Extension device with end force control mechanical arm and mechanical arm having the same

Abstract

The present application relates to an extension device, including an extension bracket and an oblique support bracket; one end of the extension bracket is detachably connected to an execution tool, and the other end is connected to the end of a force control structure at the end of a mechanical arm, so as to transmit the vertical force of the execution tool to the mechanical arm; one end of the oblique support bracket is rotatably connected to the middle of the extension bracket, and the other end is fixedly connected to the force control structure at the end of the mechanical arm from the side, so as to transmit the horizontal force of the execution tool to the mechanical arm. The setting of the extension bracket and the oblique support bracket transmits the torque of the execution tool to the force control structure at the end of the mechanical arm in proportion, and can split the multi-directional force of the execution tool through the hinge and the rotation connection, and transmits the vertical force to the sensor through the longitudinal hinge, and the oblique support bracket is transversely fixed to the force control structure at the end of the mechanical arm, so as to transmit the horizontal force to the sensor, which is conducive to the effective identification of the sensor, and the mechanical arm is reasonably controlled at the end of the whole mechanical arm, and the execution tool is used to massage the human body.

Description

Technical Field

[0001] The present application relates to the field of meridian massage, and in particular to an extension device with an end force-controlled mechanical arm and a mechanical arm having the same. Background Art

[0002] The most commonly used physiotherapy equipment is the massage and meridian conditioning bed. During physiotherapy massage, the customer's cooperation is required to facilitate the massage staff to massage various parts of the customer.

[0003] With the development of science and technology and the progress of the times, it is now possible to use robotic arms to drive meridian massage heads, fascia guns and other tools to replace manual massage. However, only adding a massage head to the end of the existing robotic arm, although massage operations can be performed, the sensor at the end of the robotic arm cannot accurately identify forces in all directions, that is, the existing robotic arm is directly assembled with the massage head, the sensor cannot work, and the overall robotic arm cannot complete the massage conditioning work. Summary of the invention

[0004] In view of this, the present application proposes an extension device with an end force-controlled robotic arm, which is suitable for connecting the end of the robotic arm with end force-controlled and an extended execution tool, including an extension bracket and an inclined support bracket; one end of the extension bracket is detachably connected to the execution tool, and the other end is connected to the end of the end force control structure of the robotic arm, so as to transmit the vertical force of the execution tool to the robotic arm; one end of the inclined support bracket is rotatably connected to the middle part of the extension bracket, and the other end is fixedly connected to the end force control structure of the robotic arm from the side, so as to transmit the horizontal force of the execution tool to the robotic arm.

[0005] In a possible implementation, it also includes an adapter plate, which is fixedly connected to the end of the robotic arm, and the extension bracket is hinged to the adapter plate. The extension bracket is connected to the adapter plate and can transmit the vertical force of the execution tool to the force control structure at the end of the robotic arm.

[0006] In a possible implementation, the first end of the oblique support frame is connected to the ball bearing in the middle of the extension frame, and the oblique support frame can transmit the horizontal force of the execution tool to the force control structure at the end of the robot arm.

[0007] In a possible implementation, the inclined support frame is located directly above the extension frame, and the inclined support frame includes a fixing ring and a connecting column; the second end of the inclined support frame is a fixing ring, which is mounted on the robotic arm; the connecting column and the side projection of the fixing ring form a preset angle.

[0008] In a possible implementation, a distance from the ball bearing to one end of the robot arm and a distance from the ball bearing to one end of the execution tool have a preset ratio, and the preset ratio is 1:1.

[0009] In a possible implementation, a clearance groove is provided on the extension bracket on a side close to the inclined support bracket, a groove is provided in the middle of the extension bracket for mounting the ball bearing, and part of the groove is provided in the clearance groove.

[0010] In a possible implementation, the preset angle is in the range of 120°-150°.

[0011] In a possible implementation, one end of the extension bracket is a mounting ring, and the mounting ring is sleeved to fix the execution tool.

[0012] In a possible implementation, it includes an extension device and a robotic arm body as described in any one of the above; a sensor is provided at the end of the robotic arm body; the extension bracket is provided with one end of the hinged structure which is hinged to the lower part of the sensor, and the hinge can transmit force to the sensor in the longitudinal direction; the inclined support frame is transversely fixed to the side wall of the sensor, and can transmit force to the sensor in the transverse direction.

[0013] In a possible implementation, a transfer part is installed under the sensor, the upper part of the transfer part is a circular sheet structure fixed to the sensor, the lower part of the transfer part is a cube block, and the hinge structure of the extension bracket is hinged to the two side end faces of the lower part of the transfer part.

[0014] The beneficial effects of the present application are as follows: by fixing one end of the extension device to the execution tool and the other end being hinged to the force control structure at the end of the robotic arm, and the inclined end of the oblique support frame being rotatably connected to the extension frame and the other end being fixed to the force control structure at the end of the robotic arm, the setting of the extension frame and the oblique support frame will proportionally transmit the torque exerted on the execution tool to the force control structure at the end of the robotic arm, and the hinges and the rotating connections can split the multi-directional forces of the execution tool, the longitudinal hinge only transmits the vertical force to the sensor, and the oblique support frame is transversely fixed to the force control structure at the end of the robotic arm, and transmits the horizontal force to the sensor, which is beneficial to the effective identification of the sensor, thereby reasonably controlling the robotic arm at the end of the overall robotic arm, and using the execution tool to massage the human body.

[0015] Other features and aspects of the present application will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the present application and, together with the description, serve to explain the principles of the present application.

[0017] Figure 1 A test diagram showing an extension device according to an embodiment of the present application;

[0018] Figure 2 A three-dimensional structural diagram showing an end force control robot arm according to an embodiment of the present application;

[0019] Figure 3 A three-dimensional structural diagram of the end force control robot arm according to another angle of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0020] Various exemplary embodiments, features and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0021] Among them, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application or simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0022] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0023] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0024] In addition, in order to better illustrate the present application, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present application can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present application.

[0025] Figure 1 A test diagram showing an extension device according to an embodiment of the present application; Figure 2 A three-dimensional structural diagram showing an end force control robot arm according to an embodiment of the present application; Figure 3 A three-dimensional structural diagram of the end force control robot arm according to another angle of an embodiment of the present application is shown.

[0026] like Figure 1-Figure 3 As shown, the extension device is suitable for connecting the end of a manipulator with end force control and an extended execution tool 40, and includes: an extension bracket 10 and an inclined support bracket 20; one end of the extension bracket 10 is detachably connected to the execution tool, and the other end is connected to the end of the force control structure 30 at the end of the manipulator, so as to transmit the vertical force of the execution tool 40 to the manipulator; one end of the inclined support bracket 20 is rotatably connected to the middle of the extension bracket 10, and the other end is fixedly connected to the force control structure 30 at the end of the manipulator from the side, so as to transmit the horizontal force of the execution tool 40 to the manipulator.

[0027] It should be particularly emphasized that the vertical force referred to in this application is the force along the axis of the end of the robotic arm, and the horizontal force is the force based on the robotic arm perpendicular to its axis, that is, the robotic arm moves within a preset range, and the horizontal and vertical forces described in this application are not affected.

[0028] In this embodiment, one end of the extension device is fixed to the execution tool 40, and the other end is hinged to the force control structure 30 at the end of the robot arm, and the inclined end of the inclined support frame 20 is rotatably connected to the extension frame 10, and the other end is fixed to the force control structure 30 at the end of the robot arm. The setting of the extension frame 10 and the inclined support frame 20 transfers the torque exerted on the end execution tool 40 to the force control structure 30 at the end of the robot arm in proportion. The inclined support frame 20 is laterally fixed to the force control structure 30 at the end of the robot arm, and transfers the horizontal force to the sensor 31, which is beneficial to the effective identification of the sensor 31, so as to reasonably control the robot arm at the end of the whole robot arm, and use the end execution tool 40 to massage the human body.

[0029] Not only that, the setting of the extension device reasonably and effectively increases the working range of the robotic arm without affecting the force control of the robotic arm, which is conducive to the overall robotic arm to massage more parts of the human body. When massaging the whole body, it can reduce the number of robotic arms required to be set up, and the same range of massage can be obtained with fewer numbers, which reasonably saves costs.

[0030] It should also be emphasized that the end effector 40 can be used to fix a variety of different devices, without specific limitation. Preferably, the end effector 40 is a replaceable meridian massage head.

[0031] In one of the specific embodiments, an adapter plate is further included, the adapter plate is fixedly connected to the end of the robot arm, and the extension bracket 10 is hinged to the adapter plate.

[0032] In this embodiment, the sensor 30 is hinged to the extension bracket 10 through an adapter plate, and the hinge and the rotating connection can split the multi-directional force of the execution tool 40. The longitudinal hinge only transmits the vertical force to the sensor 31, so that the sensor can detect the upward and downward forces.

[0033] In one of the specific embodiments, a ball joint 23 is provided at one end of the oblique support frame 20 connected to the extension support frame 10, which matches the structure of the groove, and the extension support frame 10 is connected to the oblique support frame 20 by ball bearings.

[0034] In this embodiment, the inclined support frame 20 is connected to the middle part of the extension bracket 10 by a ball bearing. The ball bearing can withstand a large load and transmit it from the execution tool 40 to the force control structure 30 at the end of the robotic arm. When the massage head is working, the vibration frequency is high. Compared with other rotating connection structures, the ball bearing has the lowest wear, ensuring that the extension device equipped with the ball bearing can effectively transmit the load while having a longer service life.

[0035] In one of the specific embodiments, the end of the oblique support frame 20 that is not connected to the extension frame 10 is a fixed ring, so that the lateral force of the force control structure 30 at the end of the robot arm is uniform.

[0036] In this embodiment, the end of the robotic arm is generally a cylinder, and the inclined support frame 20 is fixed to the cylinder at the end of the robotic arm through a fixed ring sleeve. The ring sleeve is arranged on the structure of the force control structure 30 at the end of the robotic arm to transfer the load more evenly, and the fixed ring is arranged at the horizontal end of the inclined support frame 20, so that the sensor 31 can more accurately detect the horizontal forces transmitted from the end execution tool 40.

[0037] Furthermore, there is a gap in the middle of the oblique support frame 20 near the fixing ring, and bolt holes are arranged on its side to facilitate the adjustment of the position height of the oblique support frame 20 on the sensor 31. And the gap is connected to the groove.

[0038] In one specific embodiment, the inclined support frame 20 is located directly above the extension bracket 10. The inclined support frame 20 includes a bracket body 21 and a ball joint 23. The end of the bracket body 21 that is not connected to the extension bracket 10 is horizontal, and the other end is tilted downward at a preset angle. The ball joint 23 is set at the front of the inclined end of the bracket body 21.

[0039] In this embodiment, one end of the bracket body 21 is inclined and the other end is horizontal, and the ball joint 23 is arranged at the inclined end of the bracket body 21, and the inclined support frame 20 is arranged as a whole directly above the extension bracket 10. The two are installed in the same direction on the sensor 31 of the force control structure 30 at the end of the robot arm, so that the sensor 31 can more reasonably identify multi-directional forces.

[0040] More specifically, the preset inclination angle of the inclined support frame 20 is not specifically limited. Here, it is only necessary to ensure that the inclined end of the inclined support frame 20 is inclined toward the groove, and the ball joint 23 in front of the inclined end can be smoothly installed in the groove.

[0041] In one specific embodiment, a distance from the ball bearing to one end of the robot arm and a distance from the ball bearing to one end of the execution tool 40 have a preset ratio, and the preset ratio is 1:1.

[0042] In this embodiment, the preset ratio of 1:1 is convenient for production and processing, and is easy to measure and calculate, which reduces the amount of subsequent data processing and provides convenience for practitioners in this field.

[0043] In one specific embodiment, the connecting column and the side projection of the mounting ring form a preset angle, and the preset angle is in the range of 120°-150°.

[0044] Preferably, the preset inclination angle of the oblique support frame 20 is 135°.

[0045] In one specific embodiment, the inclined support frame 20 also includes an adjusting cylinder 22, and a through hole is opened near the front position of the inclined end of the bracket body 21. The adjusting cylinder 22 is installed in the through hole, and the adjusting cylinder 22 extends downward from the bracket body 21 in the inclined direction. The connecting shaft of the ball joint 23 is screwed with the adjusting cylinder 22, and the connecting shaft of the ball joint 23 is abutted against the bracket body 21.

[0046] In this embodiment, a through hole is opened in the inclined section of the bracket body 21, and the gap in the previous embodiment is connected to the through hole. The opening direction of the through hole is perpendicular to the inclination angle of the inclined end, and a part of the adjustment cylinder 22 is arranged in the through hole, and the other part continues to extend outward toward the inclined end. The orientation of the adjustment cylinder 22 is consistent with the inclination direction. The front end of the ball joint 23 is a ball head, and the rear end is a connecting shaft. The connecting shaft matches the adjustment cylinder 22 and is suitable for ball joints 23 of various specifications without the need to adopt an integrated design. If replacement is required, the inclined support frame 20 must be replaced as a whole to reduce costs as much as possible.

[0047] Furthermore, the through hole is provided to reserve more sufficient adjustment space for the adjustment tube 22, and can also serve as an observation hole for the personnel in the field to perform adjustment operations, thereby increasing the application scope of the extension device of the present application.

[0048] Preferably, an external thread is provided on the connecting shaft, and an internal thread matching the external thread is provided in the adjusting cylinder 22, and the inclined support frame 20 is adjusted to a suitable position and fixed on the force control structure 30 at the end of the robot arm by screw connection.

[0049] In one of the specific embodiments, a clearance groove is opened in the middle of the extension bracket 10 near one side of the oblique support bracket 20, and part of the groove is opened in the clearance groove.

[0050] In this embodiment, a clearance groove is opened in the middle of the upper part of the extension bracket 10 near the side of the inclined support bracket 20, and the inclined support bracket 20 is installed obliquely above the extension bracket 10. The setting of the clearance groove can effectively prevent the extension bracket 10 from contacting or colliding with the writing support, and can also reduce the assembly difficulty for implementers in this field during assembly and reserve a certain installation space.

[0051] On the other hand, the present application also proposes an end force-controlled robotic arm, comprising an extension device and a robotic arm body in any possible embodiment described above, a sensor 31 is provided at the end of the robotic arm body, an extension bracket 10 is provided with an end of a hinged structure which is hinged to the lower part of the sensor 31, and the hinge can transmit force to the sensor 31 in the longitudinal direction, and the inclined support frame 20 is laterally fixed to the side wall of the sensor 31, and can transmit force to the sensor 31 in the transverse direction.

[0052] Based on any of the aforementioned extension devices, the present application also provides a terminal force-controlled robotic arm. Among them, the terminal force-controlled robotic arm of the embodiment of the present application includes any of the aforementioned extension devices. By installing any of the aforementioned extension devices at the position of the sensor 31 at the end of the robotic arm, the sensor 31 can identify and detect multi-directional forces, thereby controlling the entirety at the end of the robotic arm, so that the execution tool 40 can be reasonably manipulated to perform accurate massage on each position of the human body.

[0053] In one specific embodiment, an adapter part 32 is installed under the sensor 31. The upper part of the adapter part 32 is a circular sheet structure, which is fixed to the sensor 31. The lower part of the adapter part 32 is a cube block. The hinge structure of the extension bracket 10 is hinged to the two side end faces of the lower part of the adapter part 32.

[0054] In this embodiment, in order to be more suitable for detecting vertical loads, an adapter part 32 is installed at the lower part of the sensor 31. The upper part of the adapter part 32 is cylindrical and fixed to the lower part of the sensor 31. The lower part has a square protrusion for hingedly connecting with the extension bracket 10 from both sides. The hinge structure of the extension bracket 10 and the square protrusion are penetrated by a hinge shaft 11, and shaft sleeves for buffering are provided at both ends of the hinge shaft 11.

[0055] Preferably, the shaft sleeve is made of polyurethane flexible material, which is conducive to eliminating the vibration of the end effector 40 and ensuring that the working environment of the sensor 31 is more stable.

[0056] In one specific embodiment, the structure of the sensor 31 is a cylindrical structure, and the sensor 31 matches the end structure of the robot arm body.

[0057] In one specific embodiment, the sensor 31 is a six-bit sensor.

[0058] Preferably, a six-position sensor of a column is installed at the end of the robot arm, and the column structure is easy to adapt to the column structure at the end of the robot arm, and can also be well detachably connected to the fixing ring of the inclined support frame 20.

[0059] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. An extension device with a force-controlled end robot arm, suitable for connecting the end of the force-controlled end robot arm with an execution tool extending in a direction away from the end of the robot arm, characterized in that: Including extension bracket and diagonal support bracket; One end of the extension bracket is detachably connected to the execution tool, and the other end is connected to the end of the end force control structure of the end force control mechanical arm, so as to transmit the vertical force of the execution tool to the mechanical arm; One end of the oblique support frame is rotatably connected to the middle of the extension support, and the other end is fixedly connected to the force control structure at the end of the mechanical arm from the side, so as to transmit the horizontal force of the execution tool to the mechanical arm; One end of the oblique support frame is connected to the middle part of the extension frame through a ball bearing; One end of the extension bracket is a mounting ring, and the mounting ring is sleeved to fix the execution tool; A clearance groove is provided on the extension bracket at one side close to the oblique support bracket, a groove is provided in the middle of the extension bracket for installing the ball bearing, and part of the groove is provided in the clearance groove.

2. The extension device with end force control robot arm according to claim 1, characterized in that: It also includes an adapter plate, which is fixedly connected to the end of the mechanical arm, and the extension bracket is hinged to the adapter plate.

3. The extension device with end force control robot arm according to claim 1, characterized in that: The oblique support frame is located above the extension support frame, and the oblique support frame includes a fixing ring and a connecting column; The second end of the oblique support frame is a fixing ring, which is sleeved on the side wall of the mechanical arm; The connecting column and the side projection of the fixing ring form a preset angle.

4. The extension device with end force control robot arm according to claim 1, characterized in that: A distance from the ball bearing to one end of the robot arm and a distance from the ball bearing to one end of the execution tool have a preset ratio, and the preset ratio is 1:

1.

5. The extension device with end force control robot arm according to claim 3, characterized in that: The preset angle is in the range of 120°-150°.

6. An end force-controlled robotic arm with an extension device, characterized in that: The extension device and the robot arm body include any one of claims 1 and 3-5; A sensor is provided at the end of the mechanical arm body; It also includes an adapter plate, the adapter plate is fixedly connected to the end of the mechanical arm, and the extension bracket is hinged to the adapter plate through a hinge structure; One end of the extension bracket provided with a hinge structure is hinged to the lower part of the sensor, and the hinge can transmit force to the sensor in the longitudinal direction; The oblique support frame is transversely fixed to the side wall of the sensor and can transmit force to the sensor in the transverse direction.

7. The end force-controlled mechanical arm with an extension device according to claim 6, characterized in that: An adapter is installed under the sensor. The upper part of the adapter is a circular sheet structure fixed to the sensor. The lower part of the adapter is a cube block. The hinge structure of the extension bracket is hinged to the two side end faces of the lower part of the adapter.

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