CN111660284A - Wearable cooperation robot with auxiliary stay function - Google Patents
Wearable cooperation robot with auxiliary stay function Download PDFInfo
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- CN111660284A CN111660284A CN202010547843.9A CN202010547843A CN111660284A CN 111660284 A CN111660284 A CN 111660284A CN 202010547843 A CN202010547843 A CN 202010547843A CN 111660284 A CN111660284 A CN 111660284A
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- 230000033001 locomotion Effects 0.000 claims abstract description 31
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- 230000001276 controlling effect Effects 0.000 claims description 3
- 230000000875 corresponding effect Effects 0.000 claims description 3
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- 210000001364 upper extremity Anatomy 0.000 abstract description 3
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
A wearable cooperative robot with auxiliary support functionality, comprising: the system comprises two multi-degree-of-freedom auxiliary operation mechanical arms, a wearable back plate, two three-degree-of-freedom auxiliary supporting legs, a driving and transmission module, a sensing module, a control module and a power supply module; the multi-degree-of-freedom auxiliary operation mechanical arm comprises: the mechanical arm body and the tail end executing device; the three-degree-of-freedom auxiliary supporting leg comprises: the hip joint is used for changing the front-back and left-right swing angles of the supporting leg; the wearable back plate comprises: both arms base, supporting leg base, power base, control draw-in groove and the bandage of being connected with the human body. The control module is connected with the sensing module and the driving and transmission module and controls the movement of the double arms and the supporting legs. The invention can assist the work of the upper limbs of the human body, and simultaneously transfers the load of the back to the ground through the supporting legs, thereby reducing the load of the human body.
Description
Technical Field
The invention relates to the technical field of wearable cooperative robots, in particular to a wearable cooperative robot with an auxiliary supporting function.
Background
The wearable cooperative robot is a robot which can be fixed on a human body in a wearing mode and can assist the human body to complete a certain task, is a novel robot between the wearable robot and the cooperative robot, and can effectively overcome the defects that the wearable exoskeleton robot is limited in joint movement and the cooperative robot is poor in autonomous mobility. The wearable cooperative robot can supplement or expand the working capacity of people by fixing the mechanical arm or the mechanical arm on the trunk or the four limbs of the human body, so that tasks needing to be completed by multiple people originally can be completed by one person, and the imagination that people possess three heads and six arms is realized to a certain extent. The wearable cooperative robot has the characteristics of fatigue resistance of the robot, flexibility and accuracy of a human body and the like, and can exert the advantages of man-machine cooperation to a great extent.
Although wearable cooperative robots have unique advantages, the robot's self-weight and load-bearing capabilities are severely limited due to the influence of the wearable structure. The large self weight or load of the robot may make the wearing comfort of the robot be greatly compromised when worn for a long time. Therefore, the light weight of the wearable cooperative robot has been the research focus.
The examination of the prior art documents shows that:
chinese patent (application No. 2015101308616): wearable function auxiliary machinery arm of waist. The patent mainly provides a device comprising seven-degree-of-freedom rope-driven double arms and a lower limb exoskeleton, wherein the rope-driven double arms are designed by imitating double arms of a human body and can flexibly move in a three-dimensional space; the lower limb exoskeleton can conduct the self weight of the device to the ground, so that the load of a human body is reduced. The device can adopt myoelectric signal, intelligent bracelet, three kinds of mode control of brain machine interface, is applicable to multiple crowds such as healthy and disabled. The device has the defects that the lower limbs of the device adopt an exoskeleton assistance mode, the design of the device needs to meet the motion limitation of human joints, and the device only can play a role in reducing load and cannot assist in supporting and balancing the human body.
Chinese patent (application No. 2019108216026): wearable three-degree-of-freedom human-body auxiliary outer mechanical arm. This patent mainly provides a wearable auxiliary machinery arm of three degrees of freedom, and the arm cooperation hand claw open and shut can realize the task of snatching in three-dimensional space. This patent adopts hydraulic drive and synchronous belt drive, has effectively reduced arm inertia, but the whole quality of robot is obviously reduced not, wears the travelling comfort and can not obtain obvious improvement.
Disclosure of Invention
On the basis of analyzing the advantages and the defects of the wearable cooperative robot, the wearable cooperative robot with the auxiliary supporting function is designed. The invention can assist the upper limbs of the human body to complete certain operation, simultaneously can provide certain auxiliary support and balance for the human body and the upper limb mechanical arm, effectively reduces the load of the human body and avoids fatigue damage.
In order to realize the target functions, the invention adopts the following technical scheme:
a wearable cooperative robot with auxiliary support functionality, comprising; the system comprises a wearable back plate, a multi-degree-of-freedom auxiliary operation mechanical arm arranged on the wearable back plate, two three-degree-of-freedom auxiliary supporting legs arranged below the wearable back plate, a sensing module, a control module and a power supply module;
each three-degree-of-freedom auxiliary supporting leg comprises: the short connecting rod and the long connecting rod are hinged with the side surface of the short connecting rod; one side surface of the long connecting rod is provided with a screw rod extending along the extending direction of the long connecting rod and a telescopic rod which is sleeved on the screw rod and forms threaded fit with the screw rod, one surface of the long connecting rod facing the telescopic rod is provided with a guide rail, and the bottom of the telescopic rod is clamped on the guide rail; the long connecting rod is also provided with a lead screw driving motor, the lead screw driving motor drives the lead screw to generate rotary motion, the rotary motion is converted into linear motion of the telescopic rod through lead screw transmission, and the motion reversing of the telescopic rod is realized by controlling the motor to rotate forwards and backwards.
Compared with the prior art, the invention has the following advantages:
the auxiliary supporting device is added, the weight limit requirement of the robot is reduced, and the light-weight design difficulty is reduced. Meanwhile, the loading capacity of the wearable cooperative robot is also obviously improved, and workers can be assisted to operate to a greater extent. In addition, by unloading most of the load, the wearing comfort is greatly improved.
The invention also has the function of providing auxiliary support, can carry out necessary support on workers, and reduces the damage of easy fatigue and easy injury pose to the joints and muscles of the workers.
Drawings
FIG. 1 is a schematic three-dimensional structure of the present invention.
Fig. 2 is a rear view of the present invention.
Fig. 3 is a right side view of the present invention.
Fig. 4 is a schematic structural diagram of the three-degree-of-freedom auxiliary mechanical arm.
FIG. 5 is a structural diagram of an auxiliary support leg with three degrees of freedom.
Fig. 6 is a schematic view of the flat-bed mechanism.
Fig. 7 is a schematic diagram of the auxiliary robot arm control.
FIG. 8 is a schematic diagram of auxiliary support leg control.
Wherein: the multi-degree-of-freedom auxiliary operation mechanical arm comprises a multi-degree-of-freedom auxiliary operation mechanical arm 1, a wearable back plate 2, a three-degree-of-freedom auxiliary supporting leg 3, a tail end supporting block 4, a multi-degree-of-freedom auxiliary supporting leg 5, a mechanical arm base 6, a joint motor 7, a fixed back plate 8, a supporting leg base 9, a shoulder strap 10, a mechanical arm body 11, a tail end supporting block 4, a control clamping groove 13, a power supply 14, a base connecting rod 110, a small arm connecting rod 111, a large arm connecting rod 112, an encoder 113, a contact panel 120, an inverted triangle structure 121, a balancing weight 122, a short connecting rod 501, a long connecting.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Referring to fig. 1 to 5, the present invention discloses a wearable cooperative robot with three-degree-of-freedom auxiliary operation mechanical arm and auxiliary support leg, which specifically includes: the three-degree-of-freedom auxiliary operation mechanical arm comprises two three-degree-of-freedom auxiliary operation mechanical arms 1, a wearable back plate 2, two three-degree-of-freedom auxiliary supporting legs 3, a driving and transmission module and a sensing and control module; wherein: wearable backplate 2 is connected with two auxiliary operation arms 1, two auxiliary support legs 3 through arm base 6 and supporting leg base 9 respectively to make the three constitute a robot wholly. The driving and transmission module, the control system module and the sensing module drive, control and feed back the motion of the mechanical double arms and the supporting legs.
The two three-degree-of-freedom auxiliary operation mechanical arms 1 comprise: a base connecting rod 110, a small arm connecting rod 111, a large arm connecting rod 112, a tail end flat support 12 and a driving and transmission mechanism corresponding to each joint. Wherein: one end of the base connecting rod 110 is connected with the wearable backboard 2, the other end of the base connecting rod is connected with the large arm connecting rod 112, the small arm connecting rod 111 is connected with the large arm connecting rod 112, and finally the tail end flat support 12 is connected with the small arm connecting rod 111 to form the three-degree-of-freedom auxiliary operation mechanical arm 1.
As shown in fig. 6, the tip butt 12 includes: a touch panel 120, an inverted triangle structure 121, and a weight 122. The weight 122 is installed below the rotating shaft of the inverted triangle structure 121, and the weight 122 is always kept in a vertical state by gravity, so as to ensure that the inverted triangle contacts the panel 120 horizontally. The touch panel 120 is made of rubber with good anti-slip performance.
The two three-degree-of-freedom auxiliary support legs 3 comprise: a short connecting rod 501, a long connecting rod 502, a screw driving motor 503, a coupling 504, a screw 505, a telescopic rod 506, a T-shaped guide rail 507, a motor support 508 and an end supporting block 4. Wherein: one end of the short connecting rod 501 is connected with the wearable back plate 2, the other end of the short connecting rod 501 is connected with the long connecting rod 502, the telescopic rod 506 can slide along the T-shaped guide rail 507 connected with the long connecting rod 502, the screw rod drives the motor 503 to generate rotary motion, the rotary motion is finally converted into linear motion of the telescopic rod 506 through screw rod transmission, and the motion reversing of the telescopic rod can be realized by controlling the motor 503 to rotate forwards and backwards; and finally, the tail end supporting block 4 is connected with the telescopic rod 506 to finally form the integral structure of the three-degree-of-freedom auxiliary supporting leg 3. The tail end supporting block 4 can be replaced by a spherical tail end or a hook hand which can be connected with a scaffold according to different working conditions. Wherein the spherical end adopts rubber with excellent anti-skid property as surface material to prevent skidding.
The back wearable structure 2 comprises: the mechanical arm base 6, the supporting leg base 9, the shoulder harness 10 connected with the human body and the control card slot 13. Wherein: the mechanical arm base 6 and the supporting leg base 9 are respectively connected with the auxiliary operation double arms 1 and the auxiliary supporting legs 3, so that the three are physically connected. Wherein: the control panel is installed in the control card slot 13 and is connected with the sensing module and the driving module through the reserved interface, so that the motion control of the mechanical double arms and the supporting legs is realized.
And a motor for driving the mechanical arms to rotate around the longitudinal axis is arranged below the center of the mechanical arm base.
The drive and transmission module includes: direct current servo motor, servo motor driver, motor reducer and have self-locking performance's screw mechanism. Wherein: the rotary joints are directly driven by connecting a servo motor with a gear reducer, and the motor and the reducer are uniformly distributed at the joints; the linear joint adopts a screw rod transmission mode with servo motor driving and self-locking performance, changes the rotary motion into linear motion, effectively prevents the occurrence of a reverse driving phenomenon, and ensures the support stability.
The sensing module includes: encoder, inertial measurement unit, force sensor. The sensing module can realize the sensing and measurement of the joint angle, the angular velocity, the angular acceleration, the joint displacement and the contact force of the mechanical arm. Meanwhile, the sensing module can also detect and sense human body postures and limb movements and realize human-computer interaction to a certain degree by matching with the control system module.
The auxiliary operation mechanical arm adopts an autonomous control mode based on machine learning, and the control principle is shown in fig. 7. When an autonomous control mode is adopted, a task model comprising a mechanical arm and a human body arm needs to be established, and the robot can independently learn through early-stage teaching by combining the task model. In the working process of the mechanical arm, the inertia measurement unit is connected to the two arms of the human body and monitors the movement of the two arms. The robot can judge the current task process state by the monitoring signal and combining the task model, and then control the mechanical arms to take corresponding actions according to the previous teaching mode, thereby achieving the effect of cooperating with the human. The control mode is suitable for specific tasks with clear flow and work.
The auxiliary supporting legs adopt an electromyographic control mode, and the control principle is shown in figure 8. When the control mode is adopted, the electromyographic sensors are arranged on different positions (such as pectoral muscles or abdominal muscles) of the trunk and the limbs of the human body, the electromyographic signals of the pectoral muscles, the abdominal muscles and the lower leg parts of the human body are collected by the electromyographic sensors, and the muscles on different collection positions respectively control different joint motions of the auxiliary supporting legs. In the embodiment, the pectoral muscles control the left-right swing of the auxiliary supporting legs, the abdominal muscles control the front-back swing of the auxiliary supporting legs, and the muscles at the lower leg parts control the telescopic rods to do telescopic motion. The strength of the electromyographic signal can control the movement speed and amplitude of each joint of the auxiliary supporting leg. The wearer can flexibly control the motion of the auxiliary supporting leg only by training for a short time. The control mode can realize the flexible movement of the auxiliary supporting leg and can complete the auxiliary supporting task under the complex working condition.
The technical solution of the present invention is not limited to the limitations of the above specific embodiments, and all technical modifications made according to the technical solution of the present invention fall within the protection scope of the present invention.
Claims (10)
1. A wearable cooperative robot with auxiliary support function, comprising; the system comprises a wearable back plate, a multi-degree-of-freedom auxiliary operation mechanical arm arranged on the wearable back plate, two three-degree-of-freedom auxiliary supporting legs arranged below the wearable back plate, a sensing module, a control module and a power supply module;
each three-degree-of-freedom auxiliary supporting leg comprises: the short connecting rod and the long connecting rod are hinged with the side surface of the short connecting rod; one side surface of the long connecting rod is provided with a screw rod extending along the extending direction of the long connecting rod and a telescopic rod which is sleeved on the screw rod and forms threaded fit with the screw rod, one surface of the long connecting rod facing the telescopic rod is provided with a guide rail, and the bottom of the telescopic rod is clamped on the guide rail; the long connecting rod is also provided with a lead screw driving motor, the lead screw driving motor drives the lead screw to generate rotary motion, the rotary motion is converted into linear motion of the telescopic rod through lead screw transmission, and the motion reversing of the telescopic rod is realized by controlling the motor to rotate forwards and backwards.
2. The wearable cooperative robot having an auxiliary support function according to claim 1, wherein the multiple degree of freedom auxiliary operation robot arm comprises: the mechanical arm body and the tail end executing device; wherein, the end executing device is a mechanical dexterous hand or a special executing mechanism.
3. The wearable cooperative robot with auxiliary support function according to claim 2, wherein the dedicated actuator is a flat-support mechanism comprising: a contact panel, an inverted triangle block and a balancing weight; the balancing weight is arranged below the rotating shaft of the inverted triangle block, and the balancing weight is always kept in a vertical state under the action of gravity, so that the upper contact surface of the inverted triangle block is horizontal.
4. The wearable cooperative robot with the auxiliary supporting function according to claim 1, wherein the screw transmission can realize self-locking by means of self-friction; when no driving force acts, the telescopic rod cannot perform telescopic motion due to self-locking performance, namely the auxiliary supporting leg is reversely driven and self-locked; when the support reaches a steady state, the motor does not work.
5. Wearable cooperative robot with auxiliary support function according to claim 4, characterized in that the bottom area of the telescopic rod is mounted with an end support device, which is a spherical end or a hook connectable to a scaffold.
6. The wearable cooperative robot having an auxiliary support function according to claim 1, wherein the wearable back plate comprises: the device comprises a mechanical arm base, a supporting leg base, a power supply base, a control clamping groove and a shoulder bandage connected with a human body; the mechanical arm base and the support leg base are respectively connected with the auxiliary operation double arm and the auxiliary support leg, so that the mechanical arm base and the support leg base are physically connected; wherein control panel installs in control slot, is connected with sensing module, drive module through reserving the interface, realizes sensing and control to mechanical both arms and supporting leg.
7. The wearable cooperative robot with the auxiliary supporting function according to claim 2, wherein the rotary joints of the multi-degree-of-freedom auxiliary operation mechanical arm are directly driven by connecting a servo motor with a gear reducer, and the motor and the reducer are both arranged at the joints.
8. The wearable cooperative robot with auxiliary support function according to claim 1, wherein the sensing module comprises: the device comprises an encoder, an inertial measurement unit, a myoelectric sensor and a force sensor; the sensing module measures and senses the joint angle, the angular velocity, the angular acceleration, the joint displacement and the contact force of the mechanical arm through the configuration of different sensors; meanwhile, the sensing module can detect and sense the human body posture and the limb movement and is matched with the control system module, and finally, the robot can realize human-computer interaction to a certain degree.
9. The wearable cooperative robot with the auxiliary support function according to claim 1, wherein the auxiliary operation mechanical arm adopts an autonomous control mode based on machine learning; when an autonomous control mode is adopted, a task model comprising a mechanical double arm and a human body double arm needs to be established, and the robot can perform autonomous learning through early-stage teaching by combining the task model; in the working process of the mechanical arm, the inertial measurement unit monitors the motion of the two arms of the human body; the robot judges the current task state through the monitoring signal, and controls the mechanical arms to take corresponding actions according to an earlier teaching mode, so that the effect of cooperating with the human is achieved.
10. The wearable cooperative robot with the auxiliary supporting function according to claim 1, wherein the auxiliary supporting leg adopts an electromyographic control mode; the myoelectric sensors are arranged at different positions of the trunk of a human body, muscles at different collecting positions respectively control different movement directions of the auxiliary supporting leg, and meanwhile the strength of myoelectric signals controls the movement speed and amplitude of the auxiliary supporting leg.
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| CN202010547843.9A CN111660284A (en) | 2020-06-16 | 2020-06-16 | Wearable cooperation robot with auxiliary stay function |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112623060A (en) * | 2020-12-25 | 2021-04-09 | 哈尔滨工业大学 | Mobile and wearable dual-mode robot |
| CN113084781A (en) * | 2021-04-08 | 2021-07-09 | 中国科学技术大学 | Variable-rigidity wearing system for positive pressure particle congestion |
| CN113276091A (en) * | 2021-04-26 | 2021-08-20 | 南京航空航天大学 | Foldable outer limb robot |
| CN113370177A (en) * | 2021-05-17 | 2021-09-10 | 武汉理工大学 | Wearable man-machine cooperation assembly clamp holder for assembling front-end module of automobile |
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| KR20140088722A (en) * | 2013-01-03 | 2014-07-11 | 숭실대학교산학협력단 | Wearable Robot and Control Method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113084781A (en) * | 2021-04-08 | 2021-07-09 | 中国科学技术大学 | Variable-rigidity wearing system for positive pressure particle congestion |
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| CN113276091A (en) * | 2021-04-26 | 2021-08-20 | 南京航空航天大学 | Foldable outer limb robot |
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| CN113370177B (en) * | 2021-05-17 | 2024-06-18 | 武汉理工大学 | Wearable man-machine cooperation assembly clamp holder for assembling front end module of automobile |
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