CN107160386A - A kind of bionic mechanical arm - Google Patents
A kind of bionic mechanical arm Download PDFInfo
- Publication number
- CN107160386A CN107160386A CN201710566187.5A CN201710566187A CN107160386A CN 107160386 A CN107160386 A CN 107160386A CN 201710566187 A CN201710566187 A CN 201710566187A CN 107160386 A CN107160386 A CN 107160386A
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- CN
- China
- Prior art keywords
- nodal axisn
- shoulder joint
- nylon roller
- joint nodal
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of bionic mechanical arm, it includes the first shoulder joint nodal axisn, second shoulder joint nodal axisn, first elbow joint axle, second elbow joint axle, the the first shoulder joint nodal axisn nylon roller horizontally rotated is connected with the bottom of the first shoulder joint nodal axisn, the first directive wheel moved downward is provided with the first shoulder joint nodal axisn nylon roller both sides, the second shoulder joint nodal axisn is provided with the first directive wheel bottom, the second shoulder joint nodal axisn is provided with two vertical second shoulder joint nodal axisn nylon rollers, in the first shoulder joint nodal axisn nylon roller, the first shoulder joint nodal axisn steel wire is connected between first directive wheel and the second shoulder joint nodal axisn nylon roller；The beneficial effects of the invention are as follows：High, the easy to connect bionic mechanical arm of space availability ratio height, compact conformation, good appearance, easily controllable and pose accuracy, nylon roller and steel wire are employed in the mechanical arm structure, reduce the volume and weight of transmission system, it is driven sound small, price is relatively low, and ensure that the free degree required for motion.
Description
Technical field
Patent of the present invention is related to bionical prosthesis technique field, belongs to a kind of bionic mechanical arm.
Background technology
Artificial limb is the artificial limb for making and assembling to compensate the defect that amputation is caused to recover the form and function of human body
Body, it is amputee rehabilitation, the important means for returning society to install artificial limb.The structure design of bionic mechanical arm is even more prosthesis
In key components.Volume, weight, the outward appearance of biomimetic manipulator, and the movable free degree etc., all by mechanical arm
Structure design determine.Biomimetic manipulator requires that small volume, lightweight, good appearance, completion people as much as possible are first real
Existing action.But if it is desired to small volume, lightweight, then can limit its motor function.If it is desired to which motor function is stronger, it can increase again
Plus the volume and weight of mechanical arm.Then designing a kind of new mechanical structure turns into the method for solving this problem.
《Equipment manufacturing technology》The article that periodical was delivered 3 phases in 2013《A kind of 7 free degree mechanical prosthetic limb kinematics
Research》In prosthetic structure mainly carried out using Chain conveyer motion and power transmission.Although Chain conveyer energy preferably driving force,
But the volume and weight influence on mechanical arm is larger, and Chain conveyer has impact and noise, is not to be best suitable for doing mechanical prosthetic limb
Transmission mechanism.Number of patent application is CN201510608817.1, entitled《Artificial limb mechanical arm and robot and its controlling party
Method》Chinese patent, using triangular prism hinge and torsion fastening spring etc., multiple mechanisms are driven.Power source is air pressure or liquid
Pressure.Although can realize more multi-functional, structure is excessively complicated, is not easy to safeguard, and cost is too high.
The content of the invention
It is an object of the invention to provide a kind of space availability ratio height, compact conformation, good appearance, easily controllable and pose is smart
Nylon roller and steel wire are employed in degree bionic mechanical arm high, easy to connect, the mechanical arm structure, power train is reduced
The volume and weight of system, transmission sound is small, and price is relatively low, and ensure that the free degree required for motion.
To achieve the above object, the present invention takes following technical scheme：
A kind of bionic mechanical arm, it includes the first shoulder joint nodal axisn, the second shoulder joint nodal axisn, the first elbow joint axle, second
Elbow joint axle, it is characterised in that：The the first shoulder joint nodal axisn nylon roller horizontally rotated is connected with the bottom of the first shoulder joint nodal axisn,
The first directive wheel moved downward is provided with the first shoulder joint nodal axisn nylon roller both sides, the second shoulder is provided with the first directive wheel bottom
Joint shaft, the second shoulder joint nodal axisn is provided with two vertical second shoulder joint nodal axisn nylon rollers, in the rolling of the first shoulder joint nodal axisn nylon
The first shoulder joint nodal axisn steel wire is connected between wheel, the first directive wheel and the second shoulder joint nodal axisn nylon roller；
In the bottom of the second shoulder joint nodal axisn side by side provided with the first motor and the second motor that rotate vertically, in the first motor and
Second motor upper end is connected to level the second shoulder joint nodal axisn nylon roller, in the outer of level the second shoulder joint nodal axisn nylon roller
Side is provided with the second directive wheel, in level the second shoulder joint nodal axisn nylon roller, the second directive wheel and vertical second shoulder joint nodal axisn nylon
The second shoulder joint nodal axisn steel wire is connected between roller；
Large arm shell is connected with the bottom of the first motor and the second motor, provided with the rotated vertically on large arm shell
Three motors, the first elbow joint axle is connected with the 3rd motor lower end, and the second elbow joint axle is provided with the bottom of the first elbow joint axle,
Vertical second elbow joint axle nylon roller is connected with the second elbow joint axle, in the second elbow joint axle bottom provided with outside forearm
Shell, provided with the 4th motor rotated vertically in the forearm shell, the elbow of level second pass is connected with the upper end of the 4th motor
Nodal axisn nylon roller, is provided with the 3rd directive wheel, in vertical second elbow joint in the side of level the second elbow joint axle nylon roller
The 3rd shoulder joint nodal axisn steel wire is connected between axle nylon roller, the 3rd directive wheel and level the second elbow joint axle nylon roller.
The bionic mechanical arm of the present invention, includes 2 frees degree and 2 frees degree of elbow joint of shoulder joint, shoulder joint
It is large arm between elbow joint, is forearm under elbow joint.In order that compact conformation, good appearance, the driving and transmission in each joint
System should be arranged in the cavity of large arm and forearm.Simultaneously in view of to make end load as big as possible, drive system should
The nearly body end of body is disposed adjacent to, makes the center of gravity of bionic arm close to shoulder joint.Power source is using four motors, driving-chain master
To be driven using nylon roller and steel wire combination, big arm section is driven by two motors, motor output passes through two nylon
Roller is delivered to the firm banking being connected with human body with steel wire, so as to realize rotary motion of the motor relative to firm banking.Greatly
The 3rd motor in arm drives arm movements by steel wire drive, realizes the rotary motion of forearm.And small arm section is by one
Motor is driven, and forearm is completed around elbow joint rotary motion by nylon roller and steel wire.So as to complete four frees degree of artificial limb
Motion.
The beneficial effects of the invention are as follows：
1st, space availability ratio is high, and small volume is lightweight.
This mechanical arm is designed according to normal human arm size completely, due to the use of nylon roller and steel wire, greatly
Ground reduces the volume and quality of whole mechanical arm, and space availability ratio is high.
2nd, it is easy to disassembly and maintenance.
This structural principle is simple and reliable, and the parts used install easy, overhaul and safeguard and be very convenient.
3rd, cost is low.
Prime cost is only motor and corresponding control section, and mechanical structure portion uses parts simple and easy to get, and
Easily, cost is relatively low for process and assemble.
4th, the action of normal human arm can be completed
This mechanical arm is designed fully according to normal person's arm motion rule, and its four frees degree can fully meet human body just
The motion requirement of normal arm.
Brief description of the drawings
Fig. 1 is the principle schematic diagram of the present invention.
Embodiment
It is shown in Figure 1：A kind of bionic mechanical arm, it includes the first shoulder joint nodal axisn 1, the second shoulder joint nodal axisn 6, first
Elbow joint axle 12, the second elbow joint axle 13, the first shoulder joint nodal axisn Buddhist nun horizontally rotated is connected with the bottom of the first shoulder joint nodal axisn 1
Imperial roller 2, the first directive wheel 3 moved downward is provided with the both sides of the first shoulder joint nodal axisn nylon roller 2, under the first directive wheel 3
Portion is provided with the second shoulder joint nodal axisn 6, and the second shoulder joint nodal axisn 6 is provided with two vertical second shoulder joint nodal axisn nylon rollers 5, first
The first shoulder joint nodal axisn steel is connected between shoulder joint nodal axisn nylon roller 2, the first directive wheel 3 and the second shoulder joint nodal axisn nylon roller 5
Silk 4；
In the bottom of the second shoulder joint nodal axisn 6 side by side provided with the first motor 21 and the second motor 10 rotated vertically, first
The upper end of 21 and second motor of motor 10 is connected to level the second shoulder joint nodal axisn nylon roller 9, in level the second shoulder joint nodal axisn
The outside of nylon roller 9 is provided with the second directive wheel 8, in level the second shoulder joint nodal axisn nylon roller 9, the second directive wheel 8 and vertical
The second shoulder joint nodal axisn steel wire 7 is connected between second shoulder joint nodal axisn nylon roller 5；
Large arm shell 20 is connected with the bottom of the first motor 21 and the second motor 10, provided with vertical on large arm shell 20
The 3rd motor 11 rotated, is connected with the first elbow joint axle 12, in the bottom of the first elbow joint axle 12 in the lower end of the 3rd motor 11
Provided with the second elbow joint axle 13, vertical second elbow joint axle nylon roller 14 is connected with the second elbow joint axle 13, second
The bottom of elbow joint axle 13 is provided with forearm shell 15, provided with the 4th motor 19 rotated vertically in the forearm shell 15, this
The upper end of four motors 19 is connected with level the second elbow joint axle nylon roller 18, in level the second elbow joint axle nylon roller 18
Side is provided with the 3rd directive wheel 17, is closed in vertical second elbow joint axle nylon roller 14, the 3rd directive wheel 17 and the elbow of level second
The 3rd shoulder joint nodal axisn steel wire 16 is connected between nodal axisn nylon roller 18.
The technical principle described above for being presently preferred embodiments of the present invention and its being used, for those skilled in the art
For, without departing from the spirit and scope of the present invention, any equivalent change based on the basis of technical solution of the present invention
Change, simply replacement etc. obviously changes, belong within the scope of the present invention.
Claims (1)
1. a kind of bionic mechanical arm, it includes the first shoulder joint nodal axisn, the second shoulder joint nodal axisn, the first elbow joint axle, the second elbow
Joint shaft, it is characterised in that：The the first shoulder joint nodal axisn nylon roller horizontally rotated is connected with the bottom of the first shoulder joint nodal axisn,
First shoulder joint nodal axisn nylon roller both sides are provided with the first directive wheel moved downward, and the second shoulder joint is provided with the first directive wheel bottom
Nodal axisn, the second shoulder joint nodal axisn provided with two vertical second shoulder joint nodal axisn nylon rollers, the first shoulder joint nodal axisn nylon roller,
The first shoulder joint nodal axisn steel wire is connected between first directive wheel and the second shoulder joint nodal axisn nylon roller；
In the bottom of the second shoulder joint nodal axisn side by side provided with the first motor and the second motor rotated vertically, in the first motor and second
Motor upper end is connected to level the second shoulder joint nodal axisn nylon roller, is set on the outside of level the second shoulder joint nodal axisn nylon roller
There is the second directive wheel, in level the second shoulder joint nodal axisn nylon roller, the second directive wheel and vertical second shoulder joint nodal axisn nylon roller
Between be connected with the second shoulder joint nodal axisn steel wire；
Large arm shell is connected with the bottom of the first motor and the second motor, provided with the 3rd electricity rotated vertically on large arm shell
Machine, the first elbow joint axle is connected with the 3rd motor lower end, and the second elbow joint axle is provided with the bottom of the first elbow joint axle, the
Vertical second elbow joint axle nylon roller is connected with two elbow joint axles, forearm shell is provided with the second elbow joint axle bottom,
Provided with the 4th motor rotated vertically in the forearm shell, level the second elbow joint axle Buddhist nun is connected with the upper end of the 4th motor
Imperial roller, is provided with the 3rd directive wheel, in vertical second elbow joint axle nylon in the side of level the second elbow joint axle nylon roller
The 3rd shoulder joint nodal axisn steel wire is connected between roller, the 3rd directive wheel and level the second elbow joint axle nylon roller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710566187.5A CN107160386A (en) | 2017-07-12 | 2017-07-12 | A kind of bionic mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710566187.5A CN107160386A (en) | 2017-07-12 | 2017-07-12 | A kind of bionic mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107160386A true CN107160386A (en) | 2017-09-15 |
Family
ID=59818353
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710566187.5A Pending CN107160386A (en) | 2017-07-12 | 2017-07-12 | A kind of bionic mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107160386A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113977626A (en) * | 2021-12-24 | 2022-01-28 | 季华实验室 | Tendon drives bionical wrist joint based on tension structure |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2389046Y (en) * | 1999-09-30 | 2000-07-26 | 上海交通大学 | Rotation joint arm driven by SMA screw different action |
| CN101028712A (en) * | 2007-02-09 | 2007-09-05 | 北京航空航天大学 | Rope-driven redundancy mechanical arm |
| CN101204815A (en) * | 2007-04-27 | 2008-06-25 | 北京理工大学 | Seven degrees of freedom copy man arm of air-powered artificial muscle drive |
| US20080288107A1 (en) * | 2007-05-14 | 2008-11-20 | Oki Electric Industry Co., Ltd. | Robot for training a rehabilitator |
| CN105708585A (en) * | 2016-01-20 | 2016-06-29 | 沈阳工业大学 | Six-degree-of-freedom intelligent artificial arm based on line-drive differential joints |
-
2017
- 2017-07-12 CN CN201710566187.5A patent/CN107160386A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2389046Y (en) * | 1999-09-30 | 2000-07-26 | 上海交通大学 | Rotation joint arm driven by SMA screw different action |
| CN101028712A (en) * | 2007-02-09 | 2007-09-05 | 北京航空航天大学 | Rope-driven redundancy mechanical arm |
| CN101204815A (en) * | 2007-04-27 | 2008-06-25 | 北京理工大学 | Seven degrees of freedom copy man arm of air-powered artificial muscle drive |
| US20080288107A1 (en) * | 2007-05-14 | 2008-11-20 | Oki Electric Industry Co., Ltd. | Robot for training a rehabilitator |
| CN105708585A (en) * | 2016-01-20 | 2016-06-29 | 沈阳工业大学 | Six-degree-of-freedom intelligent artificial arm based on line-drive differential joints |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113977626A (en) * | 2021-12-24 | 2022-01-28 | 季华实验室 | Tendon drives bionical wrist joint based on tension structure |
| CN113977626B (en) * | 2021-12-24 | 2022-03-08 | 季华实验室 | Tendon drives bionical wrist joint based on tension structure |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170915 |