CN204932173U - A kind of mechanical arm master-slave operation equipment with damping feedback - Google Patents

Abstract

The utility model discloses a mechanical arm master-slave manipulation device with damping feedback, which comprises a master manipulator and a slave mechanism. The master manipulator has a joint mechanism with adjustable rotation damping force. The first mounting seat plate and the second mounting seat plate rotate relatively, the first mounting seat plate is fixed with a friction disc, and the second mounting seat plate is provided with a driving mechanism that contacts and rubs with the friction disc to change its rotational damping force, from The moving mechanism is provided with a joint and a joint actuator to drive the joint movement, and the angle sensor used to detect the relative rotation angle of the first mounting seat plate and the second mounting seat plate and the driven sensor used to detect the joint movement of the driven mechanism are all connected with The controller is connected, and the joint mechanism of the master manipulator is controlled by the controller to make an action suitable for the corresponding joint motion of the slave mechanism according to the feedback of the corresponding joint of the slave mechanism, realizing the functions of teaching reproduction and damping force feedback.

Description

A Master-Slave Manipulator of Manipulator with Damping Feedback

technical field

The utility model relates to the field of medical equipment, in particular to a master-slave manipulation device of a mechanical arm with damping feedback.

Background technique

With the aggravation of the aging trend in our country, human motor dysfunction (that is, the nerve damage of the human body caused by spinal injury, stroke, accident injury, etc.) has become a common disease. Through timely and effective rehabilitation training, the central nervous system of the brain can be stimulated to restore some functions, eliminate the limb motor dysfunction caused by motor neuron damage, and improve the patient's motor ability. With the development of economy and technology in recent years, the use of automated systems to help patients recover has become the mainstream of rehabilitation training at home and abroad.

Rehabilitation training equipment can cooperate with physical therapists to treat patients and help patients perform rehabilitation training. Although the existing rehabilitation training equipment has been developed for many years, and some have been applied to clinical treatment, there are still deficiencies in use: the movement posture curve data of rehabilitation training is pre-stored in the memory of the control system, and these data It collects the data of walking gait curve or upper limb activity of most normal people, and obtains the data after statistical analysis. It is difficult to learn to effectively operate existing rehabilitation equipment, let alone write programs in time to adjust the training action curve data for each patient. Rehabilitation training equipment is supposed to cooperate with the physiotherapist's treatment and play an auxiliary role, but now it affects the patient's treatment process due to manipulation problems.

Contents of the invention

The main purpose of the utility model is to provide a master-slave manipulator with damping feedback. The joint mechanism of the master manipulator is controlled by the controller to make the corresponding joint motion of the slave mechanism adaptively according to the feedback of the corresponding joint of the slave mechanism. Actions.

The utility model is realized by adopting the following technical solutions and technical measures.

The utility model proposes a mechanical arm master-slave manipulation device with damping feedback, comprising a master manipulator and a slave mechanism, the master manipulator has a joint mechanism with adjustable rotation damping force, the joint mechanism includes a main shaft, There are relatively rotatable first mounting seat plate and second mounting seat plate, the first mounting seat plate is fixed with a friction disc, and the second mounting seat plate is provided with contact friction with the friction disc to change its rotation damping Force driving mechanism, the slave mechanism is provided with a joint corresponding to the joint mechanism of the master manipulator and a joint actuator connected with the controller to drive the joint movement, used to detect the first mounting seat plate and the second mounting seat The angle sensor of the relative rotation angle of the plate and the slave sensor used to detect the joint motion of the slave mechanism are connected to the controller, and the controller judges the master in the same signal acquisition time interval according to the measured values of the angle sensor and the slave sensor. The difference between the rotational speed of the joint mechanism of the manipulator and the joint mechanism of the driven mechanism, and according to the size of the difference, the damping force of the joint mechanism of the master manipulator is controlled through the driving mechanism.

Preferably, the master-slave manipulator of the manipulator further includes a memory for storing predetermined action command signal data of the master manipulator, and the memory is connected with the controller to transmit the action command signal to the controller.

Preferably, the driven sensor is a driven angle sensor for detecting the joint movement angle of the driven mechanism.

Preferably, the driven sensor is a position sensor for detecting the joint movement position of the driven mechanism.

Preferably, the drive mechanism includes two cylinders oppositely arranged on both sides of the friction disc to clamp the friction disc, the two cylinders are connected with a proportional regulating valve for controlling their synchronous action, and the proportional regulating valve is connected with the controller to control Action of two cylinders.

Preferably, friction plates for clamping friction discs are provided inside the two cylinders.

Preferably, the main manipulator includes a plurality of joint mechanisms with adjustable rotational damping force, the joint mechanisms are connected by connecting rods, and the first mounting seat plate and the second mounting seat plate of the joint mechanisms are provided with fixed connecting rods. Mounting holes.

Preferably, the slave mechanism includes a plurality of joints corresponding to the master manipulator and a joint actuator for driving each joint to move, and the joint actuator is connected with the slave sensor.

Preferably, the angle sensor is arranged on the main shaft.

Preferably, the second mounting seat plate is fixed on the main shaft, and the first mounting seat plate rotates along the main shaft to drive the friction disc to rotate relative to the second mounting seat plate along the main shaft.

Compared with the prior art, the utility model has at least the following advantages and beneficial effects:

1. The utility model controls the joint mechanism of the main manipulator through the controller to make an action suitable for the corresponding joint movement of the slave mechanism according to the feedback of the corresponding joint of the slave mechanism. The slave mechanism is equivalent to the rehabilitation training equipment in the prior art , in order to make the joints of the slave mechanism make appropriate actions, the utility model designs a master manipulator to solve the inconvenience of modifying the motion curve parameter data in the memory in the prior art. Both the master manipulator and the slave mechanism are connected to the control On the one hand, the joints of the slave mechanism can act synchronously with the joint mechanism of the master manipulator; , to control the damping force of the joint mechanism of the master manipulator. The greater the speed difference, the greater the damping force fed back to the master manipulator by the controller. Adaptively make teaching actions suitable for people who use the slave mechanism, and realize the functions of teaching reproduction and damping force feedback. The physical therapist helps patients who use the slave mechanism to perform rehabilitation training by operating the main manipulator;

2. The memory can store the predetermined action command signal data of the master manipulator, and the appropriate action data made by the master manipulator according to the damping feedback of the slave mechanism can be stored in the memory, which is equivalent to the situation of the person (such as a patient) who uses the slave mechanism , update the motion curve data in the memory in real time, and within a certain period of time, the controller can call the appropriate data in the memory to control the slave mechanism to repeat the action several times, reducing the workload of the person operating the master manipulator;

3. The data fed back from the driven sensor to the controller can be the angle measurement value or position measurement value of the joint of the driven mechanism, and the appropriate driven sensor can be selected according to actual needs;

4. The two cylinders of the driving mechanism are set opposite to each other on both sides of the friction disc. The two cylinders are controlled by the proportional regulating valve to act synchronously to clamp the friction disc. The relative rotation angle of the first mounting seat plate and the second mounting seat plate is determined by the angle Sensor measurement, simple structure and ingenious design improve the linearity and rigidity of the joint mechanism.

Description of drawings

Fig. 1 is the control schematic diagram of the master-slave manipulator of the utility model with damping feedback.

Fig. 2 is a structural schematic diagram of an embodiment of the main manipulator in the utility model.

Fig. 3 is a schematic structural diagram of the joint mechanism in Fig. 2 .

Fig. 4 is a control schematic diagram of the joint mechanism in Fig. 3 .

Fig. 5 is a structural schematic diagram of another embodiment of the main manipulator in the present invention.

1: master manipulator, 11: connecting rod, 2: driven mechanism, 21: joint, 22: joint actuator, 23: driven sensor, 3: joint mechanism, 31: main shaft, 32: first installation seat plate, 33: Second installation seat plate, 34: Friction disc, 35: Driving mechanism, 351: Cylinder, 352: Proportional regulating valve, 353: Friction plate, 354: Air source, 36: Angle sensor, 4: Controller, 5: Storage, 6: belt, 7: guard plate, 8: size adjustment mechanism, 81: slide rail, 82: sliding seat.

detailed description

In order to make the content of the utility model more obvious and understandable, the utility model will be described in detail below in conjunction with specific embodiments.

The utility model provides a master-slave manipulation device of a mechanical arm with damping feedback. The device includes a master manipulator 1 and a slave mechanism 2. The slave mechanism 2 is equivalent to the rehabilitation training equipment in the prior art. In order to make the slave mechanism The joints 21 of 2 make appropriate actions. The utility model designs a master manipulator 1 to solve the inconvenience of modifying the motion curve parameter data in the memory in the prior art. Both the master manipulator 1 and the slave mechanism 2 are connected to the controller 4. Figure 1 is the control principle diagram of the utility model. The main manipulator 1 is worn on the joints of a person (such as a physical therapist), and the person teaches various training actions. The main manipulator 1 includes multiple rotation dampers Joint mechanism 3 with adjustable force, the joint mechanisms 3 are connected by connecting rod 11, the main manipulator 1 is attached to the joint of the person, the joint mechanism 3 of the main manipulator 1 corresponds to the joint of the person, and the connecting rod 11 The length is the length between two joints. When the human joint moves, the joint mechanism 3 of the main manipulator 1 will transmit the joint movement command (such as the joint rotation angle information) to the controller 4 . The slave mechanism 2 is used by the patient, the joint 21 in the slave mechanism 2 is driven by the joint actuator 22, and the joint actuator 22 is connected with the controller 4, and the controller 4 sends the action command signal of the master manipulator 1 to the joint for execution. The controller 22 allows the patient to follow and make corresponding actions. The controller 4 compares the joint movement information fed back by the slave mechanism 2 with the joint movement information of the master manipulator 1, and controls the damping of the joint mechanism 3 of the master manipulator 1 through the difference. The size of the force enables the person operating the master manipulator 1 to make actions suitable for the patient using the slave mechanism 2, realizing the functions of teaching reproduction and damping force feedback.

Referring to the embodiment of Fig. 2, the main manipulator 1 of the present utility model has more than one joint mechanism 3 with adjustable rotational damping force, each joint mechanism 3 corresponds to a joint of a person, and is responsible for the motion information collection and feedback damping of the joint For force adjustment, the joint mechanism 3 is the core of the main manipulator 1, and the joint mechanisms 3 are connected by connecting rods 11. Fig. 3 is a schematic structural view of the joint mechanism 3 in Fig. 2. As shown in Fig. 3, the joint mechanism 3 includes a main shaft 31, and the main shaft 31 is provided with a relatively rotatable first mounting seat plate 32 and a second mounting seat plate 33, A friction disc 34 is fixed on the first mounting seat plate 32 , and a driving mechanism 35 is provided on the second mounting seat plate 33 to contact and rub against the friction disc 34 to change its rotational damping force. Preferably, the second mounting seat plate 33 is fixed on the main shaft 31 , and the first mounting seat plate 32 rotates along the main shaft 31 to drive the friction disc 34 to rotate relative to the second mounting seat plate 33 along the main shaft 31 .

The main shaft 31 is connected with an angle sensor 36 for detecting the relative rotation angle of the first mounting seat plate 32 and the second mounting seat plate 33 , and the angle sensor 36 is connected with the controller 4 .

Referring to the control schematic diagram of Fig. 4, in this embodiment, the driving mechanism 35 includes two cylinders 351 oppositely arranged on both sides of the friction disc 34 to clamp the friction disc 34, and the ratio of the two cylinders 351 to control their synchronous actions The regulating valve 352 is connected, and the proportional regulating valve 352 is connected to the controller 4 to control the actions of the two cylinders 351. The air source 354 is connected to the proportional regulating valve 352, and the friction plates 353 for clamping the friction disc 34 are arranged inside the two cylinders 351. The structure is simple and the design is ingenious, which improves the linearity and rigidity of the joint mechanism 3 .

The first mounting seat plate 32 and the second mounting seat plate 33 are the rotating platform of the joint mechanism 3, and are also the mounting platforms of other parts. The first mounting seat plate 32 and the second mounting seat plate 33 all have a plurality of mounting holes, which can be Combined with different peripheral components (such as connecting rod 11), it constitutes a single-joint or multi-joint master manipulator.

As shown in Fig. 1, the slave mechanism 2 includes a joint 21 corresponding to the joint mechanism 3 of the master manipulator 1, a joint actuator 22 for driving the joint 21 to move, and a slave sensor 23 connected to the joint actuator 22. Both the sensor 23 and the joint actuator 22 are connected to the controller 4 . The angle sensor 36 of the main manipulator 1 sends the angle signal of the movement of the joint mechanism 3 to the controller 4, and after processing, the controller 4 sends the action instruction signal to the joint actuator 22 to drive the joint 21 to move, and the movement of the joint 21 ( Such as angle information or position information) is fed back to the controller 4 through the slave sensor 23, and the controller 4 calculates the angle difference between the joint mechanism 3 of the master manipulator 1 and the joint 21 of the slave mechanism 2 within the same signal collection time interval, that is, The rotational speed difference between the joint mechanism 3 of the master manipulator 1 and the joint 21 of the driven mechanism 2, and control the damping force of the joint mechanism 3 of the master manipulator 1 through the driving mechanism 35 according to the difference, the greater the difference, the feedback to the master manipulator The damping force of device 1 joint mechanism 3 is bigger. The person operating the main manipulator 1 (such as a physiotherapist) makes teaching actions suitable for the person using the slave mechanism 2 according to the damping feedback of the slave mechanism 2, and the physiotherapist helps to use the slave mechanism 2 by operating the master manipulator 1 patients undergoing rehabilitation training.

The driven sensor 23 may be a driven angle sensor and/or a position sensor, or other sensors capable of detecting joint movement information, and an appropriate driven sensor 23 may be rotated according to actual needs. In the case of a position sensor, the controller 4 can convert the position measurement into an angular value. In the same signal collection time interval, the controller 4 controls the magnitude of the damping force of the joint mechanism 3 of the master manipulator 1 according to the angle difference measured by the slave angle sensor of the slave mechanism 2 and the angle sensor 36 of the master manipulator 1 .

When the person operating the main manipulator 1 (such as a physical therapist) makes a suitable training action, the action needs to be stored, and the controller 4 can control the movement of the slave mechanism 2, so that the physical therapist does not have to repeat it all the time The same action reduces the workload of physical therapists. In order to achieve the above purpose, the master-slave manipulator of the utility model also includes a memory 5 for storing predetermined action command signal data of the master manipulator 1, and the memory 5 is connected with the controller 4 to transmit the action command signal to the controller 4. The controller 4 is also connected with human-computer interaction equipment, operated by the display screen, and parameters such as action type and time are set.

The main manipulator 1 in the embodiment of Fig. 2 is suitable for rehabilitation training of a single joint or two joints of the upper arm.

As shown in Figure 5, it is a schematic diagram of a multi-joint main manipulator for lower limb rehabilitation training in another embodiment of the present invention. The three joint mechanisms are respectively located at the hip joint, knee and ankle, and the three joint mechanisms correspond to the three kinematic joints of the human body. The main manipulator is also provided with some external devices, such as a belt 6, a guard plate 7 and a size adjustment mechanism 8, which are convenient to be fixed on the legs of a person, so that the joint mechanism 3 is just attached to the corresponding joints of the human body. Belt 6 includes waist belt, leg belt, foot belt, guard plate 7 can be leg guard plate, size adjustment mechanism 8 includes slide rail 81 and slide seat 82, leg guard plate 7 and joint mechanism 3 Connected by the size adjustment mechanism 8 , the slide rail 81 is fixed on the guard plate 7 , and the slide seat 82 is connected with the first mounting seat plate 32 or the second mounting seat plate 33 of the joint mechanism 3 .

In addition to the above description, the present utility model can also be widely used in other embodiments, and the protection scope of the present utility model is not limited by the embodiments, which is subject to the protection scope of the claims. Any skilled person familiar with this profession, according to the technical essence of the utility model to the simple modification of the above embodiments, still belongs to the scope of protection of the technical solution of the utility model.

Claims (10)

1. one kind has the mechanical arm master-slave operation equipment of damping feedback, it is characterized in that, comprise master manipulator (1) and follower (2), described master manipulator (1) has the adjustable articulation mechanism of rotary damping power (3), described articulation mechanism (3) comprises a main shaft (31), main shaft (31) is provided with relatively turnable first installation seat plate (32) and the second installation seat plate (33), described first installation seat plate (32) is fixed with frictional disk (34), second installation seat plate (33) is provided with frictional disk (34) contact friction to change the driving mechanism (35) of its rotary damping power, described follower (2) is provided with the joint (21) corresponding with the articulation mechanism of master manipulator (1) (3) and is connected with controller (4) and drives the joint executor (22) of these joint motions, relatively rotate the angular transducer (36) of angle be all connected with controller (4) with the slave sensor (23) of the joint motions situation for detecting follower for detecting the first installation seat plate (32) and the second installation seat plate (33), described controller (4) judges the difference of master manipulator (1) articulation mechanism (3) and follower (2) joint (21) rotating speed in same signals collecting interval according to the measured value of angular transducer (36) and slave sensor (23), and controlled the size of master manipulator (1) articulation mechanism (3) damping force by driving mechanism (35) according to difference size.

2. as claimed in claim 1 a kind of have damping feedback mechanical arm master-slave operation equipment, it is characterized in that, described mechanical arm master-slave operation equipment also comprises the memorizer (5) storing master manipulator predetermined action command signal data, and this memorizer (5) is connected to transmit action command signal to controller (4) with controller (4).

3. a kind of mechanical arm master-slave operation equipment with damping feedback as claimed in claim 1, it is characterized in that, described slave sensor (23) is the driven angular transducer of joint (21) movement angle detecting follower (2).

4. a kind of mechanical arm master-slave operation equipment with damping feedback as claimed in claim 1, it is characterized in that, described slave sensor (23) is the position sensor of joint (21) movement position detecting follower (2).

5. as claimed in claim 1 a kind of have damping feedback mechanical arm master-slave operation equipment, it is characterized in that, described driving mechanism (35) comprises and relative is arranged on frictional disk (34) both sides with two cylinders (351) of clamping friction dish (34), two cylinders (351) are connected with the ratio adjusting valve (352) controlling its synchronization action, and ratio adjusting valve (352) connection control device (4) is to control the action of two cylinders (351).

6. a kind of mechanical arm master-slave operation equipment with damping feedback as claimed in claim 5, is characterized in that, be equipped with the friction plate (353) of clamping friction dish (34) in described two cylinders (351) inner side.

7. as claimed in claim 1 a kind of have damping feedback mechanical arm master-slave operation equipment, it is characterized in that, described master manipulator (1) comprises the adjustable articulation mechanism (3) of multiple rotary damping power, be connected by connecting rod (11) between articulation mechanism (3), first installation seat plate (32) of articulation mechanism (3) and the second installation seat plate (33) are provided with the mounting hole site of stationary links (11).

8. as claimed in claim 1 a kind of have damping feedback mechanical arm master-slave operation equipment, it is characterized in that, described follower (2) comprises multiple joint corresponding with master manipulator (21) and the joint executor (22) for driving each joint (21) to move, and joint executor (22) is connected with slave sensor (23).

9. as claimed in claim 1 a kind of have damping feedback mechanical arm master-slave operation equipment, it is characterized in that, described angular transducer (36) is located on main shaft (31).

10. as claimed in claim 1 a kind of have damping feedback mechanical arm master-slave operation equipment, it is characterized in that, described second installation seat plate (33) is fixed on main shaft (31), described first installation seat plate (32) is rotated along main shaft (31), drives frictional disk (34) to rotate along main shaft (31) relative to the second installation seat plate (33).