Mechanical arm power-assisted exoskeleton device

Abstract

The utility model discloses a mechanical arm assistance exoskeleton device, which relates to the field of mechanical arm assistance and comprises an inner clamping ring, the inner clamping ring is clamped and fixed on the outer side of a fixed end of a mechanical arm joint, the outer side of the inner clamping ring is connected with a fixed block, an outer ring is fixed on the outer side of the fixed block, and a pressure spring is sleeved on the outer side of the outer ring. A sliding block is arranged at one end of the pressure spring, when the mechanical arm rotates downwards, the sliding block is driven to rotate on the outer ring, the sliding block can compress the pressure spring arranged on the outer ring in a sleeving mode, the pressure spring serves as an energy storage device, and the stress condition of a mechanical arm joint is improved through compression and release of the pressure spring; and the pressure spring can enhance the counter-acting force given by the exoskeleton, so that the driving motor of the collaborative robot can be helped to overcome the gravity, shaking is reduced, and the overall operation effect of the mechanical arm is improved.

Description

Technical Field

[0001] The utility model relates to the field of mechanical arm power assistance, in particular to a mechanical arm power assistance exoskeleton device. Background Art

[0002] Most collaborative robots have insufficient strength and jitter, especially jitter, which greatly limits the application of collaborative robots. For example, in film and television shooting, laser cutting and other fields that have fine requirements for jitter. The main reason why most collaborative robots are currently unable to perform is due to

[0003] For example, when the motor drives the robotic arm to rotate downward, the rotation of the motor plus the gravity of the robotic arm can assist in completing the downward extension, so not much power is required. However, when the robotic arm retracts upward, the motor's reverse movement must first overcome the robotic arm's own gravity, so more power is required. However, due to the size limitation, the motor power is insufficient, so jitter occurs.

[0004] Therefore, it is necessary to propose a robotic arm-assisted exoskeleton device to solve the above problems. Utility Model Content

[0005] The purpose of the utility model is to provide a mechanical arm-assisted exoskeleton device to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robotic arm assisted exoskeleton device, comprising an inner clamping ring, which is clamped and fixed to the outer side of the fixed end of the robotic arm connection, the outer side of the inner clamping ring is connected to the fixed block, the outer side of the fixed block is fixed with an outer ring, the outer side of the outer ring is sleeved with a pressure spring, one end of the pressure spring is provided with a slider, the slider is slidably sleeved on the outer side of the outer ring, one end of the slider is connected to a locking pliers, the locking pliers is connected to the rotating end of the robotic arm connection, when the rotating end of the robotic arm connection rotates on the fixed end, the rotating end drives the slider to rotate and is used to compress the pressure spring.

[0007] Preferably, the inner retaining ring includes two semicircular rings, one end of the two semicircular rings close to each other is fixed with an end head, a fixing bolt is arranged between the two end heads, and a first connecting hole for the fixing bolt to pass through is opened on the two end heads, the other ends of the two semicircular rings close to each other are rotatably connected, and an inner ring rotating shaft is arranged at the connection.

[0008] Preferably, the sliding block is provided with a sliding hole for the outer ring to pass through, and a sponge gasket is fixedly arranged inside the sliding hole.

[0009] Preferably, a threaded hole is provided on one side of the fixing block close to the outer ring, a through hole is provided at the corresponding position of the outer ring and the threaded hole, a fixing screw is threadedly matched between the through hole and the threaded hole, and the fixing screw is pressed tightly against the outer side of the outer ring.

[0010] Preferably, a plurality of fixing holes are opened on the inner side of the inner retaining ring, and the plurality of fixing holes are distributed around the center of the inner retaining ring, and the internal threads of the plurality of fixing holes are equipped with adjusting bolts, and a protective pad is fixed on one side of the plurality of adjusting bolts close to the center of the inner retaining ring.

[0011] Preferably, a second connecting hole is provided at the bottom end of the locking pliers, the width of the sliding block on one side close to the inner snap ring is smaller than the width of the sliding block on the other side away from the inner snap ring, and arcs cooperating with the inner snap ring are provided on both sides.

[0012] Technical effects and advantages of the utility model:

[0013] 1. When the robot arm rotates downward, it drives the slider to rotate on the outer ring. The slider will compress the pressure spring on the outer ring, so that the pressure spring acts as an energy storage device. The compression and release of the pressure spring can improve the force of the robot arm joint. The pressure spring can enhance the reaction force given by the exoskeleton, which can help the collaborative robot's drive motor overcome gravity, thereby reducing jitter and improving the overall operation effect of the robot arm.

[0014] 2. The outer ring and the inner snap ring can be disassembled, which is convenient for later replacement and installation. At the same time, the fixed block can increase the distance between the outer ring and the inner snap ring to avoid the outer ring and the inner snap ring being too close, so that the edge slider has enough space to slide. Furthermore, the fixing screw can prevent the slider from sliding out of the outer ring, playing a role of interception. When the slider slides to the position of the fixing screw, it reaches the limit distance. The utility model can be directly used on the produced mechanical arm, with low cost and wide adaptability.

[0015] 3. In the actual operation of the present invention, multiple adjusting bolts can be rotated out of the corresponding fixing holes, or rotated into the fixing holes to change the length of the adjusting bolts to adapt to the outside of the robotic arm of different sizes. The added protective pad can play a protective role to prevent the end of the adjusting bolt from scratching the outside of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the installation structure of the robotic arm-assisted exoskeleton device of the utility model.

[0017] Figure 2 This is a schematic structural diagram of a mechanical arm-assisted exoskeleton device from one perspective of the present invention.

[0018] Figure 3 It is a structural schematic diagram of the slider of the utility model.

[0019] Figure 4 This is a schematic diagram of the structure of the locking pliers of the utility model.

[0020] Figure 5 This is a schematic structural diagram of the robotic arm-assisted exoskeleton device of the utility model from another perspective.

[0021] In the figure: 1. Inner retaining ring; 2. Outer ring; 3. Pressure spring; 4. Slider; 5. End; 6. Fixing bolt; 7. Fixing block; 8. Fixing screw; 9. Adjusting bolt; 10. Protective pad; 11. Inner ring shaft; 12. Sponge washer; 13. Locking pliers. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clarify the technical solutions in the embodiments of the utility model; it is completely described. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of them. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] The utility model provides Figure 1 - Figure 5 In the robotic arm-assisted exoskeleton device shown, when the motor drives the robotic arm to rotate downward, the rotation of the motor plus the gravity of the robotic arm itself can assist in completing the downward extension, so that not much power is required. However, when the robotic arm retracts upward, the motor's reverse movement must first overcome the robotic arm's own gravity, so greater power is required. However, due to the size limitation, the motor power is insufficient, so jitter occurs.

[0024] Therefore, the utility model is provided with an inner snap ring 1, which is clamped and fixed on the outer side of the fixed end of the mechanical arm connection, the outer side of the inner snap ring 1 is connected to the fixed block 7, the outer side of the fixed block 7 is fixed with an outer ring 2, the outer side of the outer ring 2 is sleeved with a pressure spring 3, one end of the pressure spring 3 is provided with a slider 4, the slider 4 is slidably sleeved on the outer side of the outer ring 2, one end of the slider 4 is connected with a locking pliers 13, the locking pliers 13 is connected to the rotating end of the mechanical arm connection, when the rotating end of the mechanical arm connection rotates downward, the rotating end drives the slider 4 to rotate and is used to compress the pressure spring 3.

[0025] The inner retaining ring 1 includes two semicircular rings, one end of the two semicircular rings close to each other is fixed with an end 5, a fixing bolt 6 is arranged between the two end heads 5, and a first connecting hole for the fixing bolt 6 to pass through is opened on the two end heads 5. The other ends of the two semicircular rings close to each other are rotatably connected, and an inner ring rotating shaft 11 is arranged at the connection.

[0026] The utility model adopts an inner and outer double ring structure design, and the specific connection method is as follows: Figure 1 As shown, taking the installation at the connecting shaft of the robot arm as an example, the product is fixed to the joint shaft of the robot arm, and the inner retaining ring 1 is clamped and fixed to the outer side of the fixed end of the connection of the robot arm. The inner retaining ring 1 and the robot arm are locked by adjusting the fixing bolt 6 to complete the fixation. The utility model can be directly used on the robot arm that has been produced, with low cost and wide adaptability.

[0027] The slider 4 at the front end of the pressure spring 3 on the outer ring 2 is Figure 1 The middle robot arm is connected at the rotating end. When the robot arm rotates, it drives the slider 4 to rotate on the outer ring 2. The slider 4 will compress the pressure spring 3 sleeved on the outer ring 2, so that the pressure spring 3 can be used as an energy storage device. The compression and release of the pressure spring 3 can improve the force condition of the robot arm joint and enhance the overall operation effect of the robot arm.

[0028] When the robot arm rotates downward, it will squeeze the pressure spring 3. The pressure spring 3 will shrink under the pressure and store potential energy. The elastic force of the pressure spring 3 can give a thrust to the robot arm that rotates upward to overcome the gravity of the robot arm itself. In the experiment, we found that when the collaborative robot is stretched, it is affected by gravity and will shake when it rotates upward. Although the shaking is relatively small, it will still affect its use. The pressure spring 3 can enhance the reaction force given by the exoskeleton. Without increasing the motor power, it can help the collaborative robot's drive motor overcome gravity, thereby reducing the shaking.

[0029] A sliding hole is opened on the slider 4 for the outer ring 2 to pass through, and a sponge gasket 12 is fixedly arranged inside the sliding hole. When the slider 4 rotates on the outer ring 2, the sponge gasket 12 will contact the outside of the outer ring 2 to wipe off the impurities and dust on the outer ring 2, avoid accumulation and protrusions, affect the movement of the slider 4, and reduce resistance. At the same time, the sponge gasket 12 can reduce the gap between the sliding hole and the outer ring 2 to avoid collision and shaking.

[0030] A threaded hole is provided on one side of the fixing block 7 near the outer ring 2, and a through hole is provided at the position corresponding to the outer ring 2 and the threaded hole. A fixing screw 8 is threadedly matched between the through hole and the threaded hole, and the fixing screw 8 is pressed against the outer side of the outer ring 2. That is, the outer ring 2 and the inner snap ring 1 can be disassembled, which is convenient for later replacement and installation. At the same time, the fixing block 7 can increase the distance between the outer ring 2 and the inner snap ring 1, avoiding the outer ring 2 and the inner snap ring 1 from being too close, so that the edge slider 4 has enough space to slide.

[0031] Furthermore, the fixing screw 8 can prevent the slider 4 from sliding out of the outer ring 2, thus playing an interception role. When the slider 4 slides to the position of the fixing screw 8, the limit distance is reached.

[0032] A second connecting hole is provided at the bottom end of the locking pliers 13, the width of the side of the slider 4 close to the inner retaining ring 1 is smaller than the width of the side away from the inner retaining ring 1, and arcs are provided on both sides to match the inner retaining ring 1. The locking pliers 13 can be installed on the rotating end of the robotic arm through the second connecting hole.

[0033] A plurality of fixing holes are provided on the inner side of the inner retaining ring 1 , and the plurality of fixing holes are distributed around the center of the inner retaining ring 1 . The internal threads of the plurality of fixing holes are equipped with adjusting bolts 9 , and a protective pad 10 is fixed to one side of the plurality of adjusting bolts 9 close to the center of the inner retaining ring 1 .

[0034] In the actual operation of the utility model, multiple adjusting bolts 9 can be rotated out of the corresponding fixing holes, or rotated into the fixing holes to change the length of the adjusting bolts 9 to adapt to the outside of the robotic arm of different sizes. The added protective pad 10 can play a protective role to prevent the end of the adjusting bolt 9 from scratching the outside of the robotic arm.

[0035] In this utility model, after the collaborative robot is equipped with the enhanced external joint enhanced exoskeleton, it not only increases strength but also greatly reduces jitter. For example, in film and television shooting, there are particularly high requirements for jitter. The industry requires the accuracy and speed of the robot's terminal. The higher the efficiency, the greater the significance of existence. The jitter in the middle process is not very concerned. On the contrary, fine work such as film and television shooting and laser cutting requires stability during the process. Slight jitter will affect the work results, especially when using a telephoto medium-focus or telephoto lens of more than 50 mm. This phenomenon is particularly obvious. After using the joint enhanced exoskeleton, the jitter is suppressed, so the collaborative robot can play its value in many fine fields.

[0036] Collaborative robots have been around for a long time, but the reason why they are not widely used is because of an embarrassing phenomenon. The collaborative robots are small in size, which is actually to expand new development space in new fields outside of industry. However, due to inherent deficiencies such as jitter, their application in many new fields is limited. Therefore, this utility model effectively solves a major drawback of collaborative robots, so that they can adapt to more emerging application fields.

Claims

1. A robotic arm-assisted exoskeleton device, comprising an inner clamping ring (1), characterized in that: The inner clamping ring (1) is clamped and fixed to the outer side of the fixed end of the mechanical arm connection. The outer side of the inner clamping ring (1) is connected to the fixed block (7). The outer side of the fixed block (7) is fixed with an outer ring (2). The outer side of the outer ring (2) is sleeved with a pressure spring (3). One end of the pressure spring (3) is provided with a slider (4). The slider (4) is slidably sleeved on the outer side of the outer ring (2). One end of the slider (4) is connected to a locking clamp (13). The locking clamp (13) is connected to the rotating end of the mechanical arm connection. When the rotating end of the mechanical arm connection rotates on the fixed end, the rotating end drives the slider (4) to rotate and is used to compress the pressure spring (3).

2. The robotic arm-assisted exoskeleton device according to claim 1, characterized in that: The inner retaining ring (1) comprises two semicircular rings, one end of the two semicircular rings being close to each other is fixed with an end head (5), a fixing bolt (6) is arranged between the two end heads (5), and the two end heads (5) are provided with a first connection hole for the fixing bolt (6) to pass through, and the other ends of the two semicircular rings being close to each other are rotatably connected, and an inner ring rotating shaft (11) is arranged at the connection.

3. The robotic arm-assisted exoskeleton device according to claim 1, characterized in that: The sliding block (4) is provided with a sliding hole for the outer ring (2) to pass through, and a sponge gasket (12) is fixedly arranged inside the sliding hole.

4. The robotic arm-assisted exoskeleton device according to claim 1, characterized in that: A threaded hole is provided on one side of the fixing block (7) close to the outer ring (2), a through hole is provided at a position corresponding to the outer ring (2) and the threaded hole, a fixing screw (8) is threadedly engaged between the through hole and the threaded hole, and the fixing screw (8) is pressed against the outer side of the outer ring (2).

5. The robotic arm-assisted exoskeleton device according to claim 1, characterized in that: A plurality of fixing holes are provided on the inner side of the inner retaining ring (1), the plurality of fixing holes are distributed around the center of the inner retaining ring (1), and the internal threads of the plurality of fixing holes are matched with adjusting bolts (9), and a protective pad (10) is fixed on one side of the plurality of adjusting bolts (9) close to the center of the inner retaining ring (1).

6. The robotic arm-assisted exoskeleton device according to claim 1, characterized in that: A second connection hole is provided at the bottom end of the locking pliers (13); the width of the side of the slider (4) close to the inner snap ring (1) is smaller than the width of the side away from the inner snap ring (1); and arcs are provided on both sides to match the inner snap ring (1).

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