CN105150190A - Six-freedom-degree bionic mechanical arm based on pneumatic muscle - Google Patents

Six-freedom-degree bionic mechanical arm based on pneumatic muscle Download PDF

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Publication number
CN105150190A
CN105150190A CN201510434010.0A CN201510434010A CN105150190A CN 105150190 A CN105150190 A CN 105150190A CN 201510434010 A CN201510434010 A CN 201510434010A CN 105150190 A CN105150190 A CN 105150190A
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CN
China
Prior art keywords
pulley
pneumatic muscles
joint
plate
shoulder joint
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CN201510434010.0A
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Chinese (zh)
Inventor
刘长红
温海涛
丘力
刘晓初
李永敬
张宏康
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广州大学
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Priority to CN201510434010.0A priority Critical patent/CN105150190A/en
Publication of CN105150190A publication Critical patent/CN105150190A/en

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Abstract

The invention discloses a six-freedom-degree bionic mechanical arm based on pneumatic muscle. The six-freedom-degree bionic mechanical arm comprises a frame, a shoulder joint, an elbow joint, a wrist joint and a mechanical palm. The shoulder joint, the elbow joint, the wrist joint and the mechanical palm are sequentially connected and fixed to the frame. Moreover, the pneumatic muscle serves as a driver. Pulley components are used for achieving swinging and rotation of the joints. The six-freedom-degree bionic mechanical arm is small in size, high in flexibility and high in bionic degree.

Description

Based on the six degree of freedom bionic mechanical arm of pneumatic muscles
Technical field
The present invention relates to bionic mechanical arm field, refer in particular to a kind of six degree of freedom bionic mechanical arm based on pneumatic muscles.
Background technology
At present, the mechanical arm of main flow mainly leans on Hydraulic Elements, driven by servomotor.Traditional robot is high-power, high response, accurate multi-joint system, but has the features such as high-quality, high rigidity, power-weight ratio are low due to their frame for movement and drive unit, is not suitable for carrying out with people operating of contacts, limits and the exchanging of people.Especially in bio-robot and service robot and healing robot field, people to the compliance of its arm and the requirement of security much larger than the requirement to its positional precision and bearing capacity.Domestic now also have many enterprises and Research Institute pneumatic muscles bionic mechanical arm, serves very large impetus, but still there is the not high problem of larger, the bionical degree of bionic mechanical arm volume to the practical application of pneumatic muscles.
Summary of the invention
The technical problem to be solved in the present invention is for above-mentioned the deficiencies in the prior art, provides the six degree of freedom bionic mechanical arm based on pneumatic muscles that little, flexible high, the bionical degree of a kind of volume is high.
The technical scheme that the present invention takes is as follows: a kind of six degree of freedom bionic mechanical arm based on pneumatic muscles, comprise frame, shoulder joint, elbow joint, wrist joint and mechanical palm, wherein above-mentioned shoulder joint, elbow joint, wrist joint and mechanical palm are fastened in frame successively, and adopt pneumatic muscles as driver, swing and the rotation in joint is realized by pulley assembly.
Preferably, described frame is L-type frame structure, and frame comprises end support plate, topmast plate and middle connecting plate, wherein, support plate of the above-mentioned end and top cardboard are fixedly connected on bottom and the side, top of middle connecting plate respectively, and stretch out along the homonymy of middle connecting plate.
Preferably, described pulley assembly comprises the first pulley, the second pulley, the 3rd pulley, the 4th pulley, the 5th pulley, the 6th pulley, the 7th pulley and the 8th pulley.
Preferably, described shoulder joint comprises large U type connector, rotating disk, support aluminium post, little U-shaped connector, L-type plate and shoulder joint pneumatic muscles assembly, wherein, above-mentioned large U type connector is connected to the outer lower portion of top cardboard by rotating shaft, and rotates freely around topmast plate; Above-mentioned rotating disk is arranged on the bottom of large U type connector, and supports the support of aluminium post by least two, and the lower end supporting aluminium post is fixed on end support plate; Little U-shaped connector is connected to the sidepiece of large U type connector by rotating shaft, rotating shaft runs through the top board of little U-shaped connector and the two side of large U type connector, and little U-shaped connector is fixed, and rotates freely around large U type connector, L-type plate is arranged in little U-shaped connector.
Preferably, described shoulder joint pneumatic muscles assembly comprises shoulder joint first pneumatic muscles be fixedly installed on support plate at the bottom of frame, shoulder joint second pneumatic muscles, shoulder joint the 3rd pneumatic muscles, shoulder joint the 4th pneumatic muscles, shoulder joint the 5th pneumatic muscles and shoulder joint the 6th pneumatic muscles, wherein, above-mentioned shoulder joint first pneumatic muscles and shoulder joint second pneumatic muscles the first pulley respectively, second pulley and the 4th pulley connect, first pulley and the second pulley are arranged on the sidepiece of frame middle connecting plate, 4th pulley is arranged in the rotating shaft that is connected between large U type connector with topmast plate, to be rotated by driving the 4th pulley, realize shoulder joint Z-direction freely to rotate, above-mentioned shoulder joint the 3rd pneumatic muscles and shoulder joint the 4th pneumatic muscles are connected with the 5th pulley, and the 5th sliding V is arranged in the rotating shaft of the little U-shaped connector of connection and large U type connector, and the 5th pulley rotates, and realizes shoulder joint Y direction and freely rotates, above-mentioned shoulder joint the 5th pneumatic muscles and shoulder joint the 6th pneumatic muscles are connected with the 3rd pulley and the 6th pulley, 3rd pulley is arranged on the sidepiece of large U type connector, 6th pulley is arranged in little U-shaped pulley, pull the 3rd pulley and the 6th pulley, to realize the swing free degree of shoulder joint X-Z plane.
Preferably, described elbow joint comprises Connection Block, disk, aluminum pipe, large U type plate and elbow joint pneumatic muscles, and wherein above-mentioned Connection Block is fixed on the outer end of L-type plate, and one end of aluminum pipe is fixed on Connection Block, and the other end is connected with disk, so that support disk; Above-mentioned large U type plate is fixed on the lateral surface of disk.
Preferably, described elbow joint pneumatic muscles comprises elbow joint first pneumatic muscles and elbow joint second pneumatic muscles, and elbow joint first pneumatic muscles and elbow joint second pneumatic muscles are all arranged on Connection Block, and extend along aluminum pipe direction; Elbow joint first pneumatic muscles and elbow joint second pneumatic muscles connect the 7th pulley, on the connecting axle between the biside plate that the 7th pulley VII is arranged on large U type plate, pull the 7th pulley to realize the swing free degree of elbow joint X-Z plane.
Preferably, described wrist joint comprises little U-shaped plate, roundel, the 8th pulley and wrist joint pneumatic muscles assembly, wherein; Above-mentioned little U-shaped plate is connected on the connecting axle between large U type plate biside plate; Roundel is connected on little U-shaped plate by support, and support is U-shaped structure, and be fixedly installed between little U-shaped plate biside plate, roundel is connected with support by connecting axle; Above-mentioned 8th pulley is horizontal pulley, and the 8th pulley is arranged on the rear lateral portion of support.
Preferably, described wrist joint pneumatic muscles assembly comprises wrist joint first pneumatic muscles and wrist joint second pneumatic muscles, wrist joint first pneumatic muscles and wrist joint second pneumatic muscles are separately positioned on Connection Block, and extend along aluminum pipe direction, wrist joint first pneumatic muscles and wrist joint second pneumatic muscles are connected with the 8th pulley, pull the 8th pulley, to realize the rotational freedom of wrist joint X-direction.
Preferably, described mechanical palm comprises palm fixed head, finger and palm pneumatic muscles assembly, and wherein, above-mentioned palm pneumatic muscles assembly comprises six pneumatic muscles and is separately fixed on the lateral surface of above-mentioned roundel, roundel is provided with little aluminum pipe, and the outer end of little aluminum pipe is connected with support disk; Above-mentioned finger fixed head is fixedly installed in support disk, and finger is arranged on the outside of finger fixed head; Article six, pneumatic muscles pulls the steel wire in finger on pulley respectively, realizes the swing free degree of five finger X-Z planes, and the swing free degree of thumb X-Y plane.
Beneficial effect of the present invention is:
1, adopt pneumatic muscles as the driver of bionic mechanical arm, utilize pneumatic muscles High power output, flexible large characteristic, make bionic mechanical arm more flexible, heavy weight object can be grasped.
2, adopt different pulley mechanisms to realize the six-freedom degree in three joints, simplify frame for movement, and compacter, make the bionical degree of bionic mechanical arm higher, be more convenient for carrying with store.
3, mechanical arm end is the mechanical palm by human hand dimensions's design, achieve the natural torsion of five fingers, and thumb rotates arbitrarily, substantially increases the bionical degree of mechanical arm, and improves the snatch function of mechanical arm, add practicality.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the overall structure schematic diagram under nature of the present invention.
Fig. 3 is the overall structure schematic diagram under deployed condition of the present invention.
Fig. 4 is the structural representation of shoulder joint in Fig. 1.
Fig. 5 is the structural representation of elbow joint in Fig. 1.
Fig. 6 is carpal structural representation in Fig. 1.
Fig. 7 is the structural representation of mechanical palm in Fig. 1.
Fig. 8 is pneumatic muscles and pulley connection diagram in Fig. 1.
Fig. 9 is the connection diagram of pneumatic muscles and the first landing in Fig. 1, the second landing and the 4th pulley.
Figure 10 is the connection diagram of pneumatic muscles and the 3rd pulley and the 6th pulley in Fig. 1.
Figure 11 is the connection diagram of pneumatic muscles and the 5th pulley in Fig. 1.
Figure 12 is the connection diagram of pneumatic muscles and the 7th pulley in Fig. 1.
Figure 13 is the connection diagram of pneumatic muscles and the 8th pulley in Fig. 1.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described:
As shown in Figure 1, the technical scheme that the present invention takes is as follows: a kind of six degree of freedom bionic mechanical arm based on pneumatic muscles, comprise frame 1, shoulder joint 2, elbow joint 3, wrist joint 4 and mechanical palm 5, wherein above-mentioned shoulder joint 2, elbow joint 3, wrist joint 4 and mechanical palm 5 are fastened in frame 1 successively, and adopt pneumatic muscles as driver, swing and the rotation in joint is realized by pulley assembly.
Frame 1 is L-type frame structure, and frame 1 comprises end support plate, topmast plate and middle connecting plate, and wherein, support plate of the above-mentioned end and top cardboard are fixedly connected on bottom and the side, top of middle connecting plate respectively, and stretch out along the homonymy of middle connecting plate.
Pulley assembly comprises the first pulley I, the second pulley II, the 3rd pulley III, the 4th pulley IV, the 5th pulley V, the 6th pulley VI, the 7th pulley VII and the 8th pulley VIII.
Shoulder joint 1 comprises large U type connector 6, rotating disk 7, supports aluminium post 8, little U-shaped connector 9, L-type plate 10 and shoulder joint pneumatic muscles assembly, and wherein, above-mentioned large U type connector 6 is connected to the outer lower portion of top cardboard by rotating shaft, and rotates freely around topmast plate; Above-mentioned rotating disk 7 is arranged on the bottom of large U type connector 6, and is supported by least two support aluminium posts 8, and the lower end supporting aluminium post 8 is fixed on end support plate; Little U-shaped connector 9 is connected to the sidepiece of large U type connector 6 by rotating shaft, rotating shaft runs through the top board of little U-shaped connector 9 and the two side of large U type connector 6, little U-shaped connector 9 is fixed, and rotates freely around large U type connector 6, L-type plate 10 is arranged in little U-shaped connector 9.
Shoulder joint pneumatic muscles assembly comprises shoulder joint first pneumatic muscles 11 be fixedly installed on frame 1 end support plate, shoulder joint second pneumatic muscles 12, shoulder joint the 3rd pneumatic muscles 13, shoulder joint the 4th pneumatic muscles 14, shoulder joint the 5th pneumatic muscles 15 and shoulder joint the 6th pneumatic muscles 16, wherein, above-mentioned shoulder joint first pneumatic muscles 11 and shoulder joint second pneumatic muscles 12 first pulley I respectively, second pulley II and the 4th pulley IV connects, first pulley I and the second pulley II is arranged on the sidepiece of frame 1 middle connecting plate, 4th pulley IV is arranged in the rotating shaft that is connected between large U type connector 6 with topmast plate, to be rotated by driving the 4th pulley IV, realize shoulder joint Z-direction freely to rotate, above-mentioned shoulder joint the 3rd pneumatic muscles 13 and shoulder joint the 4th pneumatic muscles 14 are connected with the 5th pulley V, and the 5th pulley V is arranged on and connects little U-shaped connector 9 with in the rotating shaft of large U type connector 6, and the 5th pulley V rotates, and realizes shoulder joint Y direction and freely rotates, above-mentioned shoulder joint the 5th pneumatic muscles 15 and shoulder joint the 6th pneumatic muscles 16 are connected with the 3rd pulley III and the 6th pulley VI, 3rd pulley III is arranged on the sidepiece of large U type connector 6,6th pulley VI is arranged in little U-shaped pulley 9, pull the 3rd pulley III and the 6th pulley VI, to realize the swing free degree of shoulder joint X-Z plane.
Elbow joint 3 comprises Connection Block, disk 17, aluminum pipe 18, large U type plate 19 and elbow joint pneumatic muscles, and wherein above-mentioned Connection Block is fixed on the outer end of L-type plate 10, and one end of aluminum pipe 18 is fixed on Connection Block, and the other end is connected with disk 17, so that support disk 17; Above-mentioned large U type plate 19 is fixed on the lateral surface of disk 17.
Elbow joint pneumatic muscles comprises elbow joint first pneumatic muscles 20 and elbow joint second pneumatic muscles 21, and elbow joint first pneumatic muscles 20 and elbow joint second pneumatic muscles 21 are all arranged on Connection Block, and extends along aluminum pipe 18 direction; Elbow joint first pneumatic muscles 20 and elbow joint second pneumatic muscles 21 connect the 7th pulley VII, on the connecting axle between the biside plate that the 7th pulley VII is arranged on large U type plate 19, pull the 7th pulley VII to realize the swing free degree of elbow joint X-Z plane.
Wrist joint 4 comprises little U-shaped plate 22, roundel 23, the 8th pulley VIII and wrist joint pneumatic muscles assembly, wherein; Above-mentioned little U-shaped plate 22 is connected on the connecting axle between large U type plate 19 biside plate; Roundel 23 is connected on little U-shaped plate 22 by support, and support is U-shaped structure, and be fixedly installed between little U-shaped plate 22 biside plate, roundel 23 is connected with support by connecting axle; Above-mentioned 8th pulley VIII is horizontal pulley, and the 8th pulley VIII is arranged on the rear lateral portion of support.
Wrist joint pneumatic muscles assembly comprises wrist joint first pneumatic muscles 24 and wrist joint second pneumatic muscles 25, wrist joint first pneumatic muscles 24 and wrist joint second pneumatic muscles 25 are separately positioned on Connection Block, and extend along aluminum pipe 18 direction, wrist joint first pneumatic muscles 24 and wrist joint second pneumatic muscles 25 are connected with the 8th pulley VIII, pull the 8th pulley VIII, to realize the rotational freedom of wrist joint X-direction.
Machinery palm 5 comprises palm fixed head 26, finger 27 and palm pneumatic muscles assembly, wherein, above-mentioned palm pneumatic muscles assembly comprises six pneumatic muscles and is separately fixed on the lateral surface of above-mentioned roundel 23, and roundel 23 is provided with little aluminum pipe, and the outer end of little aluminum pipe is connected with support disk; Above-mentioned finger fixed head 26 is fixedly installed in support disk, and finger 27 is arranged on the outside of finger fixed head 26; Article six, pneumatic muscles pulls the steel wire in finger 27 on pulley respectively, realizes the swing free degree of five finger X-Z planes, and the swing free degree of thumb X-Y plane.
Further, the six degree of freedom bionic mechanical arm that the present invention is controlled by pneumatic muscles, comprises frame, shoulder joint, elbow joint, wrist joint and mechanical palm, and this mechanical arm has compact conformation, flexible large, bionical degree high.Three joints of mechanical arm adopt different pulley mechanisms, pulley is pulled by steel wire by pneumatic muscles, steel wire comprises the first steel wire 01, second steel wire 02, the 3rd steel wire 03, the 4th steel wire 04, the 5th steel wire 05, realize swing and the rotation in joint, wherein shoulder joint adopts six pneumatic muscles, pull the first pulley I, second pulley II, the 3rd pulley III, the 4th pulley IV, the 5th pulley V respectively by the first steel wire 01, second steel wire 02 and the 3rd steel wire 03, realize Z axis rotation, Y-axis rotation and X-Z plane rocking; Elbow joint, by two pneumatic muscles, pulls the 6th pulley VI, realizes X-Z plane rocking; Wrist joint, by two pneumatic muscles, pulls pulley VII, realizes X-axis and rotates; Machinery palm, by six pneumatic muscles, is pulled through the steel wire of pulley in finger respectively, realizes the swing free degree of five finger X-Z planes, and the swing free degree of thumb X-Y plane.Shoulder joint comprises large U type connector, rotating disk, support aluminium post, little U-shaped connector, L-type plate, rubber tube, the first pulley I, second pulley II, the 3rd pulley III, the 4th pulley IV, the 5th pulley V and six articles of pneumatic muscles, by two articles of pneumatic muscles by being pulled through the steel wire of the first pulley I, second pulley II, the 3rd pulley III, realize shoulder joint Z-direction rotational freedom; By another two pneumatic muscles by being pulled through the steel wire of pulley IV, realize shoulder joint Y direction rotational freedom; By another two articles of pneumatic muscles by being pulled through the 5th pulley V, and through the steel wire of rubber tube, realize the swing free degree of shoulder joint X-Z plane.Elbow joint comprises disk, aluminum pipe, large U type plate, L-type plate, the 6th pulley VI and two articles of pneumatic muscles, by two articles of pneumatic muscles by being pulled through the 4th steel wire 04 and the 5th steel wire 05 of pulley VI, realizes the elbow joint X-Z plane rocking free degree.Wrist joint comprises little U-shaped plate, roundel, rubber tube, horizontal pulley VII and two pneumatic muscles, by pneumatic muscles by being pulled through the 7th pulley VII, and through the steel wire of rubber tube, realizes wrist joint X-direction rotational freedom.Machinery palm comprises palm fixed head, finger and six pneumatic muscles, is pulled through the steel wire of pulley in finger by six pneumatic muscles respectively, realizes the swing free degree of five finger X-Z planes, and the swing free degree of thumb X-Y plane.
Embodiments of the invention just introduce its detailed description of the invention, do not lie in and limit its protection domain.The technical staff of the industry can make some amendment under the inspiration of the present embodiment, therefore all equivalences done according to the scope of the claims of the present invention change or modify, and all belong within the scope of Patent right requirement of the present invention.

Claims (10)

1. the six degree of freedom bionic mechanical arm based on pneumatic muscles, it is characterized in that: comprise frame (1), shoulder joint (2), elbow joint (3), wrist joint (4) and mechanical palm (5), wherein above-mentioned shoulder joint (2), elbow joint (3), wrist joint (4) and mechanical palm (5) are fastened in frame (1) successively, and adopt pneumatic muscles as driver, swing and the rotation in joint is realized by pulley assembly.
2. the six degree of freedom bionic mechanical arm based on pneumatic muscles according to claim 1, it is characterized in that: described frame (1) is L-type frame structure, frame (1) comprises end support plate, topmast plate and middle connecting plate, wherein, support plate of the above-mentioned end and top cardboard are fixedly connected on bottom and the side, top of middle connecting plate respectively, and stretch out along the homonymy of middle connecting plate.
3. the six degree of freedom bionic mechanical arm based on pneumatic muscles according to claim 2, is characterized in that: described pulley assembly comprises the first pulley (I), the second pulley (II), the 3rd pulley (III), the 4th pulley (IV), the 5th pulley (V), the 6th pulley (VI), the 7th pulley (VII) and the 8th pulley (VIII).
4. the six degree of freedom bionic mechanical arm based on pneumatic muscles according to claim 3, it is characterized in that: described shoulder joint (1) comprises large U type connector (6), rotating disk (7), supports aluminium post (8), little U-shaped connector (9), L-type plate (10) and shoulder joint pneumatic muscles assembly, wherein, above-mentioned large U type connector (6) is connected to the outer lower portion of top cardboard by rotating shaft, and rotates freely around topmast plate; Above-mentioned rotating disk (7) is arranged on the bottom of large U type connector (6), and supports aluminium post (8) support by least two, and the lower end supporting aluminium post (8) is fixed on end support plate; Little U-shaped connector (9) is connected to the sidepiece of large U type connector (6) by rotating shaft, rotating shaft runs through the top board of little U-shaped connector (9) and the two side of large U type connector (6), make little U-shaped connector (9) fixing, and rotate freely around large U type connector (6), L-type plate (10) is arranged in little U-shaped connector (9).
5. the six degree of freedom bionic mechanical arm based on pneumatic muscles according to claim 4, it is characterized in that: described shoulder joint pneumatic muscles assembly comprises shoulder joint first pneumatic muscles (11) be fixedly installed on frame (1) end support plate, shoulder joint second pneumatic muscles (12), shoulder joint the 3rd pneumatic muscles (13), shoulder joint the 4th pneumatic muscles (14), shoulder joint the 5th pneumatic muscles (15) and shoulder joint the 6th pneumatic muscles (16), wherein, above-mentioned shoulder joint first pneumatic muscles (11) and shoulder joint second pneumatic muscles (12) the first pulley (I) respectively, second pulley (II) and the 4th pulley (IV) connect, first pulley (I) and the second pulley (II) are arranged on the sidepiece of frame (1) middle connecting plate, 4th pulley (IV) is arranged on large U type connector (6) with in the rotating shaft be connected between topmast plate, to be rotated by driving the 4th pulley (IV), realize shoulder joint Z-direction freely to rotate, above-mentioned shoulder joint the 3rd pneumatic muscles (13) and shoulder joint the 4th pneumatic muscles (14) are connected with the 5th pulley (V), 5th pulley (V) is arranged on and connects little U-shaped connector (9) with in the rotating shaft of large U type connector (6), 5th pulley (V) rotates, and realizes shoulder joint Y direction and freely rotates, above-mentioned shoulder joint the 5th pneumatic muscles (15) and shoulder joint the 6th pneumatic muscles (16) are connected with the 3rd pulley (III) and the 6th pulley (VI), 3rd pulley (III) is arranged on the sidepiece of large U type connector (6), 6th pulley (VI) is arranged in little U-shaped pulley (9), pull the 3rd pulley (III) and the 6th pulley (VI), to realize the swing free degree of shoulder joint X-Z plane.
6. the six degree of freedom bionic mechanical arm based on pneumatic muscles according to claim 5, it is characterized in that: described elbow joint (3) comprises Connection Block, disk (17), aluminum pipe (18), large U type plate (19) and elbow joint pneumatic muscles, wherein above-mentioned Connection Block is fixed on the outer end of L-type plate (10), one end of aluminum pipe (18) is fixed on Connection Block, the other end is connected with disk (17), so that support disk (17); Above-mentioned large U type plate (19) is fixed on the lateral surface of disk (17).
7. the six degree of freedom bionic mechanical arm based on pneumatic muscles according to claim 6, it is characterized in that: described elbow joint pneumatic muscles comprises elbow joint first pneumatic muscles (20) and elbow joint second pneumatic muscles (21), elbow joint first pneumatic muscles (20) and elbow joint second pneumatic muscles (21) are all arranged on Connection Block, and extend along aluminum pipe (18) direction; Elbow joint first pneumatic muscles (20) and elbow joint second pneumatic muscles (21) connect the 7th pulley (VII), on connecting axle between the biside plate that 7th pulley (VII) is arranged on large U type plate (19), pull the 7th pulley (VII) to realize the swing free degree of elbow joint X-Z plane.
8. the six degree of freedom bionic mechanical arm based on pneumatic muscles according to claim 7, it is characterized in that: described wrist joint (4) comprises little U-shaped plate (22), roundel (23), the 8th pulley (VIII) and wrist joint pneumatic muscles assembly, wherein; Above-mentioned little U-shaped plate (22) is connected on the connecting axle between large U type plate (19) biside plate; Roundel (23) is connected on little U-shaped plate (22) by support, and support is U-shaped structure, and be fixedly installed between little U-shaped plate (22) biside plate, roundel (23) is connected with support by connecting axle; Above-mentioned 8th pulley (VIII) is horizontal pulley, and the 8th pulley (VIII) is arranged on the rear lateral portion of support.
9. the six degree of freedom bionic mechanical arm based on pneumatic muscles according to claim 8, it is characterized in that: described wrist joint pneumatic muscles assembly comprises wrist joint first pneumatic muscles (24) and wrist joint second pneumatic muscles (25), wrist joint first pneumatic muscles (24) and wrist joint second pneumatic muscles (25) are separately positioned on Connection Block, and extend along aluminum pipe (18) direction, wrist joint first pneumatic muscles (24) and wrist joint second pneumatic muscles (25) are connected with the 8th pulley (VIII), pull the 8th pulley (VIII), to realize the rotational freedom of wrist joint X-direction.
10. the six degree of freedom bionic mechanical arm based on pneumatic muscles according to claim 9, it is characterized in that: described mechanical palm (5) comprises palm fixed head (26), finger (27) and palm pneumatic muscles assembly, wherein, above-mentioned palm pneumatic muscles assembly comprises six pneumatic muscles and is separately fixed on the lateral surface of above-mentioned roundel (23), roundel (23) is provided with little aluminum pipe, and the outer end of little aluminum pipe is connected with support disk; Above-mentioned finger fixed head (26) is fixedly installed in support disk, and finger (27) is arranged on the outside of finger fixed head (26); Article six, pneumatic muscles pulls the steel wire on finger (27) interior pulley respectively, realizes the swing free degree of five finger X-Z planes, and the swing free degree of thumb X-Y plane.
CN201510434010.0A 2015-07-22 2015-07-22 Six-freedom-degree bionic mechanical arm based on pneumatic muscle CN105150190A (en)

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CN106264985B (en) * 2016-10-10 2018-10-09 广州百兴网络科技有限公司 It is a kind of can comprehensive trained upper limb body mobility convalescence device
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CN106420260B (en) * 2016-10-10 2018-11-27 泰州市邦富环保科技有限公司 It is a kind of can comprehensive autonomous trained upper limb body mobility rehabilitation seat
CN106264986A (en) * 2016-10-10 2017-01-04 邹彤昕 A kind of autonomous arm rehabilitation training device of position adjustable
CN106264987A (en) * 2016-10-10 2017-01-04 邹彤昕 A kind of convalescence device tempering shoulder mobility ability and arm independently firmly
CN106344347A (en) * 2016-10-10 2017-01-25 邹彤昕 Active type arm rehabilitation apparatus
CN106420260A (en) * 2016-10-10 2017-02-22 邹彤昕 Rehabilitation seat for comprehensively autonomous training action capacity of upper limbs
CN106264986B (en) * 2016-10-10 2018-12-04 泰州市邦富环保科技有限公司 A kind of autonomous arm rehabilitation training device of position adjustable
CN106420259A (en) * 2016-10-10 2017-02-22 邹彤昕 Rehabilitation device capable of realizing comprehensive self-training for motion ability of upper limbs
CN106264987B (en) * 2016-10-10 2018-11-27 泰州市邦富环保科技有限公司 It is a kind of to temper the convalescence device of shoulder mobility ability and arm independently firmly
CN106420259B (en) * 2016-10-10 2018-11-27 江苏奥泰家具有限公司 It is a kind of can comprehensive autonomous trained upper limb body mobility convalescence device
CN106264985B (en) * 2016-10-10 2018-10-09 广州百兴网络科技有限公司 It is a kind of can comprehensive trained upper limb body mobility convalescence device
CN106344347B (en) * 2016-10-10 2018-11-20 江苏天城体育用品有限公司 A kind of active arm rehabilitation device
CN106236515A (en) * 2016-10-10 2016-12-21 邹彤昕 A kind of autonomous training devices of arm
CN106426149A (en) * 2016-11-05 2017-02-22 上海大学 2-DOF flexible mechanical arm based on antagonism type variable stiffness actuator
CN106426149B (en) * 2016-11-05 2019-04-02 上海大学 2-DOF flexible mechanical arm based on antagonism formula variation rigidity driver
CN107253188A (en) * 2017-06-29 2017-10-17 常州大学 A kind of multiple degrees of freedom Simple mechanical arm driven based on IPMC
CN107253188B (en) * 2017-06-29 2019-07-26 常州大学 A kind of multiple degrees of freedom Simple mechanical arm based on IPMC driving
CN108000551A (en) * 2017-11-30 2018-05-08 嘉兴学院 A kind of apery chest-back of the body articular system based on pneumatic muscles
CN108000551B (en) * 2017-11-30 2020-03-03 嘉兴学院 Human chest-back joint simulation system based on pneumatic muscles
CN108852739A (en) * 2018-02-09 2018-11-23 湖北工业大学 A kind of upper limb healing arm of band from tensioning function wire rope gearing
CN110328686A (en) * 2019-08-08 2019-10-15 哈工大机器人(合肥)国际创新研究院 A kind of bionical shoulder joint mechanism with Muscle tensility performance

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Application publication date: 20151216