CN214187178U

CN214187178U - Foldable telescopic outer limb mechanical arm with streamline housing

Info

Publication number: CN214187178U
Application number: CN202023121258.7U
Authority: CN
Inventors: 刘金国; 张晓波; 赵新刚
Original assignee: Shenyang Institute of Automation of CAS
Current assignee: Shenyang Institute of Automation of CAS
Priority date: 2020-12-23
Filing date: 2020-12-23
Publication date: 2021-09-14
Anticipated expiration: 2030-12-23

Abstract

The utility model relates to a collapsible flexible outer limb body arm with streamlined shell, including flexible module and a plurality of rotating die piece, flexible urceolus in the flexible module is connected with terminal rotating die piece, the flexible interior pole of one-level, the flexible interior pole of second grade, flexible urceolus suit in proper order, flexible servo steering wheel is located in flexible urceolus and is linked firmly with the lead screw, the one-level nut in the flexible interior pole of one-level and the second grade nut in the flexible interior pole of second grade all suit on the lead screw, and the one-level nut is located the lead screw thread section when flexible module retracts, the second grade nut is located the lead screw optical axis reducing section, the flexible interior pole of second grade passes through spring pin locking Assembly with flexible urceolus simultaneously, spring pin locking Assembly breaks away from with flexible urceolus and connects the flexible interior pole of second grade and the flexible interior pole of one-level when the flexible interior pole stretches out to target in place, the flexible interior pole of one-level continues to rise and makes the one-level nut break away from the lead screw, And the secondary nut is moved to the threaded section of the lead screw. The utility model discloses compact structure just increased the operation space under non-operating condition.

Description

Foldable telescopic outer limb mechanical arm with streamline housing

Technical Field

The utility model belongs to the technical field of the wearable robot and specifically relates to a collapsible flexible outer limb mechanical arm with streamlined shell.

Background

The wearable robot mainly comprises an exoskeleton robot, a prosthetic robot and an external limb robot, wherein the exoskeleton robot binds a mechanical exoskeleton and upper and lower limbs of a human body together, detects the movement intention of the limbs of the human body through a sensor, further applies additional force to help the human body to complete certain heavy operation tasks, and reduces the burden of the human body or increases the operation capacity of the human body; the artificial limb robot judges the human body intention through electromyographic signals and electroencephalogram signal detection and processing technologies so as to help people with limb disabilities to realize normal human life as much as possible; the outer limb robot is different from the former two, is independent of the original limbs of the human body, has no binding relationship with the original limbs, is equivalent to the extra limbs of the human body, and independently moves to enable the outer limbs to help the human body to complete a plurality of tasks which cannot be completed only by the original limbs, namely the essence of the outer limbs.

The outer limb robot is generally connected with a human body through a backpack device, with the development of electroencephalogram technology, the contact between the outer limb and electroencephalogram is established in the future, the action of the outer limb is controlled through brain waves, the human body really feels like the own outer limb, but at present, the control is still in a research stage, and the control of the outer limb is realized mainly through rocking bars, offline programming, mapping programming established on other parts of the human body, sensor feedback learning type programming and the like in the prior art.

The outer limb robot is widely applied, for example, in the agricultural field, when farmers need to bend down for operation, the outer limbs can help the farmers to support bodies, the stress environment of bones is improved, the abrasion of the bones is reduced, in the daily life field, the outer limbs can help the farmers to take coffee while typing with both hands, in the military field, the outer limbs can help the soldiers to hold guns, shoot in multiple directions without dead angles, and the operation capacity of the individual soldiers is enhanced. In a word, the outer limb can help people to complete tasks which cannot be completed by common people simultaneously or which need to be completed by multiple people in a cooperative manner, so that the research on the outer limb robot is significant.

Compared with other wearable robots, the research on the outer limb robot has few achievements, belongs to a starting stage, and has the following main research difficulties: 1) the weight of the outer limb is a problem, the outer limb helps the human body to realize function enhancement on the premise of ensuring light weight, otherwise, the outer limb is a burden on the human body; 2) the safety of the outer limbs is that the action state of the human body must be known when the outer limbs work, and then the operation of the outer limbs is planned, otherwise the outer limbs collide and hurt the wearer; 3) the problem of dexterity of the operation of the outer limb, the outer limb needs to have enough dexterity operation ability and as large operation space as possible; 4) the control interface problem, brain electricity control and myoelectricity control are all technical means for realizing the connection between a person and an external limb of the future external limb.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a collapsible flexible outer limb body arm with streamlined shell has folding and flexible function, and wherein folding function makes outer limb structure under non-operating condition very compact, and occupation space is little, and flexible function has increased the operation space of outer limb body.

The purpose of the utility model is realized through the following technical scheme:

a foldable telescopic outer limb mechanical arm with a streamline housing comprises a plurality of rotary modules which are sequentially connected in series, wherein the rotary module at the head end is connected with a backpack device, the rotary module at the tail end is connected with a telescopic module, the telescopic module comprises a telescopic servo steering engine, a screw rod, a first-stage telescopic inner rod, a second-stage telescopic inner rod, a telescopic outer barrel and a spring pin locking assembly, the telescopic outer barrel is connected with the rotary module at the tail end, the second-stage telescopic inner rod is inserted into the telescopic outer barrel, the first-stage telescopic inner rod is inserted into the second-stage telescopic inner rod, the telescopic servo steering engine is arranged at the lower part of the telescopic outer barrel and fixedly connected with the screw rod arranged at the upper part of the telescopic outer barrel, a first-stage nut is arranged in the first-stage telescopic inner rod and sleeved on the screw rod, a second-stage nut is arranged in the second-stage telescopic inner rod and sleeved on the screw rod, and the connecting end of the screw rod and the telescopic servo steering engine is provided with an optical axis reducing section, when the telescopic module retracts, the first-stage nut is sleeved on the thread section of the screw rod, the second-stage nut is sleeved on the optical axis reducing section, the second-stage telescopic inner rod is connected with the telescopic outer cylinder through the spring pin locking assembly, when the first-stage telescopic inner rod extends in place, the spring pin locking assembly is separated from the telescopic outer cylinder and is connected with the second-stage telescopic inner rod and the first-stage telescopic inner rod, then the first-stage telescopic inner rod continuously rises to drive the first-stage nut to be separated from the screw rod, and meanwhile, the second-stage nut is driven to move to the thread section of the screw rod.

The spring pin locking assembly comprises a pin frame, a spring and a pin, wherein the pin frame is fixedly arranged on the second-stage telescopic inner rod, the pin comprises a front end positioning head end, a middle limiting convex part and a rear shaft part, the upper end of the telescopic outer barrel is provided with an insertion hole, the upper end of the first-stage telescopic inner rod is provided with a guide hole, the rear shaft part of the pin penetrates through the insertion hole which is inserted into the corresponding insertion hole after the pin frame, the middle limiting convex part of the pin is arranged in the guide hole, the spring is arranged between the limiting convex part and the pin frame and sleeved on the pin, and the lower end of the first-stage telescopic inner rod is provided with a positioning hole matched with the front end positioning head end of the pin.

When the first-stage telescopic inner rod extends to the right position, the rear shaft part of the pin is separated from the jack at the upper end of the telescopic outer barrel under the action of the spring, and meanwhile, the positioning head end of the front end is inserted into the positioning hole corresponding to the lower end of the first-stage telescopic inner rod.

And a steering engine positioning fixing ring is arranged on the telescopic servo steering engine and fixedly connected with the telescopic outer barrel.

Many direction recesses of pole outside circumference equipartition in the one-level is flexible pole inside is equipped with many beads in the second grade is flexible, just the direction recess with the bead corresponds the cooperation, and the pin slides along the direction recess that corresponds.

The rotating module positioned at the head end comprises a bottom plate, a head end shell, a head end servo steering engine and a head end output flange plate, wherein the bottom plate is connected with the backpack device, the head end servo steering engine is fixedly arranged on the bottom plate, the lower end of the head end shell is fixedly connected with the bottom plate and wraps the head end servo steering engine, the head end output flange plate is arranged on a steering wheel of the head end servo steering engine and connected with a shell of the next rotating module, a head end guide ring is arranged on the head end servo steering engine, and the head end guide ring is arranged between the end part of the head end shell and the end part of the shell of the.

All the other rotary modules except the head end rotary module and the tail end rotary module have the same structure and comprise a shell, a driving servo steering engine and an output flange plate, wherein the driving servo steering engine is arranged in the shell, a positioning fixing ring and a guide ring are arranged on the driving servo steering engine, the positioning fixing ring is fixedly connected with the shell, the guide ring is arranged between the end parts of the shells of the two adjacent rotary modules, and the output flange plate is arranged on a steering wheel of the driving servo steering engine and connected with the shell of the next rotary module.

The shell is integrally bent and comprises two connecting parts, the two connecting parts are connected through a necking part, one connecting part is connected with the previous rotating module, the other connecting part is connected with the next rotating module, and a driving servo steering engine is arranged inside the connecting part and the next rotating module.

The rotating module positioned at the tail end comprises a tail end shell, a tail end servo steering engine and an output flange seat, wherein the tail end shell and the output flange seat jointly wrap the tail end servo steering engine, a tail end positioning fixing ring and a tail end guide ring are arranged on the tail end servo steering engine, the tail end positioning fixing ring is fixedly connected with the tail end shell, the tail end guide ring is positioned between the tail end shell and the output flange seat, and the upper end of the output flange seat is connected with the telescopic module.

The first rotating module, the second rotating module, the third rotating module, the fourth rotating module, the fifth rotating module and the sixth rotating module are sequentially connected, wherein the first rotating module is connected with the bearing device, the bearing device is bound on a human body through a strap, and the sixth rotating module is connected with the telescopic module.

The utility model discloses an advantage does with positive effect:

1. the utility model discloses have folding and flexible function, wherein folding function makes the outer limb structure very compact under non-operating condition, and occupation space is little, and flexible function has increased the operation space of outer limb, the utility model discloses whole outer limb has seven degrees of freedom, and the operation is nimble, has stronger obstacle-avoiding ability.

2. The utility model discloses the shell is based on streamlined design theory, and appearance is novel, handsome in appearance. The diameter of the envelope section of the shell steering engine is large, the diameter of the middle transition section is small, the mass is reduced, the shell is positioned by two through openings, and the positioning is fixed and reliable.

3. The utility model discloses in the rotational degree of freedom design process, the solid fixed ring in location and the guide ring can guarantee the high coaxiality and the firm nature of installation of rotational degree of freedom, and the steering wheel mounting is located the steering wheel afterbody in addition, and the guide ring is located the steering wheel middle part, the steering wheel dish is located the steering wheel top, and the atress characteristic is good, connects reliably.

4. The utility model discloses the steering wheel of each module is convenient very much with being connected between the fixed mode of shell and the module, dismantles and maintains very simply, and all rotatory modules have adopted similar project organization, and the DH parameter that changes the module just can change the overall configuration of outer limb mechanical arm, need not carry out other complicated design, and the maintenance of upgrading is convenient.

5. The utility model discloses a flexible module has adopted lead screw nut transmission mode, and the transmission is steady to utilize spring pin locking Assembly to accomplish flexible urceolus and the flexible interior pole of second grade and the flexible interior pole of one-level locking and unblock conversion in flexible process, realized a plurality of functions of a structure, reduced the design of redundant spare part, further alleviateed the quality.

Drawings

FIG. 1 is a schematic external view of the present invention,

figure 2 is a schematic view of the fully extended state of the present invention in use,

figure 3 is a schematic view of the fully folded state of the present invention in use,

FIG. 4 is a schematic view of the operation state of the present invention,

figure 5 is an exploded view of the first rotating module of figure 1,

figure 6 is an exploded view of the second rotating module of figure 1,

figure 7 is an exploded view of the sixth rotating module of figure 1,

figure 8 is an exploded view of the telescoping module of figure 1,

figure 9 is an exploded view of the spring pin locking assembly of figure 8,

figure 10 is a cross-sectional view of the telescoping module of figure 8,

figure 11 is a schematic view showing the first state of extension of the expansion module of figure 10,

figure 12 is a second view of the telescoping module of figure 10 in an extended state,

figure 13 is an enlarged view at a in figure 10,

fig. 14 is an enlarged view of fig. 10 at B.

Wherein, 1 is a first rotating module, 101 is a bottom plate, 1011 is an installation block, 1012 is a connecting bolt, 1013 is a square spigot, 102 is a head end shell, 103 is a head end servo steering engine, 104 is a head end guide ring, 105 is a head end output flange plate, 1051 is an installation platform, 1052 is a weight reduction groove; 2, a second rotating module, 201, a shell, 2011, a connecting part A, 2022, a driving servo steering engine, 203, a positioning fixing ring, 204, a guide ring and 205, wherein the second rotating module is a shell; 3 is a third rotating module, 301 is a third shell; 4 is a fourth rotating module; 5 is a fifth rotating module; a sixth rotating module 6, a tail end shell 601, a tail end positioning fixing ring 602, a tail end servo steering engine 603, a tail end guide ring 604, an output flange seat 605 and a connecting table 6051; 7, a telescopic module, 701, a telescopic servo steering engine, 702, a steering engine positioning fixing ring, 703, a lead screw, 7031, a light axis reducing section, 704, a secondary telescopic inner rod, 7041, a secondary nut, 705, a pin rack, 706, a spring, 707, a pin, 7071, a positioning head end, 7072, a limiting convex part, 7073, a rear shaft part, 708, a primary telescopic inner rod, 7081, a guide groove, 7082, a primary nut, 7083, a positioning hole, 709, an end cover, 710, a telescopic outer cylinder and 7101 to a jack; 8 is a human body; and 9 is a bearing device.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

As shown in fig. 1-14, the utility model discloses a first rotation module 1, second rotation module 2, third rotation module 3, fourth rotation module 4, fifth rotation module 5, sixth rotation module 6 and flexible module 7 that connect gradually, wherein first rotation module 1 links to each other with bear device 9, bears device 9 and ties up at human 8 first body through the braces, each rotatory degree of freedom module and flexible module 7 constitutes the utility model discloses an outer limb mechanical arm, its third limb as human body, with the original limb cooperation operation of human body.

As shown in fig. 5, the first rotating module 1 is a head end rotating module, and includes a bottom plate 101, a head end housing 102, a head end servo steering engine 103, a head end guide ring 104 and a head end output flange 105, wherein the head end servo steering engine 103 is a power source for rotary joint motion, the lower portion of the overall shape of the first rotating module is a cuboid, four circumferential surfaces and the bottom of the first rotating module are uniformly provided with mounting threaded holes, the upper end of the first rotating module is a cylindrical steering wheel, the steering wheel is uniformly provided with the mounting threaded holes, the head end servo steering engine 103 is internally integrated with a control board, a drive board, a speed reducer, a cross roller bearing, a sensor and other components, and the first rotating module is a modular functional body. In this embodiment, the servo steering engines of the head end servo steering engine 103 and other modules are industrial servo steering engines, which are commercially available products.

As shown in fig. 5, the bottom plate 101 is used for fixing the head end servo steering engine 103, the bottom plate 101 is provided with a mounting hole for connecting with the backpack 9, the lower end of the head end housing 102 is fixedly connected with the bottom plate 101 and wraps the head end servo steering engine 103, the head end servo steering engine 103 is provided with a head end guide ring 104, the lower side of the head end guide ring 104 is provided with an annular boss, the upper end of the head end housing 102 is matched, the upper side of the head end guide ring is provided with an annular boss, the lower end of the housing 201 of the next rotating module is matched with the annular boss, the mounting coaxiality of the head end servo steering engine 103 is ensured, and the head end output flange 105 is fixedly connected with a steering wheel on the upper side of the head end servo steering engine 103 and is used for outputting torque.

As shown in fig. 5, the edge of the bottom plate 101 is provided with a mounting block 1011 along the circumferential direction, the lower end of the head end housing 102 is matched with the bottom plate 101 and is fixedly connected with the bottom plate 101 through a connecting bolt 1012, the connecting bolt 1012 horizontally penetrates through the lower end of the head end housing 102 and is in threaded connection with the corresponding mounting block 1011 on the bottom plate 101, a square seam allowance 1013 is arranged on the bottom plate 101, the lower end of the head end servo steering engine 103 is embedded into the square seam allowance 1013, so that the coaxiality of the head end servo steering engine 103 is ensured, the inner side of the square seam allowance 1013 is matched with the circumferential surface of the head end servo steering engine 103, the seam allowance is not too thick, and the mass is maximally reduced.

As shown in fig. 5, the head end housing 102 adopts a streamline design concept, the main body appearance is obtained by lofting an upper circle, a lower circle and a spline constraint line, the shell is taken out with equal thickness to obtain a shell, and a cylindrical end face for matching and positioning is added on the basis of the shell, and a mounting hole is formed to obtain a final appearance.

In this embodiment, the head end guide ring 104 is made of an abrasion resistant material, and the head end guide ring 104 is provided with a slot along the circumferential direction for leading the power line and the communication line to the next module. As shown in fig. 5, the middle of the head end guide ring 104 is a square mounting hole, the inner surface of the mounting hole is matched with the circumferential outer surface of the head end servo steering engine 103, and the head end guide ring 104 is located at an axial midpoint position close to the head end servo steering engine 103, so that the head end servo steering engine 103 has good stress, and the guide rings of the other modules have the same design structure but different sizes.

As shown in fig. 5, a plurality of mounting holes are uniformly arranged in the middle of the head end output flange 105 along the circumferential direction, and are fixedly connected with a rudder plate of the head end servo steering engine 103 through screws, a plurality of mounting platforms 1051 are uniformly arranged in the outer edge of the head end output flange 105 along the circumferential direction, threaded holes are formed in the mounting platforms 1051, the mounting platforms 1051 are fixed with a shell 201 on the outer side of the second rotary module 2 through horizontally arranged bolts, in addition, a through hole is formed in the middle of the head end output flange 105, a plurality of fan-shaped lightening grooves 1052 are uniformly arranged in the outer end along the circumferential direction for lightening the mass, and the output flanges of the other modules have the same design structure but different sizes.

The second rotation module 2, the third rotation module 3, the fourth rotation module 4, and the fifth rotation module 5 have the same structure except for their different sizes, and the second rotation module 2 will be described as an example.

As shown in fig. 6, the second rotary module 2 includes a housing 201, a driving servo steering engine 202, a positioning fixing ring 203, a guide ring 204 and an output flange 205, wherein the driving servo steering engine 202 is a power source and is wrapped by the housing 201, the driving servo steering engine 202 is provided with the positioning fixing ring 203 and the guide ring 204, the positioning fixing ring 203 is fixedly connected with the housing 201 and fixes the second servo motor 202 in the housing 201, positioning blocks are uniformly distributed on the outer edge of the positioning fixing ring 203 along the circumferential direction, bolts pass through the housing 201 and are in threaded connection with the corresponding positioning blocks, so as to achieve the purpose that the positioning fixing ring 203 is fixedly connected with the housing 201, the guide ring 204 is used for ensuring the installation coaxiality of the driving servo steering engine 202, one side of the guide ring is provided with an annular boss to be embedded with the end portion of the housing 201 of the module, the other side is provided with an annular boss to be embedded with the end portion of the housing 201 of the next rotary module, the output flange plate 205 is mounted on a rudder plate of the driving servo steering engine 202 and used for outputting torque, the structure and the principle of the output flange plate are the same as those of the head end output flange plate 105, the shell 201 also adopts a streamline design concept, the shape design method of the shell is similar to that of the head end shell 102, the difference is that more path constraint spline curves are needed in the shell 201 lofting process, besides the lofting sections at the beginning and the end, more middle lofting sections are needed, and the other rotating modules except the first rotating module 1 all adopt similar methods to obtain the shape of a main body.

As shown in fig. 6, shell 201 wholly is the shape of bending, and it includes two connecting portion, and connects through a throat portion between two connecting portion, and wherein connecting portion a2011 links to each other with first rotary module 1's head end output flange 105, and drive servo steering wheel 202 then places connecting portion B2012 in, the solid fixed ring 203 middle part in location is equipped with the square fluting equally, the fluting internal surface in positive direction cooperates with drive servo steering wheel 202 circumference face, the solid fixed ring 203 outer fringe in location and the cooperation of shell 201 inner wall, the solid fixed ring 203 in location is equipped with the fluting that is used for drawing forth power cord and communication line, and the solid fixed ring structure in location of all the other modules is the same, and only the size has the difference.

As shown in fig. 7, the sixth rotating module 6 is an endmost rotating module, and includes an end housing 601, an end servo steering engine 603, an end positioning fixing ring 602, an end guide ring 604, and an output flange seat 605, where the end servo steering engine 603 is a power source and is wrapped by the end housing 601 and the output flange seat 605 together, the end positioning fixing ring 602 and the end guide ring 604 are disposed outside the end servo steering engine 603, the end positioning fixing ring 602 is fixed to the end housing 601 and fixes the end servo steering engine 603 in the end housing 601, the end guide ring 604 is used to ensure the coaxiality of the end servo steering engine 603, one side of the end guide ring 604 is provided with an annular boss to be matched with an end portion of the end housing 601, the other side is provided with an annular boss to be matched with a lower end of the output flange seat 605, the output flange seat 605 is fixedly connected to a steering wheel of the end servo steering engine 603, and the output flange seat 605 plays a role of a housing to wrap an upper portion of the end servo steering engine 603, the upper side of the output flange seat 605 is provided with four connecting platforms 6051 for connecting with the telescopic module 7, and in addition, the upper side of the output flange seat 605 is provided with four fan-shaped slots for leading out power lines and communication lines, and the weight is reduced.

As shown in fig. 8 to 14, the telescopic module 7 includes a telescopic servo steering engine 701, a steering engine positioning fixing ring 702, a lead screw 703, a primary telescopic inner rod 708, a secondary telescopic inner rod 704, a telescopic outer cylinder 710 and a spring pin locking assembly, wherein the telescopic servo steering engine 701 is a power source, the telescopic servo steering engine 701 is fixed to the telescopic outer cylinder 710 through the steering engine positioning fixing ring 702, the fixing principle is the same as that of the positioning fixing ring 202, the lower end of the telescopic outer cylinder 710 is fixedly connected to four connecting platforms 6051 of an output flange seat 605 on a sixth rotating module 6, the lead screw 703, the primary telescopic inner rod 708 and the secondary telescopic inner rod 704 are all arranged in the telescopic outer cylinder 710, a flange is arranged at the lower end of the lead screw 703 and fixedly connected to a steering wheel of the telescopic servo steering engine 701, the lead screw 703 is driven to rotate by the telescopic servo steering engine 701, the primary telescopic inner rod 708 is inserted into the secondary telescopic inner rod 704, and the upper end of the primary telescopic inner rod 708 is provided with an end cover 709, as shown in fig. 14, the primary telescopic inner rod 708 is provided with a primary nut 7082 which is sleeved on the screw rod 703, the secondary telescopic inner rod 704 is provided with a secondary nut 7041 which is sleeved on the screw rod 703, the lower end of the screw rod 703 is provided with an optical axis reducing section 7031, when the telescopic module 7 is completely contracted, the secondary nut 7041 is sleeved on the optical axis reducing section 7031 and is not engaged with the thread section of the screw rod 703, when the screw rod 703 rotates, the screw rod 703 drives the primary nut 7082 to drive the primary telescopic inner rod 708 to extend out, at this time, as shown in fig. 10, the secondary telescopic inner rod 704 is fixed with the telescopic outer cylinder 710 through the spring pin locking component and cannot move, when the primary telescopic inner rod 708 is about to rise to the limit position, as shown in fig. 11, the spring pin locking component is separated from the telescopic outer cylinder 710, the upper end of the secondary telescopic inner rod 704 is fixed with the lower end of the primary telescopic inner rod 708, then the primary telescopic inner rod 708 continues to ascend, the primary nut 7082 is separated from the lead screw 703, meanwhile, the secondary nut 7041 moves to the thread section of the lead screw 703, the lead screw 703 continues to drive the secondary nut 7041 to ascend, and the primary telescopic inner rod 708 and the secondary telescopic inner rod 704 are driven to synchronously extend by the secondary nut 7041 as shown in fig. 12 at the moment because the primary telescopic inner rod 708 and the secondary telescopic inner rod 704 are fixedly connected.

As shown in fig. 9 and 13, the spring pin locking assembly includes a pin rack 705, a spring 706 and a pin 707, wherein the pin rack 705 is fixedly mounted on a secondary telescopic inner rod 704, the pin 707 includes a positioning head end 7071 at the front end, a middle limit protrusion 7072 and a rear shaft 7073, the upper end of the telescopic outer cylinder 710 is provided with a jack 7101, the upper end of the primary telescopic inner rod 708 is provided with a guide hole, the rear shaft 7073 of the pin 707 passes through the pin rack 705 and then is inserted into the corresponding jack 7101, the limit protrusion 7072 at the middle of the pin 707 is disposed in the guide hole, and the pin 707 shaft between the limit protrusion 7072 and the pin rack 705 is sleeved with the spring 706, as shown in fig. 14, the lower end of the primary telescopic inner rod 708 is provided with a positioning hole 7083, as shown in fig. 11, when the primary telescopic inner rod 708 is raised to a position, the positioning head end 7071 at the front end of the pin 707 is inserted into the corresponding positioning hole 7083 under the action of the spring 706, therefore, the lower end of the primary telescopic inner rod 708 is connected with the upper end of the secondary telescopic inner rod 704, and meanwhile, the rear shaft part 7073 of the pin 707 is separated from the jack 7101 at the upper end of the telescopic outer cylinder 710, so that the secondary telescopic inner rod 704 is not connected with the telescopic outer cylinder 710 any more, and the secondary telescopic inner rod 704 can ascend and move together with the primary telescopic inner rod 708.

As shown in fig. 9, four guide grooves 7081 are uniformly distributed on the outer side of the primary telescopic inner rod 708 in the circumferential direction and are in clearance fit with four ribs inside the secondary telescopic inner rod 704, so that on one hand, the circumferential rotation of the primary telescopic inner rod 708 is limited, and on the other hand, the axial movement guide function of the primary telescopic inner rod is completed. In addition, the lower end of the guide groove 7081 is provided with the positioning hole 7083, and the pin 707 slides along the corresponding guide groove 7081 when the primary telescopic inner rod 708 is raised.

The utility model discloses a theory of operation does:

the utility model discloses an outer limb mechanical arm includes six rotatory degrees of freedom and a flexible degree of freedom, through seven industrial servo steering wheel drive every joint motions, whole outer limb mechanical arm links to each other with human 8 through bearing device 9, and bearing device 9 ties up through the braces and ties up and tie up at human 8 first trunk. The industrial-grade steering engines are connected in series, half-duplex asynchronous serial communication is adopted, a control panel, a driver, a speed reducer, a crossed roller bearing and a sensor are integrated in each steering engine, the control panel in each steering engine is a subtask control panel and is mainly responsible for interpreting position speed and acceleration instructions of a central controller, and sensor systems such as speed, temperature and moment are transmitted to the central control panel. The central control board is internally integrated with a motion planning algorithm, receives the motion state information of the human body, obtains the motion state of the human body through the inertial sensor and the human body model, and controls the motion of the outer limb according to the motion state information of the human body and the motion state information of the outer limb by combining the motion planning algorithm.

When the utility model works, the head end servo steering engine 103 in the first rotary module 1 drives the second rotary module 2 to rotate, the second rotary module 2, the third rotary module 3, the fourth rotary module 4, the fifth rotary module 5 and the sixth rotary module 6 are connected in sequence, and the servo steering engine in the previous rotary module drives the next rotary module, the telescopic module 7 is arranged on the sixth rotary module 6 and driven to rotate by the sixth rotary module 6, the telescopic module 7 comprises a telescopic servo steering engine 701, a screw 703, a primary telescopic inner rod 708, a secondary telescopic inner rod 704, a telescopic outer cylinder 710 and a spring pin locking assembly, wherein the screw 703 is driven to rotate by the telescopic servo steering engine 701, the primary telescopic inner rod 708 is provided with a primary nut 7082 sleeved on the screw 703, the secondary telescopic inner rod 704 is provided with a secondary nut 7041 sleeved on the screw 703, and the lower end of the screw 703 is provided with an optical axis telescopic section 7031, when the telescopic module 7 is completely contracted, the secondary nut 7041 is sleeved on the optical axis reducing section 7031 and is not meshed with the thread section of the lead screw 703, when the screw rod 703 rotates, the screw rod 703 drives the primary nut 7082 to drive the primary telescopic inner rod 708 to extend out, at this time, the secondary telescopic inner rod 704 is fixed with the telescopic outer cylinder 710 through the spring pin locking assembly and cannot move, when the primary telescopic inner rod 708 is about to rise to the extreme position, the spring pin locking assembly is disengaged from the telescopic outer cylinder 710, and the upper end of the secondary telescopic inner rod 704 is fixed with the lower end of the primary telescopic inner rod 708, then the primary telescopic inner rod 708 continues to rise, the primary nut 7082 is separated from the lead screw 703, meanwhile, the secondary nut 7041 moves to the thread section of the lead screw 703, then the screw rod 703 continues to drive the secondary nut 7041 to ascend, and further drives the primary telescopic inner rod 708 and the secondary telescopic inner rod 704 to synchronously extend out. The retraction process of the telescopic module 7 is reversed and the spring 706 in the spring pin locking assembly is compressed during retraction while the rear shaft portion 7073 of the pin 707 is reinserted into the receptacle 7101 at the upper end of the telescopic outer barrel 710.

The utility model discloses outer limb mechanical arm has adopted streamlined shell, and novel structure is pleasing to the eye, has folding and flexible function, and wherein folding function makes outer limb mechanical arm compact structure at non-operating condition, and flexible function has increased the operation space of outer limb, and the human function of better realization strengthens, and each rotating module simple structure in addition, connection are reliable, and flexible module has the flexible function of second grade, and it is all very convenient to install, maintain and upgrade.

Claims

1. The utility model provides a collapsible flexible outer limb arm with streamlined shell which characterized in that: the telescopic servo steering engine comprises a plurality of rotary modules which are sequentially connected in series, the rotary module at the head end is connected with a backpack device (9), the rotary module at the tail end is connected with a telescopic module (7), the telescopic module (7) comprises a telescopic servo steering engine (701), a screw rod (703), a first-stage telescopic inner rod (708), a second-stage telescopic inner rod (704), a telescopic outer cylinder (710) and a spring pin locking assembly, wherein the telescopic outer cylinder (710) is connected with the rotary module at the tail end, the second-stage telescopic inner rod (704) is inserted into the telescopic outer cylinder (710), the first-stage telescopic inner rod (708) is inserted into the second-stage telescopic inner rod (704), the telescopic servo steering engine (701) is arranged at the lower part of the telescopic outer cylinder (710) and fixedly connected with the screw rod (7082) arranged at the upper part of the telescopic outer cylinder (710), a first-stage nut (7082) arranged in the first-stage telescopic inner rod (708) is sleeved on the screw rod (703), a second-stage nut (7041) arranged in the second-stage telescopic inner rod (704) is sleeved on the screw rod (703), the telescopic servo steering engine is characterized in that an optical axis reducing section (7031) is arranged at the connecting end of the lead screw (703) and the telescopic servo steering engine (701), when the telescopic module (7) retracts, the first-level nut (7082) is sleeved on a thread section of the lead screw (703), the second-level nut (7041) is sleeved on the optical axis reducing section (7031), the second-level telescopic inner rod (704) is connected with the telescopic outer cylinder (710) through the spring pin locking assembly, when the first-level telescopic inner rod (708) extends to the right position, the spring pin locking assembly is separated from the telescopic outer cylinder (710) and is connected with the second-level telescopic inner rod (704) and the first-level telescopic inner rod (708), then the first-level telescopic inner rod (708) continuously rises to drive the first-level nut (7082) to be separated from the lead screw (703), and simultaneously drive the second-level nut (7041) to move to the thread section of the lead screw (703).

2. The collapsible telescopic outer limb robot arm with fairing as claimed in claim 1, wherein: the spring pin locking assembly comprises a pin frame (705), a spring (706) and a pin (707), wherein the pin frame (705) is fixedly arranged on the secondary telescopic inner rod (704), the pin (707) comprises a positioning head end (7071) at the front end, a limit convex part (7072) in the middle and a rear shaft part (7073), the upper end of the telescopic outer cylinder (710) is provided with a jack (7101), the upper end of the primary telescopic inner rod (708) is provided with a guide hole, and the rear shaft part (7073) of the pin (707) passes through the pin frame (705) and then is inserted into the corresponding insertion hole (7101), a limit convex part (7072) in the middle of the pin (707) is arranged in the guide hole, a spring (706) is arranged between the limit convex part (7072) and the pin frame (705) and sleeved on the pin (707), the lower end of the primary telescopic inner rod (708) is provided with a positioning hole (7083) matched with the front positioning head end (7071) of the pin (707).

3. The collapsible telescopic outer limb robot arm with fairing as claimed in claim 2, wherein: when the primary telescopic inner rod (708) extends to the right position, the rear shaft part (7073) of the pin (707) is separated from the jack (7101) at the upper end of the telescopic outer cylinder (710) under the action of the spring (706), and meanwhile, the positioning head end (7071) at the front end is inserted into the positioning hole (7083) corresponding to the lower end of the primary telescopic inner rod (708).

4. The collapsible telescopic outer limb robot arm with fairing as claimed in claim 1, wherein: and a steering engine positioning fixing ring (702) is arranged on the telescopic servo steering engine (701) and fixedly connected with the telescopic outer cylinder (710).

5. The collapsible telescopic outer limb robot arm with fairing as claimed in claim 1, wherein: a plurality of guide grooves (7081) are uniformly distributed in the outer circumferential direction of the primary telescopic inner rod (708), a plurality of ribs are arranged inside the secondary telescopic inner rod (704), the guide grooves (7081) are correspondingly matched with the ribs, and the pins (707) slide along the corresponding guide grooves (7081).

6. The collapsible telescopic outer limb robot arm with fairing as claimed in claim 1, wherein: the rotating module positioned at the head end comprises a bottom plate (101), a head end shell (102), a head end servo steering engine (103) and a head end output flange (105), wherein the bottom plate (101) is connected with a backpack device (9), the head end servo steering engine (103) is fixedly arranged on the bottom plate (101), the lower end of the head end shell (102) is fixedly connected with the bottom plate (101) and wraps the head end servo steering engine (103), the head end output flange (105) is arranged on a steering wheel of the head end servo steering engine (103) and is connected with a shell (201) of the next rotating module, a head end guide ring (104) is arranged on the head end servo steering engine (103), and the head end guide ring (104) is arranged between the end part of the head end shell (102) and the end part of the shell (201) of the next rotating module.

7. The collapsible telescopic outer limb robot arm with fairing as claimed in claim 1, wherein: all the other rotary modules except the head end rotary module and the tail end rotary module have the same structure and comprise a shell (201), a driving servo steering engine (202) and an output flange plate (205), wherein the driving servo steering engine (202) is arranged in the shell (201), a positioning fixing ring (203) and a guide ring (204) are arranged on the driving servo steering engine (202), the positioning fixing ring (203) is fixedly connected with the shell (201), the guide ring (204) is arranged between the end parts of the shell (201) of the two adjacent rotary modules, and the output flange plate (205) is arranged on a rudder plate of the driving servo steering engine (202) and is connected with the shell (201) of the next rotary module.

8. The collapsible telescoping outer limb robot arm with fairing as claimed in claim 7, wherein: the shell (201) is integrally bent and comprises two connecting portions, the two connecting portions are connected through a necking portion, one connecting portion is connected with the previous rotating module, the other connecting portion is connected with the next rotating module, and a driving servo steering engine (202) is arranged inside the connecting portion and the next rotating module.

9. The collapsible telescopic outer limb robot arm with fairing as claimed in claim 1, wherein: the rotating module positioned at the tail end comprises a tail end shell (601), a tail end servo steering engine (603) and an output flange seat (605), wherein the tail end shell (601) and the output flange seat (605) jointly wrap the tail end servo steering engine (603), a tail end positioning fixing ring (602) and a tail end guide ring (604) are arranged on the tail end servo steering engine (603), the tail end positioning fixing ring (602) is fixedly connected with the tail end shell (601), the tail end guide ring (604) is positioned between the tail end shell (601) and the output flange seat (605), and the upper end of the output flange seat (605) is connected with the telescopic module (7).

10. The collapsible telescopic outer limb robot arm with fairing as claimed in claim 1, wherein: the first rotating module (1), the second rotating module (2), the third rotating module (3), the fourth rotating module (4), the fifth rotating module (5) and the sixth rotating module (6) are sequentially connected, wherein the first rotating module (1) is connected with the bearing device (9), the bearing device (9) is bound on a human body (8) through a strap, and the sixth rotating module (6) is connected with the telescopic module (7).