CN107877501A - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN107877501A CN107877501A CN201711380850.9A CN201711380850A CN107877501A CN 107877501 A CN107877501 A CN 107877501A CN 201711380850 A CN201711380850 A CN 201711380850A CN 107877501 A CN107877501 A CN 107877501A
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- mechanical
- finger
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The present invention relates to field of artificial intelligence, more particularly, to a kind of mechanical arm.The mechanical arm includes：Mechanical part and control section；The mechanical part includes：Mechanical forearm structure, mechanical wrist structure, mechanical palms structure and mechanical finger structure；The mechanical forearm structure is rotatablely connected with the mechanical wrist structure, the mechanical palms structure is rotatablely connected with the mechanical wrist structure, the mechanical finger structure includes five finger units being sequentially arranged in the mechanical palms structure, each finger unit is correspondingly connected with a finger actuation unit, and the finger actuation unit is stretched and bent by finger unit corresponding to the drive of finger STATEMENT OF FEDERALLY SPONSORED；The control section includes：Brain wave detection device, sensor detecting device and controller；The present invention completes intelligent grabbing by gathering the brain wave of user, and whole process is more intelligent easy, is completed without professional, use range is extensive, very easy to use.
Description
Technical field
The present invention relates to field of artificial intelligence, more particularly, to a kind of mechanical arm.
Background technology
With the continuous progress of science and technology, manipulator is either all widely used in industry, life, medical treatment, such as
In industry, it is necessary under high-risk adverse circumstances grabbing workpiece, article etc., and be also required to capture by manipulator in life
Distant article, also in medical industry, some physical disabilities need manipulator to carry out article needed for auxiliary grip, above-mentioned
For manipulator in several scenes substantially by presetting corresponding program, manipulator gets off completion accordingly in the driving of programmed instruction
Crawl work, this technology is more universal and ripe, but there is also certain limitation for this mode.These are special
Property manipulator can not use after objectives are departed from, and can not serve as such a highly bionical part of robot, and
Operation difficulty is big, it is necessary to which professional person could complete during use, it is impossible to meets the actual demand such as general, dexterous.
The information for being disclosed in the background section is merely intended to deepen the understanding of the general background technology to the present invention, and
It is not construed as recognizing or implies information structure prior art known to those skilled in the art in any form.
The content of the invention
It is an object of the invention to provide a kind of mechanical arm, to solve the big skill of operation difficulty existing for existing manipulator
Art problem.
To achieve these goals, the present invention uses following technical scheme：
The invention provides a kind of mechanical arm, and it includes：Mechanical part and control section；
Wherein, the mechanical part includes：Mechanical forearm structure, mechanical wrist structure, mechanical palms structure and machinery
Finger structure；The mechanical forearm structure is rotatablely connected with the mechanical wrist structure, and the mechanical wrist structure is corresponding to be connected
There is a wrist driver element, the wrist driver element drives the mechanical wrist structure to be turned round by wrist STATEMENT OF FEDERALLY SPONSORED；
The mechanical palms structure is rotatablely connected with the mechanical wrist structure, and the mechanical palms structure is correspondingly connected with palm drive
Moving cell, the palm driver element drive the mechanical palms structure to be overturn by palm STATEMENT OF FEDERALLY SPONSORED；The manipulator
Refer to five finger units that structure includes being sequentially arranged in the mechanical palms structure, each finger unit is correspondingly connected with one
Individual finger actuation unit, the finger actuation unit by finger STATEMENT OF FEDERALLY SPONSORED drive corresponding to finger unit carry out stretching, extension and it is curved
It is bent；
Wherein, the control section includes：Brain wave detection device, sensor detecting device and controller；
The brain wave detection device includes：The brain wave detection unit that is electrically connected respectively with the controller, spectrogram
Case generation unit, frequency analysis unit and brain wave excite unit；The brain wave excites unit to be used to aid in human brain to inspire
The brain wave of different-waveband；The brain wave detection unit is used to detect eeg signal；The frequency spectrum tern generation unit is used
According to the detection signal of brain wave detection unit generation brain wave frequency spectrum pattern；The frequency analysis unit is used for institute
The brain wave frequency spectrum pattern of generation is analyzed with the brain wave frequency spectrum pattern to prestore, and analysis result is fed back into control
Device；The controller according to the feedback result of the frequency analysis unit respectively to wrist driver element, palm driver element and
Finger actuation unit sending action instructs；The wrist driver element, palm driver element and finger actuation unit are according to
The action command that controller is sent is acted accordingly；
The sensor detecting device includes：Nine axle sensors that are electrically connected respectively with the controller, vision sensor,
Distance measuring sensor, touch sensor and virtual fingertip force sensor；Nine axle sensor is respectively arranged at each finger unit
Joint part, nine axle sensor is used for three-dimensional acceleration, three-dimensional angular velocity and the Three-Dimensional Magnetic vector feedback that will be detected
To the controller；The vision sensor is arranged at the centre of the palm position of the mechanical palms structure, the vision sensor profit
By the visual signature information of non-contacting mode detection object and the controller is fed back to infrared ray；The ranging sensing
Device, the touch sensor and the virtual fingertip force sensor may be contained within the pad of finger of the finger unit；The survey
It is used for away from sensor by the range information of detection object and feeds back to the controller；The touch sensor is used to detect finger tip
Pressure value that portion faces are subject to simultaneously feeds back to the controller；The virtual fingertip force sensor be used for detect pad of finger with
Frictional force type between object simultaneously feeds back to the controller.
As a kind of further technical scheme, the control section also includes：Prestore a variety of brain wave frequency spectrum patterns
The first memory cell and prestore the second memory cell of various motion director data, the brain wave frequency that each of which prestores
Spectrogram case corresponds with a kind of action command data；The frequency analysis unit is used for the brain wave frequency spectrum pattern to being generated
Brain wave frequency spectrum pattern with being prestored in first memory cell is analyzed, and analysis result is fed back into control
Device, the controller is corresponding to read the action command data of the second memory cell, and is referred to according to action command data sending action
Order.
As a kind of further technical scheme, the control section also includes identification system；The identification
System includes：Fingerprint recognition system and/or face identification system, the fingerprint recognition system and/or face identification system are set
In on the mechanical forearm structure, and it is connected with the controller.
As a kind of further technical scheme, the brain wave excites unit to include：Vision module, sound module, shake
The one of which or any several combinations of dynamic model block and warming module.
As a kind of further technical scheme, the mechanical part also includes：Bionics skin layer；The bionics skin layer
Using flexible base material layer, the surface of the flexible base material layer is coated with anti-static coating, the flexible base material
Several elastic strain sensors are distributed with layer, the elastic strain sensor passes through netted outlet line and the control respectively
Device connection processed；The bionics skin layer is divided into palm tactile layer and multiple finger allodynia layers, and the palm tactile layer is coated on institute
State in mechanical palms structure, the finger allodynia layer is coated on the mechanical finger structure.
As a kind of further technical scheme, the integrally connected of the fixed part and the mechanical forearm structure is described
Fixed part is provided with accommodating chamber, and multiple fixing holes are provided with the fixed part；The ventilation part is arranged at the fixed part
End；
The U-shaped connect band includes：First U-shaped band, the second U-shaped band, left connection base portion and right connection base portion, described first
The first end of U-shaped band and the second U-shaped band is all connected to left connection base portion, and the second end of the first U-shaped band and the second U-shaped band is equal
Right connection base portion is connected to, the first U-shaped band and the second U-shaped band are installed on the fixation of the fixed part by fixture respectively
Kong Shang, the spaced setting of the first U-shaped band and the second U-shaped, and fixed between the two by middle connect band, the first U
The middle part circular arc of shape band and the second U-shaped band is respectively provided with the trend of the direction extension to the mechanical wrist structure；
The ear of the regulation ring both sides is hinged with left connection base portion, right connection base portion respectively, the regulation ring
One end is provided with regulation band, and the other end of the regulation ring is provided with the adjusting button for locking the regulation band.
As a kind of further technical scheme, the centre of the palm position of the mechanical palms structure is provided with heater.
Using above-mentioned technical proposal, the present invention has the advantages that：
The present invention completes intelligent grabbing by gathering the brain wave of user, and whole process is more intelligent easy, easily behaviour
Make, completed without professional, use range is extensive, very easy to use.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of mechanical arm provided in an embodiment of the present invention；
Fig. 2 is the structural representation of wearing fixed part provided in an embodiment of the present invention；
Fig. 3 is the control principle drawing of mechanical arm provided in an embodiment of the present invention.
Icon：1- mechanical finger structures；2- mechanical palms structures；3- mechanical wrist structures；4- machinery forearm structures；5- is worn
Wear fixed part；6- the first U-shaped bands；7- fixed parts；8- the second U-shaped bands；9- ventilation parts；10- regulation rings；11- ears；The right companies of 12-
Connect base portion.
Embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
The embodiment of the present invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The embodiment stated is merely to illustrate and explain the present invention, and is not intended to limit the invention.
With reference to shown in Fig. 1 to Fig. 3, a kind of mechanical arm is present embodiments provided, it includes：Mechanical part and control unit
Point；
Wherein, mechanical part includes：Mechanical forearm structure 4, mechanical wrist structure 3, mechanical palms structure 2 and manipulator
Refer to structure 1.
Specifically, mechanical forearm structure 4 is rotatablely connected with mechanical wrist structure 3, and mechanical wrist structure 3 is corresponding to be connected with
One wrist driver element, wrist driver element is turned round by wrist STATEMENT OF FEDERALLY SPONSORED driving mechanical wrist structure 3, for simulating people
The left-right rotation action of hand wrist；Mechanical palms structure 2 is rotatablely connected with mechanical wrist structure 3, and mechanical palms structure 2 is corresponding to be connected
A palm driver element is connected to, palm driver element is overturn by palm STATEMENT OF FEDERALLY SPONSORED driving mechanical palm structure 2, for mould
Anthropomorphic hand palm spins upside down action；Mechanical finger structure 1 includes five fingers being sequentially arranged in mechanical palms structure 2
Unit (including it is arranged in order the thumb unit being arranged in the mechanical palms structure 2, forefinger unit, middle finger unit, unknown
Refer to unit and little finger unit), each finger unit is correspondingly connected with a finger actuation unit, and finger actuation unit passes through hand
Finger unit corresponding to referring to STATEMENT OF FEDERALLY SPONSORED drive is stretched and bent；What deserves to be explained is above-mentioned each driver element include but
It is not limited to steering wheel, micromachine etc. drive device.Whole mechanical part can realize the various motion and posture of human hand, be
The daily life of physical disabilities provides facility.
Wherein, control section includes：Brain wave detection device, sensor detecting device and controller；
Specifically, with reference to shown in Fig. 3, brain wave detection device includes：The brain wave inspection being electrically connected with the controller respectively
Survey unit, frequency spectrum tern generation unit, frequency analysis unit and brain wave and excite unit；Brain wave excites unit to be used to aid in people
Brain inspires the brain wave of different-waveband；Brain wave detection unit is used to detect eeg signal；Frequency spectrum tern generation unit is used
According to the detection signal of brain wave detection unit generation brain wave frequency spectrum pattern；Frequency analysis unit is used for the brain to being generated
Electric wave frequency spectrum pattern is analyzed with the brain wave frequency spectrum pattern to prestore, and analysis result is fed back into controller；Control
Device is sent to wrist driver element, palm driver element and finger actuation unit respectively according to the feedback result of frequency analysis unit
Action command；The action command that wrist driver element, palm driver element and finger actuation unit are sent according to controller is carried out
Corresponding action.Further, the brain wave detection device also includes：Prestore the first storage of a variety of brain wave frequency spectrum patterns
Unit and the second memory cell for prestoring various motion director data, the brain wave frequency spectrum pattern and one that each of which prestores
Kind action command data correspond；Frequency analysis unit is used for the brain wave frequency spectrum pattern generated and the first memory cell
The brain wave frequency spectrum pattern inside to prestore is analyzed, and analysis result fed back into controller, and controller is corresponding to read the
The action command data of two memory cell, and instructed according to action command data sending action.
Specifically, with reference to shown in Fig. 3, the sensor detecting device includes：Nine axles being electrically connected with the controller respectively pass
Sensor, vision sensor, distance measuring sensor, touch sensor and virtual fingertip force sensor；Nine axle sensors are respectively arranged at
The joint part of each finger unit, nine axle sensors are used for three-dimensional acceleration, three-dimensional angular velocity and the Three-Dimensional Magnetic that will be detected
Vector feedback is to controller, so-called nine axle sensor, is the combination of three kinds of three-axis sensors in fact：Three axle acceleration sensors, three
Axle gyroscope and three axle electronic compass.Such as：In general combining form has：Three-axis gyroscope, three axis accelerometer, three axle earth magnetism
The combination of meter；Six-axle acceleration sensor, three-axis gyroscope combination.Six axle gyroscopes, three axis accelerometer combination.Visual sensing
Device is arranged at the centre of the palm position of mechanical palms structure 2, and vision sensor passes through non-contacting mode detection object using infrared ray
Visual signature information and feed back to controller.Vision sensor can liken into the eyes of manipulator, and it can utilize infrared
Line detects that some visual characteristic informations of object feed back to machine, such as the color by article by non-contacting mode
It is exactly to have used vision sensor to carry out the mechanical arm that classification is picked；Distance measuring sensor, touch sensor and virtual finger tip power pass
Sensor may be contained within the pad of finger of finger unit；Distance measuring sensor is used for the range information of detection object and feeds back to control
Device, it can be how far apart from machine with detection object, if working region is reached, when detecting that object reaches by detection signal
Controller control machinery arm is sent to be operated；Touch sensor is used to detect the pressure value on pad of finger surface and fed back to
Controller, the size of bearing capacity, particularly three-dimensional force sensor when touch sensor can be captured with inspecting manipuator, the sensor
For resistance strain gauge force transducer, the power on tri- directions of X, Y, Z can be detected simultaneously, can effectively adjust finger, arm
Position, object is picked up with suitable dynamics；Virtual fingertip force sensor is used to detect the friction between pad of finger and object
Power type simultaneously feeds back to controller, virtual fingertip force sensor can by whether have between inspecting manipuator arm and object slide come
Judge whether to capture successfully.Detecting this slip can be static friction by the frictional force between inspecting manipuator and object or move
Friction judges, when being changed into not sliding from slip, the sensor friction angle detecting to power have a big change,
And when finger further increases pressure, the power that force snesor detects on direction will not change.Crawl
It can also be completed, object will not be caused to damage in a manner of grasp force by a small margin equal increments during frangible article.It is worth saying
Bright, above-mentioned each sensor characteristics can be increased and decreased according to being actually needed, and be not restricted herein.
Below, its operation principle once is described for said structure.
Such as：Brain wave excite unit auxiliary user inspire different-waveband brain wave (four wave bands can be divided into,
That is δ (1-3Hz), θ (4-7Hz), α (8-13Hz), β (14-30Hz), by taking α wave bands as an example.When brain wave detection unit detects
When there is the brain wave of α wave bands to user, frequency spectrum tern generation unit generates according to the detection signal of brain wave detection unit
Brain wave frequency spectrum pattern (brain wave of α wave bands)；Frequency analysis unit is to the brain wave frequency spectrum pattern generated and the brain to prestore
Electric wave frequency spectrum pattern (certainly, every kind of frequency spectrum pattern to prestore corresponds to a kind of specific action command) is analyzed, and works as inspection
When the frequency spectrum pattern of survey is consistent with the frequency spectrum pattern wherein to prestore, then controller can be according to corresponding to the specific frequency spectrum pattern
Action command control wrist driver element, palm driver element and finger actuation unit, such as：The action of crawl.In manipulator
When arm carries out grasping movement, signal feedback can be carried out to the posture of mechanical arm by each sensor, so as to more preferably
Understanding mechanical arm action situation.Certainly, the information and the predetermined action of mechanical arm detected if there is sensor is not
When consistent, restart at this point it is possible to which a key resets.It is of course also possible to the information detected according to sensor, is entered by controller
Row correction.
It can be seen that the present embodiment completes intelligent grabbing, the more intelligent letter of whole process by gathering the brain wave of user
Just, it is easy to operate, completed without professional, use range is extensive, very easy to use.Certainly, it is necessary to which explanation, is used
The brain wave detection device is controlled a kind of only preferable mode therein to mechanical arm.Brain wave can also not had to
Control, such as：Directly controlled using acoustic control or direct write-in program in the controller.
In the present embodiment, do not limit to for each structure of mechanical part, implementation process can be carried out according to being actually needed
Flexibly set, illustrated with following several specific embodiments.
The first, each STATEMENT OF FEDERALLY SPONSORED uses pull rope in mechanical part, i.e. each driver element is driven each by pull rope
Individual executive component is acted.
Specifically, (finger tip, the first finger belly, the second finger belly, the 3rd refer to by four fractions for forefinger unit and middle finger unit
Tripe) composition, it is hinged in each joint part, and pull rope is equipped with the coiling of joint part, pull rope is by corresponding
Driver element be controlled so that various pieces are bent and stretched；Thumb unit, nameless unit and small thumb
Refer to unit by five fractions (finger tip, the first finger belly, the second finger belly, the 3rd finger belly, referring to root) composition, similarly, in each pass
Section position is also hinged, and pull rope is equipped with the coiling of joint part, and pull rope is carried out by corresponding driver element
Control, so that various pieces are bent and stretched；Mechanical palms structure 2 can be made up of palm main body and palm back of the body backplate,
Its purpose is to attractive in appearance；Mechanical wrist structure 3 can rotate and (is made up of two fractions), have threading thin among wrist
Hole etc..The operation principle of this mechanical arm with pull rope is：It is each with program, manipulation in controller in arm
Driver element (such as：Steering wheel) work, each servos control two (long and thin, indefatigable) pull rope, this two tractions
Rope is passed through and fixed along the coiling in each joint, is controlled the bending of an exclusive finger and is stretched.
Second, each STATEMENT OF FEDERALLY SPONSORED can also use gear assembly and the biography being engaged with gear assembly in mechanical part
Lever, its concrete form do not limit to.
Specifically, finger unit includes：First knuckle, second knuckle and third knuckle；Wherein, first knuckle passes through first
Finger joint attachment structure is rotatablely connected with second knuckle；Second knuckle is rotated by second knuckle attachment structure and third knuckle to be connected
Connect；Third knuckle is rotatablely connected by referring to root attachment structure with the palm structure, wherein, finger actuation unit passes through gear train
Part (ring gear) is connected with referring to root attachment structure, and third knuckle is driven under the drive of finger actuation unit relative to mechanical palms
Structure 2 is rotated.In the present embodiment, ring gear is rotated to drive third knuckle to be rotated relative to mechanical palms structure 2；3rd
Finger joint acts, and the action of second knuckle attachment structure is driven, so as to drive second knuckle to be rotated relative to third knuckle；Second knuckle
Action, the action of first knuckle attachment structure is driven, so as to drive first knuckle to be rotated relative to second knuckle；Hereby it is achieved that hand
Refer to the bending and stretching action of unit；Each finger joint linkage, transmission efficiency, flexure operation are sensitive.Certainly, in addition, hand
A finger actuation unit can also be connected respectively by referring to each joint part of unit, realize each finger joint independent control.
Those skilled in the art can be according to being actually needed flexible design.
Mechanical part in the present embodiment can use integral molding structure made of flexible material by 3D printing equipment.
The manipulator made using 3D printing technique, without the follow-up process that is linked and packed, is not only able to realize the bionical of human hands
Motion, and by using flexible material, realize environment-friendly function.
For flexible material, there can be multiple choices, be illustrated with a kind of material therein：The flexible material
For resin material, the tensile strength and bending modulus of the resin material are 30-40MPa.Preferably, the resin material bag
Include the composition of following parts by weight：The rubber of PLA, 20-40 part of ABS, 20-30 part of 25-30 parts and the silica gel of 20-40 parts.
Preferably, the resin material is made up of the composition of following parts by weight：25 parts of ABS, 25 parts of PLA, 25 parts of rubber and
25 parts of silica gel.After the resin material mixing of mentioned component composition, its tensile strength and bending modulus are under conditions of 35MPa
The manipulator sense of touch to be formed is printed by 3D printing equipment can imitate human hands.
There is different pliabilitys in order to realize the finger belly of finger interior and refer to the back of the body, further limited in the technical program
The density for the flexible material filled in finger unit at finger belly is less than in finger unit close to referring to the flexibility filled at the back of the body
The density of material.The restriction of the structure realizes the biomimetic features of the difference of pliability of the finger belly of finger unit with referring to the back of the body.Refer to
The flexible material filled at tripe and the shape for referring to the flexible material filled by place are different with density, and cause is passed to 3D printing making
The entity structure of the finger belly formed afterwards is more soft than the corresponding construction for referring to back portion, therefore can reach the bionical effect of simulation human hand
Fruit.
The manipulator to be completed by 3D printing, it is possible to achieve it is relatively soft and rich in bullet to refer to the relatively hard, finger belly of the back of the body
Property bionical effect, so as to improve contact performance when finger and object contact.By experimental results demonstrate unit volume stand under load
Deflection is that the flexibility at 0.15-2mm finger belly position is more than finger of the unit volume stand under load deflection less than 0.15mm by position,
Therefore, finger finger belly part is different from the pliability for referring to back portion, can reach the bionical effect of simulation human hand.
In addition, in the present embodiment, the mechanical part also includes：Bionics skin layer；Bionics skin layer uses flexible substrates material
The bed of material, the surface of flexible base material layer are coated with anti-static coating, and several elasticity are distributed with flexible base material layer should
Become sensor, elastic strain sensor is connected by netted outlet line with controller respectively；Bionics skin layer is divided into palm and touched
Sense layer and multiple finger allodynia layers, palm tactile layer are coated in mechanical palms structure 2, and finger allodynia layer is coated on mechanical finger
In structure 1.
Preferably, the link position between the palm tactile layer and finger allodynia layer is provided with void region or pleat line
The bendable portion of shape, the finger allodynia layer itself have multiple fingerstall portions, and the connection position between each fingerstall portion installs
It is equipped with the bendable portion of void region or pleat line shape.
Certainly, for bionics skin layer, it is simultaneously confined to said structure, can also flexibly be set according to being actually needed
Put.Such as：Any one following or several combinations can be superimposed with flexible base material layer, such as：Metal wire-drawing layer,
Fluoresent coating, graphene layer, carbon nanotube layer, antiultraviolet adhesive layer, anticorrosive coat, flame-retardant layer.
With reference to shown in Fig. 2, in the present embodiment, as a kind of further technical scheme, the end of mechanical forearm structure 4 is set
Wearing fixed part 5 is equipped with, the wearing fixed part 5 includes：Fixed part 7 (similar semicircular arc), ventilation part 9 (are similar to semicircle
Shape), U-shaped connect band (being similar to semicircle arcuation) and regulation ring 10 (being similar to annular shape)；Before the fixed part 7 and the machinery
The integrally connected of arm configuration, wherein, fixed part 7 can be solid structure, and multiple fixing holes are provided with the fixed part 7；Institute
State ventilation part 9 and be arranged at the end of fixed part 7, have the function that ventilative.Ventilation part 9 can use screen structure；The U-shaped
Connect band includes：First U-shaped band 6, the second U-shaped band 8, left connection base portion and right connection base portion 12, the first U-shaped band 6 and the
The first end of two U-shaped bands 8 is all connected to left connection base portion, and the second end of the first U-shaped band 6 and the second U-shaped band 8 is all connected to
Right connection base portion 12, the first U-shaped band 6 and the second U-shaped band 8 are installed on the fixation of the fixed part 7 by fixture respectively
Kong Shang.The first U-shaped band 6 and the second U-shaped band 8 are arranged at intervals, and are fixed between the two by middle connect band, described first
The middle part circular arc of the U-shaped band 8 of U-shaped band 6 and second is respectively provided with the trend of the direction extension to the mechanical wrist structure (to the machine
Convex is distributed before the position stretching of tool wrist structure)；The ear 11 of the both sides of regulation ring 10 connects base portion, right company with left respectively
Connect base portion 12 and be hinged that (certainly, left connection base portion, right connection base portion 12 length of itself are arranged to adjustable, can also
It is made up of memory material), one end of the regulation ring 10 is provided with regulation band, and the other end is provided with for locking the regulation band
Adjusting button.For the concrete structure between regulation band and adjusting button can with unrestricted, can according to being actually needed flexible setting,
Such as：Regulation, which takes, is provided with peace turn hole, and projection is provided with adjusting button；Or regulation takes and is provided with the first magnetic part,
Second magnetic part opposite with the magnetic part magnetic pole is provided with adjusting button.
What deserves to be explained is the part of above-mentioned all parts and direct skin contact can also further increase pro-skin painting
Layer, such as：Skin friendly coating is also provided with the inside of regulation ring, including：First structure layer (internal layer), enhancement layer
(intermediate layer) and the second structure sheaf (outer layer), first structure layer, enhancement layer and the second structure sheaf are cascading from inside to outside.
By such structure, the desired characteristic of the bending degree of regulation ring can be set.Preferably, as first structure layer, second
The constituent material of structure sheaf, polyamide-based resin, polyesters polyamide-based resin, polyethers polyamide, poly- can be used
Appointing in urethane, ABS resin, polyester elastomer resin, polyurethane elastomer resins, fluorine-type resin (PFA, PTFE, ETFE etc.)
Meaning is a kind of.Especially by the constituent material that ABS resin or nylon are used as to first structure layer, the second structure sheaf, so as to
Enough assign appropriate intensity.Preferably, the enhancement layer can be pre-buried wire netting.Preferably, the mesh shape of wire netting is formed
Shape is not specially limited, can be made for example circular, approximate rectangle, approximate ellipsoidal.In addition, the enhancement layer can also
For screw type wire structure, it is easy to adjust the intensity of conduit according to the spiral helicine number of turns.
As a kind of further technical scheme, the centre of the palm position of mechanical palms structure 2 is provided with heater.Such as：
The centre of the palm position of the mechanical palms structure 2 is coated with graphene zone of heating, and the graphene zone of heating connects with the controller
Connect.Or the centre of the palm position of mechanical palms structure 2 is provided with ultrasonic wave heater, it can equally carry out heating use.
In addition, in the present embodiment, further it can also be improved and expand.Such as：On the mechanical forearm structure 4
Muscle electric induction paster is connected with, the muscle electric induction paster is connected with the controller.Such as：The mechanical forearm structure
Lighting device and device of solar generating are provided with 4, the device of solar generating is connected with the controller, the control
Device is connected with the lighting device.It is, of course, also possible to increase such as：Pulse detection module, compass module, alarm module etc.
Deng no longer illustrating one by one herein.
It should be noted that on said structure basis, those skilled in the art can according to being actually needed flexible setting,
Structure can further be expanded, structure can also be simplified, no longer limited to herein.
In the present embodiment, as a kind of further technical scheme, the control section also includes identification system；Identity
Identifying system includes：Fingerprint recognition system and/or face identification system, fingerprint recognition system and/or face identification system are set
In on mechanical forearm structure 4, and it is connected with controller.
Such as：Fingerprint recognition system includes fingerprint mould module and preventing atomization module, and line mould module is connected with controller, antifog
Change module refers to for opponent to be blowed, to eliminate the sweat on finger.
Such as：Face identification system includes image acquisition units, image guidance unit and display unit；Described image gathers
Unit includes the main camera device being integrated in one and secondary camera device, and the main camera device is used to gather face artwork master
Picture, the secondary camera device are used to gather face coloured image；The controller is connected with the main camera device, for institute
The face monochrome image information for stating main camera device collection carries out identity differentiation；The display unit connects with the secondary camera device
Connect, the display unit is arranged on the mechanical forearm structure 4, for showing that the face that the secondary camera device is gathered is color
Color image；Described image guidance unit is connected with the display unit, is determined for generating recognition of face on the display unit
Position frame, the recognition of face posting are used to guide gathered person to carry out position adjustment.
In the present embodiment, for brain wave excites unit, the brain wave excites unit to include：Vision module, sound
Module, the one of which of vibration module and warming module or any several combinations.Wherein, above-mentioned modules can be corresponded to and set
Put on mechanical arm, can also be provided separately within miscellaneous part.
Preferably, vision module can be connected with controller, and vision module is connected with multiple sudden strains of a muscle flashed with different frequency
Bright lamp bead, by the change of lamp bead flicker frequency to stimulate brain to produce the brain wave of corresponding wave band.Such as：Controller prompt with
The relevant visual stimulus of the actions menu of equipment；After the prompting of visual stimulus, multiple events are measured, according to respectively
In the multiple electrodes that the face of user loads and the current potential between at least one reference electrode of the ear periphery loading of user
Difference, the timing to prompt visual stimulus is measured as multiple events of starting point；From the multiple event correlations electricity measured
Position extracts below 4-6Hz and includes the brain wave data of predetermined time interval respectively, and combines the brain wave data extracted
And it is used as brain wave characteristic；The more pre-prepd reference data and brain wave for discriminating whether to want selection operation menu
Characteristic；And according to above-mentioned comparative result, to perform operation corresponding with the actions menu of equipment.
In addition, sound module is connected with controller, sound module prestores the audio file of different wave spectrum frequencies.It is preferred that
, vibration module is connected with controller, and vibration module produces the brain wave of corresponding wave band by effect of vibration with brain.Warming mould
Block is connected with controller, and warming module stimulates the brain wave of the corresponding wave band of brain generation by temperature change.
In the present embodiment, brain wave detection unit can use current acquiring brain waves equipment, can also use other
Specific collecting device, illustrated with following one of which acquiring brain waves equipment.
The wearable EEG measuring device includes the dry electrode of some EEG measurings, an amplification filtration module, a modulus
Modular converter and a bluetooth serial ports module；The brain electric analoging signal that some dry electrodes of the EEG measuring will be measured by wire
Transmit to the amplification filtration module, amplified filtered brain electric analoging signal and transmit to the analog-to-digital conversion module, and turn
Brain electricity data signal waiting for transmission is changed to, brain electricity data signal can be exported into controller；The controller also can be through the indigo plant
Tooth serial port module is transmitted to mobile network's terminal.Mobile network's terminal is using mobile phone, tablet personal computer and notebook electricity
One kind in brain.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, either which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (7)
- A kind of 1. mechanical arm, it is characterised in that including：Mechanical part and control section；Wherein, the mechanical part includes：Mechanical forearm structure, mechanical wrist structure, mechanical palms structure and mechanical finger Structure；The mechanical forearm structure is rotatablely connected with the mechanical wrist structure, and the mechanical wrist structure is correspondingly connected with one Wrist driver element, the wrist driver element drive the mechanical wrist structure to be turned round by wrist STATEMENT OF FEDERALLY SPONSORED；It is described Mechanical palms structure is rotatablely connected with the mechanical wrist structure, and it is single that the mechanical palms structure is correspondingly connected with palm driving Member, the palm driver element drive the mechanical palms structure to be overturn by palm STATEMENT OF FEDERALLY SPONSORED；The mechanical finger knot Structure includes five finger units being sequentially arranged in the mechanical palms structure, and each finger unit is correspondingly connected with a hand Refer to driver element, the finger actuation unit is stretched and bent by finger unit corresponding to the drive of finger STATEMENT OF FEDERALLY SPONSORED；Wherein, the control section includes：Brain wave detection device, sensor detecting device and controller；The brain wave detection device includes：The brain wave detection unit that is electrically connected respectively with the controller, the life of frequency spectrum pattern Unit is excited into unit, frequency analysis unit and brain wave；The brain wave excites unit to be used to aid in human brain to inspire difference The brain wave of wave band；The brain wave detection unit is used to detect eeg signal；The frequency spectrum tern generation unit is used for root Brain wave frequency spectrum pattern is generated according to the detection signal of the brain wave detection unit；The frequency analysis unit is used for being generated Brain wave frequency spectrum pattern be analyzed with the brain wave frequency spectrum pattern to prestore, and analysis result is fed back into controller； The controller is according to the feedback result of the frequency analysis unit respectively to wrist driver element, palm driver element and finger Driver element sending action instructs；The wrist driver element, palm driver element and finger actuation unit are according to the control The action command that device is sent is acted accordingly；The sensor detecting device includes：Nine axle sensors that are electrically connected respectively with the controller, vision sensor, ranging Sensor, touch sensor and virtual fingertip force sensor；Nine axle sensor is respectively arranged at the pass of each finger unit Position is saved, nine axle sensor is used to the three-dimensional acceleration detected, three-dimensional angular velocity and Three-Dimensional Magnetic vector feeding back to institute State controller；The vision sensor is arranged at the centre of the palm position of the mechanical palms structure, and the vision sensor utilizes red Outside line is by the visual signature information of non-contacting mode detection object and feeds back to the controller；The distance measuring sensor, The touch sensor and the virtual fingertip force sensor may be contained within the pad of finger of the finger unit；The ranging passes Sensor is used for the range information of detection object and feeds back to the controller；The touch sensor is used to detect pad of finger Pressure value that surface is subject to simultaneously feeds back to the controller；The virtual fingertip force sensor is used to detect pad of finger and object Between frictional force type and feed back to the controller.
- 2. mechanical arm according to claim 1, it is characterised in thatThe brain wave detection device also includes：Prestore the first memory cell of a variety of brain wave frequency spectrum patterns and prestore more Second memory cell of kind action command data, the brain wave frequency spectrum pattern that each of which prestores and a kind of action command data Correspond；The frequency analysis unit is used for the brain wave frequency spectrum pattern generated with being prestored in first memory cell Brain wave frequency spectrum pattern be analyzed, and analysis result is fed back into controller, the controller is corresponding to read second The action command data of memory cell, and instructed according to action command data sending action.
- 3. mechanical arm according to claim 1, it is characterised in thatThe brain wave detection device also includes identification system；The identification system includes：Fingerprint recognition system and/ Or face identification system, the fingerprint recognition system and/or face identification system are arranged on the mechanical forearm structure, and with The controller connection.
- 4. mechanical arm according to claim 1, it is characterised in thatThe brain wave excites unit to include：Vision module, sound module, vibration module and warming module one of which or Any several combinations.
- 5. mechanical arm according to claim 1, it is characterised in that the mechanical part also includes：Bionics skin layer；Institute State bionics skin layer and use flexible base material layer, the surface of the flexible base material layer is coated with anti-static coating, described Several elastic strain sensors are distributed with flexible base material layer, the elastic strain sensor passes through netted output respectively Circuit is connected with the controller；The bionics skin layer is divided into palm tactile layer and multiple finger allodynia layers, and the palm touches Sense layer is coated in the mechanical palms structure, and the finger allodynia layer is coated on the mechanical finger structure.
- 6. mechanical arm according to claim 1, it is characterised in that the end of the mechanical forearm structure is provided with wearing Fixed part；The wearing fixed part includes：Fixed part, ventilation part, U-shaped connect band and regulation ring；The integrally connected of the fixed part and the mechanical forearm structure, the fixed part are provided with accommodating chamber, the fixed part On be provided with multiple fixing holes；The ventilation part is arranged at the end of the fixed part；The U-shaped connect band includes：First U-shaped band, the second U-shaped band, left connection base portion and right connection base portion, first U-shaped The first end of band and the second U-shaped band is all connected to left connection base portion, and the second end of the first U-shaped band and the second U-shaped band connects Right connection base portion is connected to, the first U-shaped band and the second U-shaped band are installed on the fixing hole of the fixed part by fixture respectively On, the spaced setting of the first U-shaped band and the second U-shaped, and fixed between the two by middle connect band, first U-shaped The middle part circular arc of band and the second U-shaped band is respectively provided with the trend of the direction extension to the mechanical wrist structure；The ear of the regulation ring both sides is hinged with left connection base portion, right connection base portion respectively, one end of the regulation ring Regulation band is provided with, the other end of the regulation ring is provided with the adjusting button for locking the regulation band.
- 7. mechanical arm according to claim 1, it is characterised in that the centre of the palm position of the mechanical palms structure is provided with Heater.
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| CN201711380850.9A CN107877501B (en) | 2017-12-20 | 2017-12-20 | Mechanical arm |
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| CN201711380850.9A CN107877501B (en) | 2017-12-20 | 2017-12-20 | Mechanical arm |
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| CN107877501B (en) | 2018-09-14 |
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