CN110744587B - Seven-axis bionic mechanical arm and control system thereof - Google Patents
Seven-axis bionic mechanical arm and control system thereof Download PDFInfo
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- CN110744587B CN110744587B CN201911096213.8A CN201911096213A CN110744587B CN 110744587 B CN110744587 B CN 110744587B CN 201911096213 A CN201911096213 A CN 201911096213A CN 110744587 B CN110744587 B CN 110744587B
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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
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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Abstract
The invention relates to a seven-axis bionic mechanical arm which is characterized in that: comprises six or more than seven groups of free joints; more than two groups of free joints are connected in sequence; the free joint comprises a power motor, an encoder and a bracket; the power motor and the encoder are respectively arranged on the corresponding bracket, and the power motor is in transmission connection with the corresponding encoder and the corresponding bracket through the transmission assembly; the bracket in the first group of free joints is connected with the carrier robot. The seven-axis bionic mechanical arm has seven degrees of freedom, can more closely simulate the actions of human arms, and further can finish more actions with high difficulty.
Description
Technical Field
The invention relates to a robot, in particular to a seven-axis bionic mechanical arm and a control system thereof.
Background
The multi-axis robot technology is rapidly developed in recent years, the application field of the robot is continuously expanded, and the multi-axis robot technology is widely applied to industrial application and entertainment life nowadays; the existing multi-axis robot has reached safety and accuracy in industrial application, and is mostly applied to replacing people to repeatedly work under dangerous scenes, such as: logistics handling, loading and unloading, and the like; the existing multi-axis robot has the accompany function and educational significance in entertainment life, and is widely praised by consumers. However, most of the existing multi-axis robots are program control, field teaching, AI learning and the like, and program control or teaching learning in some time-critical or dangerous scenes becomes inapplicable.
Therefore, further improvements to existing multi-axis robots are needed.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a seven-axis bionic mechanical arm and a control system thereof; the seven-axis bionic mechanical arm has seven degrees of freedom, can more closely simulate the actions of human arms, and can further complete more actions with high difficulty; the control system of the seven-axis bionic mechanical arm can realize remote control, programming control and the like, and has wide application range and strong universality.
The purpose of the invention is realized as follows:
the utility model provides a seven bionical arms which characterized in that: comprises six or more than seven groups of free joints; more than two groups of free joints are connected in sequence; the free joint comprises a power motor, an encoder and a bracket; the power motor and the encoder are respectively arranged on the corresponding bracket, and the power motor is in transmission connection with the corresponding encoder and the corresponding bracket through the transmission assembly; the bracket in the first group of free joints is connected with the carrier robot.
The free joint comprises
The first free joint comprises a first power motor, a first harmonic speed reducer, a first encoder and a first bracket; the first power motor and the first encoder are respectively arranged on the first bracket, and a motor shaft of the first power motor is respectively connected with the first harmonic speed reducer and the first encoder in a transmission manner; the first bracket is connected with a carrier robot;
the second free joint comprises a second power motor, a second harmonic speed reducer, a second encoder and a second bracket; the second power motor and the second encoder are respectively arranged on the second bracket, and a motor shaft of the second power motor is respectively in transmission connection with the second encoder and the second harmonic reducer; the second bracket is connected with the first harmonic speed reducer;
the third free joint comprises a third power motor, a third encoder and a third bracket; the third power motor and the third encoder are respectively arranged on the third bracket, and a motor shaft of the third power motor is in transmission connection with the third encoder; the third bracket is connected with the second harmonic speed reducer;
the fourth free joint comprises a fourth power motor, a fourth encoder and a fourth bracket; a motor shaft of the fourth power motor is in transmission connection with the fourth bracket and the fourth encoder; the third power motor is in transmission connection with the fourth bracket;
the fifth free joint comprises a fifth power motor, a fifth encoder and a fifth bracket; the fourth power motor and the fourth encoder are respectively arranged on the fifth bracket; a motor shaft of the fifth power motor is respectively in transmission connection with the fifth bracket and the fifth encoder;
the number six free joint comprises a number six power motor, a number six encoder and a number six bracket; the fifth power motor, the fifth encoder, the sixth power motor and the sixth encoder are respectively arranged on the sixth bracket; a motor shaft of the six-motor power motor is in transmission connection with the six-encoder;
the seventh free joint comprises a seventh power motor, a seventh encoder and a seventh bracket; a motor shaft of the sixth power motor is in transmission connection with the seventh bracket; the seventh power motor and the seventh encoder are respectively arranged on the seventh bracket; a motor shaft of the seventh power motor is in transmission connection with a seventh encoder; and a motor shaft of the seventh power motor is in transmission connection with a tool carrier.
The seven-axis bionic mechanical arm is divided into an upper arm part, an elbow part, a small arm part and a wrist part; the first free joint, the second free joint and the third free joint form an upper arm part; the fourth free joint forms an elbow part; the fifth free joint forms a small arm part; the six-number free joint and the seven-number free joint form a wrist part.
The movable range of the first free joint is 180 degrees; the range of motion of the second free joint is 360 degrees; the range of motion of the third free joint is 168 degrees; the range of motion of the fourth free joint is 132 degrees; the range of motion of the fifth free joint is 360 degrees; the range of motion of the number six free joint is 180 degrees; the motion range of the No. seven free joint is 360 degrees.
The control system of the seven-axis bionic mechanical arm is characterized in that: comprises a human body wearing device and a mechanical arm control device; the human body wearing device comprises an arm sensing controller, a wrist sensing controller and a waistband base point controller, wherein the arm sensing controller and/or the wrist sensing controller are communicated and interconnected with the waistband base point controller in a wired or wireless mode; the mechanical arm control device comprises a signal receiver and an action control chip which are respectively arranged on the carrier robot, and the signal receiver is communicated and interconnected with the action control chip in a wired or wireless mode; the waistband base point controller is communicated and interconnected with the action control chip in a wired or wireless mode; the action control chip controls more than one group of free joints to complete related actions.
The arm sensing controller and/or the wrist sensing controller are/is provided with a power switch; the arm sensing controller and/or the wrist sensing controller are/is provided with a position sensor for sensing the position information of the controller; and the position information sensed by the position sensor is transmitted to the belt base point controller.
The waistband base point controller is provided with a communication switch for switching on or switching off the communication function; the signal receiver is provided with a data storage module for storing position information, and the data storage module is respectively communicated and interconnected with the signal receiver and the action control chip; the waistband base point controller sends the position information to the data storage module for storage, the position information on the data storage module is sent to the action control chip, and the action control chip converts the position information into a pulse signal and sends the pulse signal to a corresponding power motor so as to complete corresponding actions.
The waistband basic point controller is communicated and interconnected with the signal receiver through communication modes such as wired communication, 5G communication or WIFI communication.
The invention has the following beneficial effects:
the seven-axis bionic mechanical arm has seven degrees of freedom, can more closely simulate the actions of human arms, is flexible in action, can finish more actions with high difficulty and meets different use environments; the control system enables the seven-axis bionic mechanical arm to remotely simulate the actions of a human through the cooperation of the human body wearing device and the mechanical arm control device, namely, an operator can remotely operate the seven-axis bionic mechanical arm to work, and meanwhile, the seven-axis bionic mechanical arm can be remotely taught in real time. Although the number of the sensing controllers worn on the human body is small, the position information brought is rich, so that the seven-axis bionic mechanical arm is more accurate in action of a human simulator, teaching or programming teaching is not required to be carried out on the mechanical arm on site, the operation is quite convenient, the accident occurrence rate is reduced, and the teaching efficiency is improved. Because this seven bionical arms action is nimble, and simulation effect is good, can keep away from operator work, so it can be applied to some dangerous scenes, effectively keeps away under the prerequisite of barrier when satisfying the work, can reduce redundant degree of freedom, can also make the arm carry out the repetitive operation through programming.
Drawings
Fig. 1 is a schematic view of a seven-axis biomimetic robotic arm in one embodiment of the present disclosure.
Fig. 2 to 4 are partial sectional views of the seven-axis bionic mechanical arm at different positions in one embodiment of the invention.
FIG. 5 is a front view of an operator's initial actions in one embodiment of the present invention.
Fig. 6 is a front view of a seven-axis bionic mechanical arm corresponding to an initial action of an operator in an embodiment of the invention.
FIG. 7 is a side view of an operator's initial actions in one embodiment of the present invention.
Fig. 8 is a side view of a seven-axis biomimetic robotic arm in accordance with an embodiment of the present disclosure corresponding to an initial motion of an operator.
FIG. 9 is a diagram illustrating an operator action one in accordance with an embodiment of the present invention.
Fig. 10 is a schematic view of a seven-axis bionic mechanical arm corresponding to an action of an operator according to an embodiment of the invention.
FIG. 11 is a diagram illustrating a second operation performed by an operator according to an embodiment of the present invention.
Fig. 12 is a schematic view of a seven-axis bionic mechanical arm according to an embodiment of the present invention and corresponding to two actions of an operator.
FIG. 13 is a schematic diagram of a control system in accordance with an embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
Referring to fig. 1-4, the seven-axis bionic mechanical arm comprises seven groups of free joints, which are sequentially connected by joints to form the seven-axis bionic mechanical arm; the free joint comprises a power motor, an encoder and a bracket; the power motor and the encoder are respectively arranged on the corresponding bracket, and the power motor is in transmission connection with the corresponding encoder and the corresponding bracket through the transmission assembly; the support in the first group of free joints is connected with the carrier robot M, so that the connection between the seven-axis bionic mechanical arm and the carrier robot M is realized.
Further, referring to fig. 10-12, the seven-axis bionic mechanical arm has seven degrees of freedom (one group of free joints has one degree of freedom), is compatible with transmission programming, and can control work through adaptive programming; the seven-axis bionic manipulator can more closely simulate the movement of a human hand through seven degrees of freedom, further can finish more actions with high difficulty and can flexibly avoid obstacles; wherein the free joint comprises
The first free joint A1 comprises a first power motor 1, a first harmonic speed reducer 2, a first encoder 3 and a first bracket 4; the first power motor 1 and the first encoder 3 are respectively and fixedly arranged on the first support 4, and a motor shaft of the first power motor 1 is respectively connected with the input end of the first harmonic speed reducer 2 and a transmission shaft of the first encoder 3 in a transmission manner; one end of the first bracket 4 is connected with a carrier robot M; specifically, a first motor gear 6 is arranged on a motor shaft of a first power motor 1, a first coding gear 7 is arranged on a transmission shaft of a first encoder 3, and the first motor gear 6 and the first coding gear 7 are meshed with each other to realize transmission connection of the first power motor 1 and the first encoder 3; a motor shaft of the first power motor 1 is inserted into the input end of the first harmonic speed reducer 2;
the second free joint A2 comprises a second power motor 9, a second harmonic speed reducer 13, a second encoder 12 and a second bracket 8; a second power motor 9 and a second encoder 12 are respectively and fixedly arranged on the second bracket 8, and a motor shaft of the second power motor 9 is respectively in transmission connection with the second encoder 12 and a second harmonic speed reducer 13; the second bracket 8 is fixedly connected with a flexible gear of the first harmonic speed reducer 2; specifically, a second motor gear 10 is arranged on a motor shaft of a second power motor 9, a second coding gear 11 is arranged on a transmission shaft of a second encoder 12, and the second motor gear 10 and the second coding gear 11 are meshed with each other to realize transmission connection of the second power motor 9 and the second encoder 12; the motor shaft of the second power motor 9 is inserted into the input end of the second harmonic speed reducer 13;
the third free joint A3 comprises a third power motor 16, a third encoder 18 and a third bracket 15; the third power motor 16 and the third encoder 18 are respectively and fixedly arranged on the third bracket 15, and a motor shaft of the third power motor 16 is in transmission connection with the third encoder 18; the third bracket 15 is fixedly connected with a flexible gear of the second harmonic speed reducer 13; specifically, a motor shaft of the third power motor 16 is provided with a third motor gear 17, a transmission shaft of the third encoder 18 is provided with a third encoding gear 19, and the third motor gear 17 is meshed with the third encoding gear 19, so that the third power motor 16 is in transmission connection with the third encoder 18;
the fourth free joint A4 comprises a fourth power motor 23, a fourth encoder 22 and a fourth bracket 21; a motor shaft of a fourth power motor 23 is in transmission connection with one end of the fourth bracket 21 and the fourth encoder 22; a motor shaft of the third power motor 16 is in transmission connection with the other end of the fourth bracket 21; specifically, a motor shaft of the fourth power motor 23 is provided with a fourth motor gear 25, a transmission shaft of the fourth encoder 22 is provided with a fourth encoding gear 24, and the fourth motor gear 25 is meshed with the fourth encoding gear 24, so that the transmission connection between the fourth power motor 23 and the fourth encoder 22 is realized;
the fifth free joint A5 comprises a fifth power motor 27, a fifth encoder 28 and a fifth bracket 26; a fourth power motor 23 and a fourth encoder 22 are respectively and fixedly arranged on the fifth bracket 26; a motor shaft of the fifth power motor 27 is respectively in transmission connection with the fifth bracket 26 and the fifth encoder 28; specifically, a motor shaft of the fifth power motor 27 is provided with a fifth motor gear 29, a transmission shaft of the fifth encoder 28 is provided with a fifth encoding gear 30, and the fifth motor gear 29 and the fifth encoding gear 30 are in transmission connection with each other, so that the transmission connection between the fifth power motor 27 and the fifth encoder 28 is realized;
the number six free joint A6 comprises a number six power motor 32, a number six encoder 33 and a number six bracket 31; the fifth power motor 27, the fifth encoder 28, the sixth power motor 32 and the sixth encoder 33 are respectively and fixedly arranged on the sixth bracket 31; a motor shaft of the sixth power motor 32 is in transmission connection with the sixth encoder 33; specifically, a motor shaft of the six-motor power motor 32 is provided with a six-motor gear 35, a transmission shaft of the six-encoder 33 is provided with a six-encoder gear 34, and the six-motor gear 35 and the six-encoder gear 34 are meshed with each other to realize transmission connection of the six-motor power motor 32 and the six-encoder 33;
the No. seven free joint A7 comprises a No. seven power motor 37, a No. seven encoder 36 and a No. seven bracket 40; a motor shaft of the sixth power motor 32 is in transmission connection with the seventh bracket 40; a seventh power motor 37 and a seventh encoder 36 are respectively fixedly arranged on the seventh bracket 40; a motor shaft of the seventh power motor 37 is in transmission connection with the seventh encoder 36; a motor shaft of the seventh power motor 37 is in transmission connection with a tool carrier A8 for assembling and connecting required tools or other carriers; specifically, a motor shaft of the seventh power motor 37 is provided with a seventh motor gear 339, a transmission shaft of the seventh encoder 36 is provided with a seventh encoder gear 38, and the seventh motor gear 39 and the seventh encoder gear 38 are in transmission connection with each other, so that the transmission connection between the seventh power motor 37 and the seventh encoder 36 is realized.
Furthermore, the seven-axis bionic mechanical arm is divided into an upper arm part, an elbow part, a small arm part and a wrist part; the first free joint A1, the second free joint A2 and the third free joint A3 form an upper arm part; the fourth free joint A4 forms an elbow part; the fifth free joint A5 forms a forearm part; the sixth free joint A6 and the seventh free joint A7 form a wrist part.
Further, the movable range of the first free joint A1 is 180 degrees; the movable range of the second free joint A2 is 360 degrees; the movable range of the third free joint A3 is 168 degrees; the movable range of the fourth free joint A4 is 132 degrees; the range of motion of the fifth free joint A5 is 360 degrees; the movable range of the No. six free joint A6 is 180 degrees; the range of motion of the seventh free joint A7 is 360 °.
Referring to fig. 5 to 13, the control system of the seven-axis bionic mechanical arm is characterized in that: comprises a human body wearing device and a mechanical arm control device; the human body wearing device comprises an arm sensor controller 46 worn on the arm of the human body, a wrist sensor controller 47 worn on the wrist of the human body and a waistband base point controller 48 worn on the waist of the human body, wherein the arm sensor controller 46 and the wrist sensor controller 47 are respectively communicated and interconnected with the waistband base point controller 48 in a wired or wireless mode; the mechanical arm control device comprises a signal receiver 49 and an action control chip 50 which are respectively arranged on the carrier robot M, wherein the signal receiver 49 is communicated and interconnected with the action control chip 50 in a wired or wireless mode; the belt base point controller 48 is communicated and interconnected with the action control chip 50 in a wired or wireless mode; the action control chip 50 respectively controls each group of free joints to independently complete related actions; wherein, the arm sensing controller 46 can be worn on the upper arm of the human body by a magic tape or other methods, the wrist sensing controller 47 can be worn on the wrist of the human body by a magic tape or other methods, and the waistband base point controller 48 can be worn on the waist of the human body by a magic tape or other methods; the main reason for arm sensor control 46 and wrist sensor control 47 being worn in their respective positions is that these two positions produce the most change when the human hand moves, so that the two sensor controls can record the largest amount of movement data and store it for movement data calculation; the belt base point controller 48 is used as a base point of the sensing controller, and because the displacement deviation generated by the human waist center when the human hand moves is almost zero, the human waist can be used as a reference point.
Further, the arm sensor controller 46 and the wrist sensor controller 47 are respectively provided with a corresponding power switch; the arm sensing controller 46 and the wrist sensing controller 47 are respectively provided with a position sensor for sensing the position information of the controllers; when a power switch on the sensing controller is turned on, the corresponding position sensor on the sensing controller senses the related position information to determine an initial position; the position information sensed by the position sensor is transmitted to the belt base point controller 48.
Further, the waistband base point controller 48 is provided with a communication switch for turning on or off the communication function; the signal receiver 49 is provided with a data storage module for storing position information, and the data storage module is respectively communicated and interconnected with the signal receiver 49 and the action control chip 50; when the communication switch is closed and opened, the waistband base point controller 48 sends the position information to the data storage module for storage, the signal receiver 49 remotely receives the position information sent by the sensor controller (the arm sensor controller 46 and/or the wrist sensor controller 47) under the same network and stores the position information on the data storage module, the position information on the data storage module is sent to the action control chip 50, the action control chip 50 converts the position information into a pulse signal through calculation of a related algorithm and sends the pulse signal to a corresponding power motor so as to complete corresponding action.
Further, when the control system is in operation, the sensor controller (arm sensor controller 46 and/or wrist sensor controller 47) and the signal receiver 49 in the same frequency band network transmit and receive the position information. As shown in FIG. 10, the belt base point controller 48 receives the position information from the arm sensor controller 46 and calculates its relative position information using the belt base point controller 48 as the origin coordinate; meanwhile, the waistband base controller 48 receives the position information from the wrist sensing controller 47 and calculates the relative position information by using the waistband base controller 48 as an original point coordinate, the position information is transmitted to the transmitting module of the waistband base controller 48 through a data line, the waistband base controller 48 transmits the position information established by using the waistband base controller 48 as the original point coordinate to the data storage module of the signal receiver 49 through communication modes such as wired, 5G or WIFI, the signal receiver 49 transmits the position information to the action control chip 50 through the data line connection because the arm sensing controller 46, the wrist sensing controller 47, the waistband base controller 48 and the signal receiver 49 continuously work to bring a large amount of micro action information to the data storage module on the signal receiver 49, and the action control chip 50 converts the position information of the mechanical arm into a pulse signal of the mechanical arm motor through mapping and conversion of the coordinate, so that the mechanical arm correspondingly imitates the action of a human hand, thereby achieving the action simulation effect.
The foregoing is a preferred embodiment of the present invention, and the basic principles, principal features and advantages of the invention are shown and described. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to illustrate the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and the invention is intended to be protected by the following claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. A control system of a seven-axis bionic mechanical arm comprises six or more than seven groups of free joints; the free joints are connected in sequence; the free joint comprises a power motor, an encoder and a bracket; the power motor and the encoder are respectively arranged on the corresponding bracket, and the power motor is in transmission connection with the corresponding encoder and the corresponding bracket through the transmission assembly; the bracket in the first group of free joints is connected with a carrier robot (M);
the method is characterized in that: the control system comprises a human body wearing device and a mechanical arm control device; the human body wearing device comprises an arm sensing controller (46), a wrist sensing controller (47) and a waistband base point controller (48), wherein the arm sensing controller (46) and/or the wrist sensing controller (47) are communicated and interconnected with the waistband base point controller (48) in a wired or wireless mode; the mechanical arm control device comprises a signal receiver (49) and an action control chip (50) which are respectively arranged on the carrier robot (M), and the signal receiver (49) is communicated and interconnected with the action control chip (50) in a wired or wireless mode; the waistband base point controller (48) is communicated and interconnected with the action control chip (50) in a wired or wireless mode; the motion control chip (50) controls more than one group of free joints to complete related motions;
the belt base point controller (48) receives the position information from the arm sensing controller (46) and calculates the relative position information by taking the belt base point controller (48) as an origin coordinate; the belt base point controller (48) receives the position information from the wrist sensing controller (47) and calculates the relative position information thereof using the belt base point controller (48) as an origin coordinate.
2. The control system of the seven-axis bionic mechanical arm according to claim 1, characterized in that: the free joint comprises
The first free joint (A1) comprises a first power motor (1), a first harmonic speed reducer (2), a first encoder (3) and a first bracket (4); the first power motor (1) and the first encoder (3) are respectively arranged on the first support (4), and a motor shaft of the first power motor (1) is respectively connected with the first harmonic speed reducer (2) and the first encoder (3) in a transmission manner; the first support (4) is connected with a carrier robot (M);
the second free joint (A2) comprises a second power motor (9), a second harmonic speed reducer (13), a second encoder (12) and a second bracket (8); the second power motor (9) and the second encoder (12) are respectively arranged on the second bracket (8), and a motor shaft of the second power motor (9) is respectively in transmission connection with the second encoder (12) and the second harmonic reducer (13); the second bracket (8) is connected with the first harmonic speed reducer (2).
3. The control system of the seven-axis bionic mechanical arm according to claim 2, characterized in that: the free joint further comprises
The third free joint (A3) comprises a third power motor (16), a third encoder (18) and a third bracket (15); the third power motor (16) and the third encoder (18) are respectively arranged on the third bracket (15), and a motor shaft of the third power motor (16) is in transmission connection with the third encoder (18); the third bracket (15) is connected with the second harmonic speed reducer (13);
the fourth free joint (A4) comprises a fourth power motor (23), a fourth encoder (22) and a fourth bracket (21); a motor shaft of the fourth power motor (23) is in transmission connection with a fourth bracket (21) and a fourth encoder (22); the third power motor (16) is in transmission connection with the fourth bracket (21).
4. The control system of the seven-axis bionic mechanical arm of claim 3, wherein: the free joint further comprises
A fifth free joint (A5) which comprises a fifth power motor (27), a fifth encoder (28) and a fifth bracket (26); the fourth power motor (23) and the fourth encoder (22) are respectively arranged on the fifth bracket (26); a motor shaft of the fifth power motor (27) is respectively in transmission connection with a fifth bracket (26) and a fifth encoder (28);
the number six free joint (A6) comprises a number six power motor (32), a number six encoder (33) and a number six bracket (31); the fifth power motor (27), the fifth encoder (28), the sixth power motor (32) and the sixth encoder (33) are respectively arranged on the sixth bracket (31); a motor shaft of the six-number power motor (32) is in transmission connection with a six-number encoder (33);
the seventh free joint (A7) comprises a seventh power motor (37), a seventh encoder (36) and a seventh bracket (40); a motor shaft of the six-number power motor (32) is in transmission connection with a seven-number bracket (40); the seventh power motor (37) and the seventh encoder (36) are respectively arranged on the seventh bracket (40); a motor shaft of the seventh power motor (37) is in transmission connection with a seventh encoder (36); and a motor shaft of the seven power motors (37) is in transmission connection with a tool carrier (A8).
5. The control system of the seven-axis bionic mechanical arm of claim 4, wherein: the seven-axis bionic mechanical arm is divided into an upper arm part, an elbow part, a small arm part and a wrist part; the first free joint (A1), the second free joint (A2) and the third free joint (A3) form an upper arm part; the fourth free joint (A4) forms an elbow part; the fifth free joint (A5) forms a small arm part; the six-number free joint (A6) and the seven-number free joint (A7) form a wrist part.
6. The control system of the seven-axis bionic mechanical arm according to claim 4, characterized in that: the movable range of the first free joint (A1) is 180 degrees; the movable range of the second free joint (A2) is 360 degrees; the range of motion of the third free joint (A3) is 168 degrees; the movable range of the fourth free joint (A4) is 132 degrees; the range of motion of the fifth free joint (A5) is 360 degrees; the movable range of the No. six free joint (A6) is 180 degrees; the motion range of the seventh free joint (A7) is 360 degrees.
7. The control system of the seven-axis bionic mechanical arm according to claim 1, characterized in that: a power switch is arranged on the arm sensing controller (46) and/or the wrist sensing controller (47); the arm sensing controller (46) and/or the wrist sensing controller (47) are/is provided with a position sensor for sensing the position information of the controller; the position information sensed by the position sensor is transmitted to a belt base point controller (48).
8. The control system of the seven-axis biomimetic robotic arm of claim 7, wherein: the waistband basic point controller (48) is provided with a communication switch for switching on or switching off the communication function; the signal receiver (49) is provided with a data storage module for storing position information, and the data storage module is communicated and interconnected with the signal receiver (49) and the action control chip (50) respectively; the waistband base point controller (48) sends the position information to the data storage module for storage, the position information on the data storage module is sent to the action control chip (50), and the action control chip (50) converts the position information into a pulse signal and sends the pulse signal to a corresponding power motor to complete corresponding action.
9. The control system of the seven-axis biomimetic robotic arm of claim 7, wherein: the waistband basic point controller (48) is communicated and interconnected with the signal receiver (49) through a wired line, 5G or WIFI.
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