simulation hand unit (7) installation piece (921) that set up on wrist steering wheel (6), installation piece (921) are close to be provided with on one side terminal surface of wrist steering wheel (6) with corresponding lug end (922) in recess chamber (914), center on installation piece (921) lug end (922) be provided with magnetism inhale the corresponding magnetic ring (923) of ring (915).

3. A simulated robotic arm according to claim 2, wherein: the magnetic attraction type magnetic suction ring is characterized in that a built-in cavity (916) surrounding the groove cavity (914) is arranged in the embedding block (913), a through hole (917) penetrates through the built-in cavity (916) in the direction of the groove cavity (914), a limiting iron bead (918) is arranged in the through hole (917), a limiting iron ring (919) in contact connection with the limiting iron bead (918) is arranged in the built-in cavity (916), the limiting iron bead (918) is arranged on one side, close to the magnetic attraction ring (915), of the limiting iron ring (919), a limiting groove (924) corresponding to the limiting iron bead (918) is arranged on the bump end (922), and the bump end (922) is embedded in the groove cavity (914) and is correspondingly embedded with the limiting iron bead (918) to fix the bump end (922).

4. A mock robot arm according to claim 3, wherein: one end, close to the through hole (917), of the built-in cavity (916) is of a conical structure, one end, far away from the mounting block (921), of the lug end (922) is of a conical structure, a pulling electromagnet (94) is arranged in the sliding sleeve (912), and the pulling electromagnet (94) pulls the limiting iron ring (919) and the limiting iron bead (918) in the built-in cavity (916) to move towards the direction far away from the through hole (917).

5. A simulated robotic arm according to claim 2, wherein: the wrist steering engine is characterized in that a buffer spring (910) is sleeved on the sliding sleeve (912) in the fixed sleeve (911), the buffer spring (910) pushes the sliding sleeve (912) to move in the direction away from the wrist steering engine (6), and the buffer traction piece (93) is a traction rope connected with the output end of the damping air rod (83) and the sliding sleeve (912).