CN108214458A - Wearable upper limb mechanical arm - Google Patents

Abstract

The wearable upper limb mechanical arm includes a mechanical device and a control device installed on the mechanical device; the mechanical device includes a fixed platform for wearing, a detachable mobile power supply is provided on the rear side of the fixed platform, and a micro For the power pump, a cross safety belt is provided on the front side of the fixed table, a first motor is provided on the top of one side of the fixed table, the main shaft of the first motor is arranged along the front and rear direction of the fixed table, and a horizontal bracket is fixed on the main shaft of the first motor. The other end of the horizontal support is fixed with a rotating disc, on which a second motor is arranged, and the main shaft of the second motor is arranged along the left and right direction of the fixed table. The invention provides a wearable upper limb mechanical arm. Compared with the prior art, the sensor on the mechanical arm perceives the user's muscle movement and makes corresponding actions. It is more comfortable and provides continuous power output to make the robot arm operate smoothly and the limited range is reduced.

Description

Wearable upper limb robotic arm

technical field

The invention belongs to the technical field of human body wearable mechanical arms, and in particular relates to a wearable upper limb mechanical arm.

Background technique

The demand for mechanical arms is increasing day by day in modern industry, medical treatment and other fields, and mechanical arms in the form of force arms are often used, especially those with the function of clamping objects. However, the existing mechanical arm structure cannot be well adapted to the needs and ideas of the operator when clamping objects, resulting in imperfect cooperation between the user and the mechanical arm and cannot be used flexibly. After breaking away from the fixed power supply, it cannot provide long-term power supply , limiting the range of motion and use time of the robotic arm.

Among the existing products of the same type, mechanical arms and movable joints are the mainstream design, and there are grippers at the joints, but they cannot be used to capture the user's muscle movement rules and usage ideas sensitively, so they cannot Match the user's intent.

In the medical field, robotic arms are commonly used for patients with arm disabilities. The mechanical arm structure adopts a more stable and reliable design method. In terms of operability, this robotic arm uses a more convenient operation method. As long as the user moves the upper limb slightly, the new sensor worn on the upper limb will directly sense the tiny trembling and movement of the muscle and convert it into a command signal and transmit it to the robotic arm. Make the robotic arm move and hold objects according to the user's intention.

Contents of the invention

Aiming at the above-mentioned defects in the prior art, the present invention provides a wearable upper limb robotic arm. Compared with the prior art, the sensor installed on the robotic arm senses the user's muscle movement and makes corresponding actions. The shape of the robotic arm is The bionic design of the human body makes the wearer more comfortable, and provides continuous power output to make the mechanical arm operate smoothly and the limited range is reduced.

In order to solve the problems of the technologies described above, the technical scheme adopted in the present invention is as follows:

The wearable upper limb mechanical arm includes a mechanical device and a control device installed on the mechanical device; the mechanical device includes a fixed platform for wearing, a detachable mobile power supply is provided on the rear side of the fixed platform, and a micro For the power pump, a cross safety belt is provided on the front side of the fixed table, a first motor is provided on the top of one side of the fixed table, the main shaft of the first motor is arranged along the front and rear direction of the fixed table, and a horizontal bracket is fixed on the main shaft of the first motor. The other end of the horizontal support is fixed with a rotating disc, the rotating disc is provided with a second motor, the main shaft of the second motor is arranged along the left and right direction of the fixed table, the upper arm support is fixed on the main shaft of the second motor, and the other end of the upper arm support is fixed with a The third motor, the main shaft of the third motor is fixed with a forearm bracket, the other end of the forearm bracket is provided with a manipulator, a driving telescopic rod is arranged between the rotating disk and the forearm bracket, and at least two arm fixing rings are arranged on the forearm bracket;

The control device includes a controller, a rotary encoder, a DSP chip, a sensor and an actuator, and the controller is also connected to the mobile power supply, the first motor, the second motor and the third motor respectively.

The outline structure of the upper arm support and the forearm support adopts the imitation human arm outline structure surrounded by a semicircle.

The manipulator is a bionic five-finger hand, three-finger gripper or four-finger gripper.

The mobile power supply is a lithium battery pack.

The driving telescopic rod is a pneumatic telescopic rod, a hydraulic telescopic rod or an electric push rod.

The sensors include myoelectric sensors and piezoresistive pressure sensors.

By adopting the above technical scheme, the present invention has the following beneficial effects:

Compared with the existing technology, the shape of the mechanical arm is bionic design, which is compatible with the human body, making the wearer more comfortable; it can be powered by connecting a fixed power supply through an external plug, and can also use its own lithium battery pack for self-power supply ;All supporting and stressed parts are made of light alloy, which has the advantages of light weight and high structural strength; the muscle movement of the user is sensed by the myoelectric sensor installed on the mechanical arm, and the controller interprets and judges and makes corresponding actions. When moving, the manipulator of the hand can hold a certain weight of the object; it can be worn on the human body to sense the human body's movement through the myoelectric sensor and make corresponding actions, or it can be used as a traditional mechanical arm and fixed on the rack or other objects. The actions set in the controller can be used for operations; it can be used in medical treatment to help patients recover their arms, and it can also be used as a human-assisted mechanical arm. After the human body wears the mechanical arm, it can perform some operations that exceed the human body. It can also be fixed on the rack as a traditional robotic arm to perform preset actions; in the medical field, controllers, rotary encoders, DSP chips, myoelectric sensors, piezoresistive pressure sensors and actuators can not only sense And identify the motion signal from the wearer's arm, perform corresponding actions according to the motion signal from the wearer's arm, and record and save the motion signal of the wearer's arm, so that the doctor can understand the specific situation of the wearer's arm, and then It is convenient for doctors to make accurate diagnosis and treatment methods for the wearer.

Description of drawings

Fig. 1 is the structural representation of manipulator control system among the present invention;

Fig. 2 is the structural representation of the construction principle of mechanical arm in the present invention;

Fig. 3 is the three-dimensional structure schematic diagram of the present invention;

Fig. 4 is a schematic perspective view of the three-dimensional structure of the present invention in the rear view direction.

Fixed platform 1, mobile power supply 2, cross seat belt 3, first motor 4, horizontal support 5, rotating disk 6, second motor 7, arm support 8, third motor 9, forearm support 10, manipulator 11, drive telescopic rod 12, micro power pump 13, four fingers gripper 14.

Detailed ways

Below in conjunction with accompanying drawing, specific embodiment of the present invention is described in further detail:

As shown in Figures 1-4, the wearable upper limb mechanical arm includes a mechanical device and a control device installed on the mechanical device; the mechanical device includes a fixed platform 1 for wearing, and the rear side of the fixed platform 1 is provided with a detachable The mobile power supply 2, the lower side of the mobile power supply 2 is provided with a micro power pump 13, the micro power pump 13 is connected to drive the telescopic rod 12, the front side of the fixed platform 1 is provided with a cross safety belt 3, and the top of one side of the fixed platform 1 is provided with a second One motor 4, the main shaft of the first motor 4 is arranged along the front and rear direction of the fixed table 1, the main shaft of the first motor 4 is fixed with a horizontal support 5, and the other end of the horizontal support 5 is fixed with a rotating disc 6, and the rotating disc 6 is provided with The second motor 7, the main shaft of the second motor 7 is arranged along the left-right direction of the fixed table 1, the upper arm support 8 is fixed on the main shaft of the second motor 7, the other end of the upper arm support 8 is fixed with the third motor 9, the third motor 9 A forearm support 10 is fixed on the main shaft of the forearm support 10, and the other end of the forearm support 10 is provided with a manipulator 11. The manipulator 11 can also be replaced with a four-finger gripper 14 as required, and a driving telescopic rod 12 is provided between the rotating disk 6 and the forearm support 10 , the forearm support 10 is provided with at least two arm fixing rings, and the arm fixing rings are convenient for fixing the forearm support 10 to the human arm. All supporting parts are made of light alloy, which has the advantages of light weight and high structural strength.

The control device includes a controller, a rotary encoder, a DSP chip, a sensor and an actuator, and the controller is also connected to the mobile power supply 2, the first motor 4, the second motor 7 and the third motor 9 respectively.

Both the upper arm support 8 and the forearm support 10 adopt a semicircle-enclosed imitation human arm structure, which can ensure the fit between the mechanical arm and the arm when worn by the human body, and ensure the ergonomics.

The manipulator 11 is a bionic five-finger hand, three-finger gripper or four-finger gripper, which can be replaced according to actual needs.

The power bank 2 is a lithium battery pack with light weight, large power and long power supply duration.

The driving telescopic rod 12 is a pneumatic telescopic rod, a hydraulic telescopic rod or an electric push rod.

The sensors include myoelectric sensors and piezoresistive pressure sensors, which are installed in different positions of the manipulator, and transmit signals to the controller through the DSP chip.

Working process of the present invention is as follows:

When in use, the fixed platform 1 is worn on the back of the human body, and fixed to the human body through the cross safety belt 3 on the front side of the fixed platform 1. When the first motor 4 moves, it can drive the horizontal bracket 5 and the rotating disk 6 to move along the horizontal direction of the fixed platform 1. , that is, the horizontal movement of the mechanical arm, the second motor 7 on the rotating disk 6 can drive the upper arm support 8 to move along the front and back direction of the fixed table 1, and the third motor 9 on the upper arm support 8 can drive the forearm support 10 to move, that is, the elbow Joint action, driving the telescopic link 12 can not only strengthen the output of the force arm between the rotating disc 6, the upper arm bracket 8 and the forearm bracket 10, but also strengthen the structural strength between the rotating disc 6, the upper arm bracket 8 and the forearm bracket 10.

The controller, rotary encoder, DSP chip, myoelectric sensor and actuator in the present invention all belong to the existing conventional technology, and its specific structure will not be described in detail.

The structure diagram of the manipulator control system is shown in Figure 1. The pressure of the muscle explosive force measured by the EMG sensor is continuously adjusted by amplification and input into the DSP, where the pressure is extracted and recognized, analyzed by the BP algorithm, and finally the classification result of the motion pattern is obtained. Use the required motion mode to generate control signals of force (torque) and position in DSP, and control the three brushless DC motors installed on the upper limbs, and control the working conditions of the upper limb exoskeleton robot through rotary encoders and piezoresistive pressure sensors. The position and force (torque) signals are collected in real time to form a double closed-loop feedback control.

The wearable upper limb manipulator designed by the present invention adopts the upper computer to control the assisting mode of the lower computer, and the upper computer is both a controller, and the motion mode includes two modes of single-joint independent movement and multi-joint linkage compound function movement. The lower computer is based on two DSP chips, DSP1 controls the horizontal and vertical movement of the shoulder joint, and DSP2 controls the rotation of the shoulder joint and the movement of the elbow joint. The upper computer can select the motion assist mode and set the joint motion parameters, and then transmit the relevant parameters to the control chip DSP1, and then DSP1 transmits the shoulder joint rotation motion parameters and elbow joint motion parameters to DSP2. After calculation, the two control The chip converts motion parameters into motor rotation information, which are output to the drive motor driver. The driver adopts a bipolar H-bridge drive amplifier circuit. When designing the control system, ensuring the stability of the system and the safety of the user is the first condition. In order to prevent the upper limbs from being injured due to excessive output torque of the motor, a current detection circuit is used to feed back the current output by the driver to the DSP in real time. Once the current exceeds the allowable value, it will stop immediately. The photoelectric encoder is used to detect the real-time position of the motor, which avoids the adverse effects caused by excessive or insufficient joint rotation.

From Table 1 below, you can intuitively see the range of motion of the main joints of the human arm, and use this as a basis to set the range of motion and rotation angle of the robotic arm, in order to avoid secondary damage to the human body when using the robotic arm for rehabilitation.

Compared with the existing technology, the shape of the mechanical arm is bionic design, which makes the wearer more comfortable; it can be powered by connecting a fixed power supply through an external plug, and can also use its own lithium battery pack for self-power supply; by setting it on the mechanical arm The myoelectric sensor on the body senses the user's muscle movement, and the controller interprets and judges and makes corresponding actions. During the action, the manipulator of the hand can hold an object of a certain weight; it can be worn on the human body and sense the human body through the myoelectric sensor It can move and make corresponding actions, and can be used as a traditional mechanical arm, fixed on the rack or other objects, and perform operations according to the actions set in the controller; it can be used in medical treatment to help patients recover their arms, and can also be used as a The human-assisted mechanical arm, after the human body wears the mechanical arm, can perform some operations beyond the human body, and can also be fixed on the frame as a traditional mechanical arm to perform preset actions; in the medical field, the controller , rotary encoder, DSP chip, myoelectric sensor and actuator can not only sense and identify the motion signal from the wearer's arm, perform corresponding actions according to the motion signal from the wearer's arm, but also record and save the wearer's The movement signal of the arm is convenient for the doctor to understand the specific condition of the wearer's arm, which in turn facilitates the doctor to make an accurate diagnosis and treatment.

This embodiment does not impose any formal restrictions on the shape, material, structure, etc. of the present invention. All simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention belong to the protection of the technical solution of the present invention. scope.

Claims (6)

1. The wearable upper limb mechanical arm is characterized in that: it includes a mechanical device and a control device installed on the mechanical device; the mechanical device includes a fixed platform for wearing, and the rear side of the fixed platform is provided with a detachable mobile power supply. A micro power pump is provided on the lower side of the fixed platform, a cross safety belt is provided on the front side of the fixed platform, a first motor is provided on the top of one side of the fixed platform, the main shaft of the first motor is set along the front and rear direction of the fixed platform, and the main shaft of the first motor A horizontal bracket is fixed on the top, and a rotating disk is fixed on the other end of the horizontal bracket. A second motor is arranged on the rotating disk. The main shaft of the second motor is set along the left and right direction of the fixed table. The other end of the support is fixed with a third motor, the main shaft of the third motor is fixed with a forearm support, the other end of the forearm support is provided with a manipulator, a driving telescopic rod is provided between the rotating disk and the forearm support, and at least two an arm ring; The control device includes a controller, a rotary encoder, a DSP chip, a sensor and an actuator, and the controller is also connected to the mobile power supply, the first motor, the second motor and the third motor respectively. 2. The wearable upper limb robotic arm according to claim 1, characterized in that: the outline structure of the upper arm support and the forearm support adopts the imitation human arm outline structure surrounded by a semicircle. 3. The wearable upper limb robotic arm according to claim 2, characterized in that: the robotic hand is a bionic five-fingered hand, three-finger gripper or four-finger gripper. 4. The wearable upper limb robotic arm according to claim 3, wherein the mobile power supply is a lithium battery pack. 5. The wearable upper limb robotic arm according to claim 4, wherein the driving telescopic rod is a pneumatic telescopic rod, a hydraulic telescopic rod or an electric push rod. 6. The wearable upper limb robotic arm according to claim 5, wherein the sensor comprises a myoelectric sensor and a piezoresistive pressure sensor.