CN106272485A - Bionic mechanical arm - Google Patents
Bionic mechanical arm Download PDFInfo
- Publication number
- CN106272485A CN106272485A CN201610940391.4A CN201610940391A CN106272485A CN 106272485 A CN106272485 A CN 106272485A CN 201610940391 A CN201610940391 A CN 201610940391A CN 106272485 A CN106272485 A CN 106272485A
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- stop
- controlling organization
- work
- actuator
- 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
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/007—Arms the end effector rotating around a fixed point
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of bionic mechanical arm, including: actuator and controlling organization, the two transmits signal wirelessly, wherein, actuator includes five steering wheels and a gripper, controlling organization includes four stops, two supports, a link and a finger frame, after energising, stop IV controls steering wheel I work, stop III controls steering wheel II work, and stop II controls steering wheel III work, and stop I controls steering wheel IV work, finger frame controls steering wheel V and works, the action of actuator and the action Complete Synchronization of controlling organization.The invention have benefit that: (1) controlling organization and both actuators transmission of control signals in the way of being wirelessly transferred, can realize distant control, range is more extensive；(2) utilize stop to carry out pickup position change, positioning action accurately can be carried out；(3) for different geographical environments, difform object, optionally change gripper, there is the highest use value.
Description
Technical field
The present invention relates to a kind of mechanical arm, be specifically related to a kind of bionic mechanical arm, belong to field of mechanical technique.
Background technology
Existing common mechanical arm is all to be controlled by computer, mobile phone, and by wire transmission signal.
Such mechanical arm, as toy, is only suitable for amusement, does not has the highest use value, and positioning action
Inaccuracy, transmission range are limited, are extremely difficult to and being synchronized with the movement of self-demand.
Summary of the invention
For solving the deficiencies in the prior art, it is an object of the invention to provide one can long-distance transmissions, positioning action essence
Accurate, there is the bionic mechanical arm of the highest use value.
In order to realize above-mentioned target, the present invention adopts the following technical scheme that:
A kind of bionic mechanical arm, it is characterised in that including: actuator (1) and controlling organization (2), controlling organization (2)
To actuator (1) transmission control signal in the way of being wirelessly transferred, wherein,
Aforementioned actuator (1) includes five steering wheels (11,13,15,16,17) and a gripper (18), steering wheel I (11)
Being positioned at bottommost, it is provided with rotating disk (12), steering wheel I (11) is used for driving rotating disk (12) to rotate in the horizontal plane；Steering wheel II
(13) being positioned at above rotating disk (12), it is provided with U-shaped steel disc (14), steering wheel II (13) is used for driving U-shaped steel disc (14) to exist
Swing on vertical plane；Steering wheel III (15) is arranged on the top of U-shaped steel disc (14), and it can swing relative to U-shaped steel disc (14), pendulum
Dynamic face is on vertical plane；Steering wheel IV (16) is positioned at the side of steering wheel III (15), the two fixing connection, holding geo-stationary, steering wheel
The output shaft of IV (16), towards upper, it is provided with gripper (18), and steering wheel IV (16) rotates for driving mechanical pawl (18)；Rudder
Machine V (17) is arranged on gripper (18), completes grasping movement for driving mechanical pawl (18)；
Aforementioned controlling organization (2) include four stops (26,27,28,29), the support (22,24) of two L-types, one
Link (23) and a finger frame (25), stop IV (29) is positioned at bottommost, and it is arranged on base (21), stop III
(28) being connected with stop IV (29) by support (22), stop II (27) is by link (23) with stop III (28) even
Connecing, stop I (26) is connected with stop II (27) by support (24), and finger frame (25) is arranged on stop I (26)；
After energising, stop IV (29) controls steering wheel I (11) work, and stop III (28) controls steering wheel II (13) work,
Stop II (27) controls steering wheel III (15) work, and stop I (26) controls steering wheel IV (16) work, finger frame (25) control flaps
Machine V (17) works, the action of actuator (1) and the action Complete Synchronization of controlling organization (2).
Aforesaid bionic mechanical arm, it is characterised in that in controlling organization (2), aforementioned steering wheel II (13) and rotating disk
(12) connect for fixing between.
Aforesaid bionic mechanical arm, it is characterised in that in actuator (1), aforementioned stop IV (29) and base
(21) it is interference fit between.
Aforesaid bionic mechanical arm, it is characterised in that use 3D printing technique to make.
The invention have benefit that:
(1) controlling organization and both actuators transmission of control signals in the way of being wirelessly transferred, can realize controlling at a distance
System, range is more extensive；
(2) utilize stop to carry out pickup position change, positioning action accurately can be carried out；
(3) for different geographical environments, difform object, optionally change gripper, have the highest
Use value.
Accompanying drawing explanation
Fig. 1 is the composition structural representation of the actuator of the bionic mechanical arm of the present invention；
Fig. 2 is the composition structural representation of the controlling organization of the bionic mechanical arm of the present invention.
The implication of reference in figure: 1-actuator, 2-controlling organization, 11-steering wheel I, 12-rotating disk, 13-steering wheel II,
14-U shaped steel sheet, 15-steering wheel III, 16-steering wheel IV, 17-steering wheel V, 18-gripper, 21-base, 22-support, 23-link,
24-support, 25-finger frame, 26-stop I, 27-stop II, 28-stop III, 29-stop IV.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention made concrete introduction.
The bionic mechanical arm of the present invention includes: actuator and controlling organization, all uses 3D printing technique to make, and
Controlling organization sends control signal to actuator in the way of being wirelessly transferred.
One, actuator
With reference to Fig. 1, actuator 1 includes: steering wheel I 11, steering wheel II 13, steering wheel III 15, steering wheel IV 16, steering wheel V 17 and machine
Tool pawl 18.Wherein:
Steering wheel I 11 is positioned at bottommost, and it is provided with rotating disk 12, and steering wheel I 11 is used for driving rotating disk 12 to revolve in the horizontal plane
Turn；
Steering wheel II 13 is positioned at above rotating disk 12, and fixedly mounts on a turntable 12, and steering wheel II 13 is provided with U-shaped steel disc
14, steering wheel II 13 is used for driving U-shaped steel disc 14 to swing on vertical plane；
Steering wheel III 15 is arranged on the top of U-shaped steel disc 14, and it can swing relative to U-shaped steel disc 14, and plane of oscillation is vertically
On face；
Steering wheel IV 16 is positioned at the side of steering wheel III 15, and steering wheel IV 16 is fixing with steering wheel III 15 to be connected, keep geo-stationary, rudder
The output shaft of machine IV 16, towards upper, it is provided with gripper 18, and steering wheel IV 16 rotates for driving mechanical pawl 18；
Steering wheel V 17 is arranged on gripper 18, completes grasping movement for driving mechanical pawl 18.
Two, controlling organization
Controlling organization 2 includes: stop I 26, stop II 27, stop III 28, stop IV 29, the support 22 of L-type,
The support 24 of L-type, link 23 and finger frame 25.Wherein:
Stop IV 29 is positioned at bottommost, and it is arranged on base 21, and the two is interference fit；
Stop III 28 is connected with stop IV 29 by the support 22 of L-type；
Stop II 27 is connected with stop III 28 by yi word pattern link 23；
Stop I 26 is connected with stop II 27 by the support 24 of L-type；
Finger frame 25 is arranged on stop I 26.
Three, control planning
Control planning between controlling organization 2 and actuator 1 is as follows:
Stop IV 29 controls steering wheel I 11 work；
Stop III 28 controls steering wheel II 13 work；
Stop II 27 controls steering wheel III 15 work；
Stop I 26 controls steering wheel IV 16 work；
Finger frame 25 controls steering wheel V 17 work.
After energising, operator insert a finger in the hole of finger frame 25, and movable arm and finger send control signal, hold
Row authorities performs corresponding action after corresponding signal, and the action of actuator 1 is completely same with the action of controlling organization 2
Step.
In actual life, the bionic mechanical arm of the present invention is possible not only to help chemical industry personnel to capture some staff and is difficult to
The thing (such as: noxious substance, high temp objects) captured, and may also help in police and the article being difficult to bomb disposal are carried out long distance
From explosion, there is the highest use value.
Become it should be noted that above-described embodiment limits the present invention, all employing equivalents or equivalence the most in any form
The technical scheme that the mode changed is obtained, all falls within protection scope of the present invention.
Claims (4)
1. a bionic mechanical arm, it is characterised in that including: actuator (1) and controlling organization (2), controlling organization (2) with
The mode being wirelessly transferred is to actuator (1) transmission control signal, wherein,
Described actuator (1) includes five steering wheels (11,13,15,16,17) and a gripper (18), and steering wheel I (11) is positioned at
Bottommost, it is provided with rotating disk (12), and steering wheel I (11) is used for driving rotating disk (12) to rotate in the horizontal plane；Steering wheel II (13)
Being positioned at above rotating disk (12), it is provided with U-shaped steel disc (14), steering wheel II (13) is used for driving U-shaped steel disc (14) vertically
Swing on face；Steering wheel III (15) is arranged on the top of U-shaped steel disc (14), and it can swing relative to U-shaped steel disc (14), plane of oscillation
On vertical plane；Steering wheel IV (16) is positioned at the side of steering wheel III (15), the two fixing connection, holding geo-stationary, steering wheel IV
(16) output shaft, towards upper, it is provided with gripper (18), and steering wheel IV (16) rotates for driving mechanical pawl (18)；Steering wheel
V (17) is arranged on gripper (18), completes grasping movement for driving mechanical pawl (18)；
Described controlling organization (2) includes four stops (26,27,28,29), the support (22,24) of two L-types, a connection
Frame (23) and a finger frame (25), stop IV (29) is positioned at bottommost, and it is arranged on base (21), stop III (28)
Being connected with stop IV (29) by support (22), stop II (27) is connected with stop III (28) by link (23),
Stop I (26) is connected with stop II (27) by support (24), and finger frame (25) is arranged on stop I (26)；
After energising, stop IV (29) controls steering wheel I (11) work, and stop III (28) controls steering wheel II (13) work, spacing
Device II (27) controls steering wheel III (15) work, and stop I (26) controls steering wheel IV (16) work, and finger frame (25) controls steering wheel V
(17) the action Complete Synchronization of work, the action of actuator (1) and controlling organization (2).
Bionic mechanical arm the most according to claim 1, it is characterised in that in controlling organization (2), described steering wheel II
(13) it is connected for fixing with between rotating disk (12).
Bionic mechanical arm the most according to claim 1, it is characterised in that in actuator (1), described stop IV
And be interference fit between base (21) (29).
4. according to the bionic mechanical arm described in claim 1,2 or 3, it is characterised in that use 3D printing technique to make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610940391.4A CN106272485A (en) | 2016-10-25 | 2016-10-25 | Bionic mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610940391.4A CN106272485A (en) | 2016-10-25 | 2016-10-25 | Bionic mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106272485A true CN106272485A (en) | 2017-01-04 |
Family
ID=57719991
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610940391.4A Pending CN106272485A (en) | 2016-10-25 | 2016-10-25 | Bionic mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106272485A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366453A (en) * | 2018-10-24 | 2019-02-22 | 国网江苏省电力有限公司徐州供电分公司 | A kind of livewire work tow-armed robot and its control method for distribution line |
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| US20050052148A1 (en) * | 2001-10-23 | 2005-03-10 | Erik Carlson | Industrial robot system |
| US20130297069A1 (en) * | 2012-05-01 | 2013-11-07 | Canon Kabushiki Kaisha | Control apparatus, control method and storage medium |
| CN105034001A (en) * | 2015-08-03 | 2015-11-11 | 南京邮电大学 | Biomimetic manipulator synchronous wireless control system and method |
| CN204868848U (en) * | 2015-08-10 | 2015-12-16 | 谢亮 | Intelligence gloves and biomimetic mechanical hand based on synchro control |
| CN105856242A (en) * | 2016-06-16 | 2016-08-17 | 北京航空航天大学 | Method for controlling mechanical arm based on arm action |
| CN105904460A (en) * | 2016-07-11 | 2016-08-31 | 吉林大学 | Control system for real-time human-simulated dance robot |
| CN206501125U (en) * | 2016-10-25 | 2017-09-19 | 西安思源学院 | Bionic mechanical arm |
-
2016
- 2016-10-25 CN CN201610940391.4A patent/CN106272485A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050052148A1 (en) * | 2001-10-23 | 2005-03-10 | Erik Carlson | Industrial robot system |
| US20130297069A1 (en) * | 2012-05-01 | 2013-11-07 | Canon Kabushiki Kaisha | Control apparatus, control method and storage medium |
| CN105034001A (en) * | 2015-08-03 | 2015-11-11 | 南京邮电大学 | Biomimetic manipulator synchronous wireless control system and method |
| CN204868848U (en) * | 2015-08-10 | 2015-12-16 | 谢亮 | Intelligence gloves and biomimetic mechanical hand based on synchro control |
| CN105856242A (en) * | 2016-06-16 | 2016-08-17 | 北京航空航天大学 | Method for controlling mechanical arm based on arm action |
| CN105904460A (en) * | 2016-07-11 | 2016-08-31 | 吉林大学 | Control system for real-time human-simulated dance robot |
| CN206501125U (en) * | 2016-10-25 | 2017-09-19 | 西安思源学院 | Bionic mechanical arm |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366453A (en) * | 2018-10-24 | 2019-02-22 | 国网江苏省电力有限公司徐州供电分公司 | A kind of livewire work tow-armed robot and its control method for distribution line |
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| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170104 |
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| RJ01 | Rejection of invention patent application after publication |