Novel bionic mechanical arm somatosensory acquisition device

Abstract

The utility model discloses a novel bionic mechanical arm somatosensory acquisition device which comprises a shoulder fixing frame, a big arm fixing frame, a small arm fixing frame and a hand fixing frame. The device is characterized in that the shoulder fixing frame is connected with the big arm fixing frame through a universal joint, the big arm fixing frame is connected with the small arm fixing frame through a universal joint, and the small arm fixing frame is connected with the hand fixing frame through a universal joint; the big arm fixing frame and the small arm fixing frame are fixedly connected with a human body through buckles. According to the utility model, a somatosensory acquisition part is expanded to the whole arm, so that the information acquisition range is enlarged, the acquisition quantity of somatosensory information is improved, and the operation of the mechanical arm is simpler and more flexible.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a bionic mechanical arm body sensory acquisition device. Background Art

[0002] The bionic robotic arm is a new device that cleverly combines ergonomics and mechanical control using automatic control technology. As an efficient and reliable automation device, it is widely used in many high-risk or sterile fields such as military, counter-terrorism, industrial production, biomedicine and food safety.

[0003] Body motion sensing is a crucial component of a bionic robotic arm. Various sensors and algorithms identify and analyze human movements to control the robotic arm. A well-designed housing structure and high-precision body motion sensing circuitry enable accurate and efficient data collection, enabling free and precise control of the robotic arm.

[0004] Most of the previous somatosensory acquisition devices faced the problems of a single information acquisition part, too cumbersome acquisition methods, too large restrictions, and low acquisition accuracy, which greatly limited the accuracy of bionic robotic arms and the development of the industry. For example, the robotic arm control system and method based on a somatosensory controller, with publication number CN114952837A, was designed to acquire somatosensory information of the hand based on the somatosensory controller in order to control the robotic arm to perform various operations, but the acquisition part was limited to the hand, which made it difficult to reflect the arm's extensibility and the acquisition part was too single. For example, the gesture somatosensory bionic robotic arm glove box based on AR vision, with publication number CN217801715U, was based on an AR camera for somatosensory acquisition and transmitted to the processor for information analysis. It used vision to analyze the information of each parameter, but the accuracy of each data could not be guaranteed and it was easily affected by visual interference such as light. Summary of the Invention

[0005] The purpose of the utility model is to overcome the technical problems of the existing bionic manipulator arm somatosensory acquisition device, such as the single acquisition part and low acquisition accuracy, and thus provide a novel bionic manipulator arm somatosensory acquisition device.

[0006] The technical solution adopted by the present invention is: a new type of bionic robotic arm body sensation acquisition device, including a shoulder fixing frame, an upper arm fixing frame, a forearm fixing frame and a hand fixing frame, the shoulder fixing frame and the upper arm fixing frame, the upper arm fixing frame and the forearm fixing frame, and the forearm fixing frame and the hand fixing frame are all connected by universal joints; the upper arm fixing frame and the forearm fixing frame are fixedly connected to the human body by buckles.

[0007] Furthermore, the hand fixing frame includes a back of the hand body, an elastic rope and a first card slot. The back of the hand body is trapezoidal, and an elastic rope is provided on the longer bottom side of the back of the hand body. The elastic rope is used to pass the fingers through; the first card slot is provided on the back of the hand body.

[0008] Furthermore, the upper arm fixing frame and the lower arm fixing frame both include a main body tube, a sleeve and a second slot. The sleeve includes a first sleeve and a second sleeve installed at both ends of the main body tube, and the second slot is provided on the main body tube; sleeve anti-slip end points are provided at both ends of the main body tube.

[0009] Furthermore, the shoulder fixing frame includes a U-shaped frame and arc-shaped baffles connected to both ends of the U-shaped frame, and one end of the U-shaped frame is provided with a third slot.

[0010] Furthermore, the buckle includes an upper strap, a lower strap and a strap switch; the two ends of the upper strap are respectively connected to the strap switch and the main tube; one end of the lower strap is connected to the main tube; the lower strap is provided with a latching tooth for fixed connection with the strap switch; the strap switch includes a press plate, a switch housing and a spring, and the press plate and the switch housing are rotatably connected and reset by the spring.

[0011] Furthermore, the universal joint includes two hinges and a bearing, the two hinges are connected at 90 degrees, and the bearing is connected to one end of one of the hinges.

[0012] Furthermore, posture sensors are embedded in the first card slot, the second card slot and the third card slot.

[0013] The beneficial effects of the present invention are as follows: the present invention expands the somatosensory collection portion to the entire arm, thereby increasing the information collection range, improving the amount of somatosensory information collected, and making the manipulation of the robotic arm simpler and more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural diagram of the utility model;

[0015] Figure 2 This is a schematic structural diagram of the hand fixing frame in the present invention;

[0016] Figure 3 This is a schematic structural diagram of the small arm fixing frame and the large arm fixing frame of the utility model;

[0017] Figure 4 This is a schematic structural diagram of the shoulder fixing frame of the present invention;

[0018] Figure 5 This is a schematic structural diagram of the buckle in the utility model;

[0019] Figure 6This is a schematic diagram of the structure of the new universal joint in this experiment;

[0020] In the figure: 1-shoulder fixing frame; 2-upper arm fixing frame; 3-barrel buckle; 4-universal joint; 5-forearm fixing frame; 6-hand fixing frame; 7-back of hand body; 8-elastic rope; 9-first slot; 10-first sleeve; 11-main body tube; 12-second slot; 13-second sleeve; 14-U-shaped frame; 15-third slot; 16-arc baffle; 17-press plate; 18-switch housing; 19-spring; 20-upper clip; 21-lower clip; 23-hinge; 24-bearing; 26-sleeve anti-slip end point. DETAILED DESCRIPTION

[0021] The present invention will be further described below with reference to the accompanying drawings.

[0022] like Figure 1 As shown, the present invention is a novel biomimetic robotic arm somatosensory acquisition device, comprising a shoulder mount 1, an upper arm mount 2, a lower arm mount 5, and a hand mount 6. Universal joints 4 connect the shoulder mount 1 to the upper arm mount 2, the upper arm mount 2 to the lower arm mount 5, and the lower arm mount 5 to the hand mount 6, ensuring the device's freedom and flexibility. The shoulder mount 1 has a curved baffle 16, the upper arm mount 2 and the lower arm mount 5 have a buckle 3, and the hand mount 6 has an elastic cord 8, ensuring the device can fit snugly on different arms, expanding its applicability. The main body of the acquisition device is constructed of carbon fiber, ensuring its quality and comfort.

[0023] like Figure 2 As shown, the hand holder 6 includes a back-of-hand body 7, an elastic cord 8, and a first slot 9. The back-of-hand body 7 is trapezoidal in shape and is attached to the back-of-hand body 7 with specialized glue. Each slot 9 houses a posture sensor for collecting hand posture information. Elastic cord 8 is attached to the longer bottom edge of the back-of-hand body 7 with glue. During use, the elastic cord 8 automatically tightens around the four fingers, making it suitable for different users. It ensures close contact between the back of the hand and the back-of-hand body 7, preventing excessive palm movement from reducing the accuracy of the collected information.

[0024] like Figure 3As shown, the upper arm mount 2 and the lower arm mount 5 have identical structures, differing only in size. Both include a main tube 11, a first sleeve 10, a second sleeve 13, and a second retaining slot 12. The first sleeve 10 and the second sleeve 13 are mounted at either end of the main tube 11. The open ends of the sleeves are smaller in area, while the closed ends are slightly larger, allowing for adjustment of the overall length of the acquisition device to accommodate arms of varying lengths. The second retaining slot 12 is glued to the main tube 11 and is used to embed the posture sensor. Slightly larger sleeve anti-slip points 26 are provided at each end of the main tube 11 to restrain the sleeves and prevent them from falling out.

[0025] like Figure 4 As shown, the shoulder mount 1 comprises a U-shaped frame 14 and curved baffles 16 connected at both ends of the U-shaped frame 14. A third slot 15 is provided at one end of the U-shaped frame 14 for inserting a posture sensor. The curved baffles 16 are adhered to the side of the U-shaped frame 14, resting against the side of the chest. This prevents the shoulder mount 1 from tilting with arm movement, allowing the posture sensor to accurately capture posture information from key chest muscle groups, improving data collection accuracy.

[0026] like Figure 5 As shown, the bar buckle 3 includes an upper cassette 20, a lower cassette 21, and a cassette switch; the two ends of the upper cassette 20 are respectively connected to the cassette switch and the main tube 11, and one end of the lower cassette 21 is also connected to the main tube 11; the lower cassette 21 is provided with a latching tooth for fixed connection with the cassette switch. The cassette switch includes a pressing plate 17, a switch housing 18, and a spring 19. The pressing plate 17 and the switch housing 18 are rotatably connected and reset by the spring 19. The pressing plate 17 can be pushed without applying force to tightly engage with the latching tooth on the lower cassette 21. When the pressing plate 17 is pressed, the cassette can be freely extended and retracted, thereby adjusting the tightness of the bar buckle 3, tightly binding the collection device to the arm, and achieving the purpose of being suitable for various people.

[0027] like Figure 6 As shown, the universal joint 4 includes two hinges 23 and a bearing 4. The two hinges 23 are connected at 90 degrees to each other, ensuring the acquisition device can rotate up, down, left, and right. Each hinge 23 can rotate more than 180 degrees. A bearing 24 is connected to one end of one of the hinges 23, enabling the acquisition device to rotate 360 ​​degrees. The universal joint 4 in this utility model allows the acquisition device to simulate the movement of arm joints, ensuring its normal operation. Except for the connection with the hand mount 6, which lacks a bearing, the other three locations have bearings.

Claims

1. A novel bionic robotic arm somatosensory acquisition device, comprising a shoulder mount, an upper arm mount, a lower arm mount, and a hand mount, characterized in that: The shoulder fixing frame and the upper arm fixing frame, the upper arm fixing frame and the forearm fixing frame, and the forearm fixing frame and the hand fixing frame are all connected through universal joints; the upper arm fixing frame and the forearm fixing frame are fixedly connected to the human body through buckles.

2. The novel bionic robotic arm somatosensory acquisition device according to claim 1, characterized in that: The hand fixing frame includes a back of hand main body, an elastic rope and a first card slot. The back of hand main body is trapezoidal, and an elastic rope is provided on the longer bottom side of the back of hand main body. The elastic rope is used to pass the fingers through; the first card slot is provided on the back of hand main body.

3. The novel bionic robotic arm somatosensory acquisition device according to claim 1, characterized in that: The upper arm fixing frame and the lower arm fixing frame both include a main body tube, a sleeve and a second slot. The sleeve includes a first sleeve and a second sleeve installed at both ends of the main body tube. The second slot is provided on the main body tube. Both ends of the main body tube are provided with sleeve anti-slip end points.

4. The novel bionic robotic arm somatosensory acquisition device according to claim 1, characterized in that: The shoulder fixing frame includes a U-shaped frame and arc-shaped baffles connected to both ends of the U-shaped frame, and one end of the U-shaped frame is provided with a third slot.

5. The novel bionic robotic arm somatosensory acquisition device according to claim 1, characterized in that: The buckle includes an upper strap, a lower strap and a strap switch; the two ends of the upper strap are respectively connected to the strap switch and the main tube; one end of the lower strap is connected to the main tube; the lower strap is provided with a latching tooth for fixed connection with the strap switch; the strap switch includes a press plate, a switch housing and a spring, and the press plate and the switch housing are rotatably connected and reset by the spring.

6. The novel bionic robotic arm somatosensory acquisition device according to claim 1, characterized in that: The universal joint includes two hinges and a bearing. The two hinges are connected at 90 degrees, and the bearing is connected to one end of one of the hinges.

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