CN202029130U - Pneumatic muscle-flexible mechanical arm with seven degrees of freedom - Google Patents

Pneumatic muscle-flexible mechanical arm with seven degrees of freedom Download PDF

Info

Publication number
CN202029130U
CN202029130U CN2011200769468U CN201120076946U CN202029130U CN 202029130 U CN202029130 U CN 202029130U CN 2011200769468 U CN2011200769468 U CN 2011200769468U CN 201120076946 U CN201120076946 U CN 201120076946U CN 202029130 U CN202029130 U CN 202029130U
Authority
CN
China
Prior art keywords
pneumatic muscles
joint
shoulder
pneumatic
muscles
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.)
Expired - Lifetime
Application number
CN2011200769468U
Other languages
Chinese (zh)
Inventor
金英子
王龙辉
张立
钱红玉
赵屹
朱红亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Sci Tech University ZSTU
Zhejiang University of Science and Technology ZUST
Original Assignee
Zhejiang Sci Tech University ZSTU
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Zhejiang Sci Tech University ZSTU filed Critical Zhejiang Sci Tech University ZSTU
Priority to CN2011200769468U priority Critical patent/CN202029130U/en
Application granted granted Critical
Publication of CN202029130U publication Critical patent/CN202029130U/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Landscapes

  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The utility model discloses a pneumatic muscle-flexible mechanical arm with seven degrees of freedom, which comprises a mechanical arm fixing platform, a shoulder joint, an elbow joint, a wrist joint and a pneumatic claw. The joints of the mechanical arm are mechanisms in different designs, two degrees of freedom of the wrist joint are driven by a Hooke hinge, the wrist joint can rotate around a Y axis and a Z axis, two degrees of freedom of the elbow joint are also driven by a Hooke hinge, the elbow joint can rotate around an X axis and the Y axis, three degrees of freedom of the shoulder joint are driven by a split assembly of a ball hinge and a slewing mechanism, and the shoulder joint can rotate around the X axis, the Y axis and the Z axis. The pneumatic muscle-flexible mechanical arm has the advantages of novel structure, light weight, easiness in control, flexibility, high precision, fast response, rigidity, excellent dynamic performance and the like, has important practical significance for solving problems in special places with obstacles and mechanical structures with unusual states, and has high utilization value under dangerous operating environments by the aid of a remote control system.

Description

A kind of seven freedom pneumatic muscles flexible mechanical arm
Technical field
The utility model relates to mechanical arm, relates in particular to a kind of seven freedom pneumatic muscles flexible mechanical arm.
Background technology
The conventional robot arm all adopts 6 frees degree, and mechanical arm only needs 6 frees degree just can arrive any position, space.So far, six degree of freedom nonredundancy robot kinematics theory is quite ripe.But because the existence of the unusual and barrier of mechanism, mechanical arm can't be finished some comparatively complicated action.Therefore, people wish the unnecessary six-freedom degree of mechanical arm, not only have characteristics such as precision height, response is fast, bearing capacity is big simultaneously, and have good compliance.Seven freedom is kept away barrier and avoided inner unusual robot for needs is minimum number of degrees of freedom.
Summary of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, and a kind of seven freedom pneumatic muscles flexible mechanical arm is provided.
Seven freedom pneumatic muscles flexible mechanical arm comprises mechanical arm fixed platform, shoulder joint, elbow joint, wrist joint and gas pawl; Shoulder joint is driven by first pneumatic muscles, second pneumatic muscles, the 3rd pneumatic muscles, the 4th pneumatic muscles, the 5th pneumatic muscles, the 6th pneumatic muscles, elbow joint is driven by the 7th pneumatic muscles, the 8th pneumatic muscles, the 9th pneumatic muscles, the tenth pneumatic muscles, and wrist joint is driven by the 11 pneumatic muscles, the 12 pneumatic muscles, the 13 pneumatic muscles, the 14 pneumatic muscles; The mechanical arm fixed platform is connected with the bottom rotating mechanism by the shoulder sliding supporting bar, drive whole mechanical arm motion, the sliding supporting bar both sides are provided with first pneumatic muscles, second pneumatic muscles, first pneumatic muscles, second pneumatic muscles drives whole mechanical arm and rotates the support bar rotation around shoulder, on the shoulder rotation support bar ball strand is housed, the ball strand is connected with the shoulder connector, one end of shoulder connector is equipped with the 3rd pneumatic muscles that drives shoulder joint kinesitherapy, the 4th pneumatic muscles, the 5th pneumatic muscles, the 6th pneumatic muscles, the other end of shoulder connector is equipped with the 7th pneumatic muscles that drives the elbow joint motion, the 8th pneumatic muscles, the 9th pneumatic muscles, the tenth pneumatic muscles, the 3rd pneumatic muscles, the 4th pneumatic muscles, the 5th pneumatic muscles, the 6th pneumatic muscles drives shoulder joint around X, the Y-axis rotation, the bottom rotating mechanism is connected with swivel base, the swivel base top is connected with the shoulder sliding supporting bar by rotating mechanism, the center at shoulder connector two ends is respectively equipped with shoulder rotation support bar and ancon rotation support bar, ancon rotation support bar connects fork-shaped hinge seat on the elbow joint Hooke's hinge, the fork-shaped hinge seat is connected with fork-shaped hinge seat under the elbow joint Hooke's hinge by the ancon cross on the elbow joint Hooke's hinge, fork-shaped hinge seat and the 7th pneumatic muscles under the elbow joint Hooke's hinge, the 8th pneumatic muscles, the 9th pneumatic muscles, the other end of the tenth pneumatic muscles is connected, the 7th pneumatic muscles, the 8th pneumatic muscles, the 9th pneumatic muscles, the tenth pneumatic muscles drives elbow joint around X, the Y-axis rotation, the other end of fork-shaped hinge seat is provided with the 11 pneumatic muscles under the elbow joint Hooke's hinge, the 12 pneumatic muscles, the 13 pneumatic muscles, the 14 pneumatic muscles, the fork-shaped hinge seat is connected with the wrist support bar under the elbow joint Hooke's hinge, the wrist support bar connects fork-shaped hinge seat on the wrist joint Hooke's hinge, the fork-shaped hinge seat is connected with fork-shaped hinge seat under the wrist joint Hooke's hinge by the ancon cross on the wrist joint Hooke's hinge, fork-shaped hinge seat and the 11 pneumatic muscles under the wrist joint Hooke's hinge, the 12 pneumatic muscles, the 13 pneumatic muscles, the other end of the 14 pneumatic muscles is connected, the 11 pneumatic muscles, the 12 pneumatic muscles, the 13 pneumatic muscles, the 14 pneumatic muscles drives wrist joint around Y, the rotation of Z axle, the fork-shaped hinge seat connects the gas pawl under the wrist joint Hooke's hinge.
The utility model is intended to solve in conjunction with Pneumatic artificial muscle some shortcomings of existing pneumatic muscles mechanical arm.Make full use of the demand of special occasions such as existence that multiple degrees of freedom can solve the unusual and barrier of mechanism.Pneumatic artificial muscle has the compliance characteristics simultaneously, has widened the research field of mechanical arm, is suitable for the specific (special) requirements of special occasions to mechanical arm.Realize the rotation in each joint of mechanical arm by controlling the different force value of each Pneumatic artificial muscle gas circuit, thereby make terminal executing agency reach the requisite space position.
Seven freedom pneumatic muscles mechanical arm elbow joint of the present utility model and wrist joint are driven by four Pneumatic artificial muscles respectively, shoulder joint adopts 6 pneumatic muscles to drive, the joint is made up of parallel institution, and four pneumatic muscles are formed two groups, adopts the input of two-way gas.When two groups of gas circuits charge into the compressed air of different pressures, make the joint rotate around corresponding axle.Therefore, realize the rotational angle and the rotation direction of wrist joint, elbow joint and the shoulder joint of mechanical arm by the pressure of control gas circuit, thereby make terminal executing agency reach desired locus.
Description of drawings
Fig. 1 is a seven freedom pneumatic muscles flexible mechanical arm structural scheme of mechanism;
Among the figure: mechanical arm fixed platform 1, shoulder joint 2, elbow joint 3, wrist joint 4, gas pawl 5, first pneumatic muscles 6, second pneumatic muscles 7, the 3rd pneumatic muscles 8, the 4th pneumatic muscles 9, the 5th pneumatic muscles 10, the 6th pneumatic muscles 11, the 7th pneumatic muscles 12, the 8th pneumatic muscles 13, the 9th pneumatic muscles 14, the tenth pneumatic muscles 15, the 11 pneumatic muscles 16, the 12 pneumatic muscles 17, the 13 pneumatic muscles 18, the 14 pneumatic muscles 19, shoulder sliding supporting bar 20, bottom rotating mechanism 21, shoulder rotation support bar 22, ball strand 23, shoulder connector 24, swivel base 25, rotating mechanism 26, ancon rotation support bar 27, fork-shaped hinge seat 28 on the elbow joint Hooke's hinge, fork-shaped hinge seat 29 under the elbow joint Hooke's hinge, ancon cross 30, wrist support bar 31, fork-shaped hinge seat 32 under the wrist joint Hooke's hinge, fork-shaped 33 on the wrist joint Hooke's hinge, ancon cross 34.
The specific embodiment
As shown in Figure 1, seven freedom pneumatic muscles flexible mechanical arm comprises mechanical arm fixed platform 1, shoulder joint 2, elbow joint 3, wrist joint 4 and gas pawl 5; Shoulder joint 2 is by first pneumatic muscles 6, second pneumatic muscles 7, the 3rd pneumatic muscles 8, the 4th pneumatic muscles 9, the 5th pneumatic muscles 10, the 6th pneumatic muscles 11, driving, elbow joint 3 is driven by the 7th pneumatic muscles 12, the 8th pneumatic muscles 13, the 9th pneumatic muscles 14, the tenth pneumatic muscles 15, and wrist joint is driven by the 11 pneumatic muscles the 16, the 12 pneumatic muscles the 17, the 13 pneumatic muscles the 18, the 14 pneumatic muscles 19; Mechanical arm fixed platform 1 is connected with bottom rotating mechanism 21 by shoulder sliding supporting bar 20, drive whole mechanical arm motion, sliding supporting bar 20 both sides are provided with first pneumatic muscles 6, second pneumatic muscles 7, first pneumatic muscles 6, second pneumatic muscles 7 drives whole mechanical arm and rotates support bar 22 rotations around shoulder, on the shoulder rotation support bar 22 ball strand 23 is housed, ball strand 23 is connected with shoulder connector 24, one end of shoulder connector 24 is equipped with the 3rd pneumatic muscles 8 that drives shoulder joint kinesitherapy, the 4th pneumatic muscles 9, the 5th pneumatic muscles 10, the 6th pneumatic muscles 11, the other end of shoulder connector 24 is equipped with the 7th pneumatic muscles 12 that drives the elbow joint motion, the 8th pneumatic muscles 13, the 9th pneumatic muscles 14, the tenth pneumatic muscles 15, the 3rd pneumatic muscles 8, the 4th pneumatic muscles 9, the 5th pneumatic muscles 10, the 6th pneumatic muscles 11 drives shoulder joint around X, the Y-axis rotation, bottom rotating mechanism 21 is connected with swivel base 25, swivel base 25 tops are connected with shoulder sliding supporting bar 20 by rotating mechanism 26, the center at shoulder connector 24 two ends is respectively equipped with shoulder rotation support bar 22 and ancon rotation support bar 27, ancon rotation support bar 27 connects fork-shaped hinge seat 28 on the elbow joint Hooke's hinge, fork-shaped hinge seat 28 is connected with fork-shaped hinge seat 29 under the elbow joint Hooke's hinge by ancon cross 30 on the elbow joint Hooke's hinge, fork-shaped hinge seat 29 and the 7th pneumatic muscles 12 under the elbow joint Hooke's hinge, the 8th pneumatic muscles 13, the 9th pneumatic muscles 14, the other end of the tenth pneumatic muscles 15 is connected, the 7th pneumatic muscles 12, the 8th pneumatic muscles 13, the 9th pneumatic muscles 14, the tenth pneumatic muscles 15 drives elbow joint around X, the Y-axis rotation, the other end of fork-shaped hinge seat 29 is provided with the 11 pneumatic muscles 16 under the elbow joint Hooke's hinge, the 12 pneumatic muscles 17, the 13 pneumatic muscles 18, the 14 pneumatic muscles 19, fork-shaped hinge seat 29 is connected with wrist support bar 31 under the elbow joint Hooke's hinge, wrist support bar 31 connects fork-shaped hinge seat 33 on the wrist joint Hooke's hinge, fork-shaped hinge seat 33 is connected with fork-shaped hinge seat 32 under the wrist joint Hooke's hinge by ancon cross 34 on the wrist joint Hooke's hinge, fork-shaped hinge seat 32 and the 11 pneumatic muscles 16 under the wrist joint Hooke's hinge, the 12 pneumatic muscles 17, the 13 pneumatic muscles 18, the other end of the 14 pneumatic muscles 19 is connected, the 11 pneumatic muscles 16, the 12 pneumatic muscles 17, the 13 pneumatic muscles 18, the 14 pneumatic muscles 19 drives wrist joint around Y, the rotation of Z axle, fork-shaped hinge seat 32 connects gas pawl 5 under the wrist joint Hooke's hinge.
The utility model is realized the motion of manipulator arm joint by the gas of input different pressures value.Wherein first pneumatic muscles 6, second pneumatic muscles 7 gas by input different pressures value drives whole mechanical arm and rotates around the Z axle around shoulder.The gas-powered shoulder joint of the 3rd pneumatic muscles 8, the 4th pneumatic muscles 9 and the 5th pneumatic muscles 10, the 6th pneumatic muscles 11 input different pressures values is rotated around X-axis; The gas-powered shoulder joint of pneumatic muscles 8,10 and 9,11 the 3rd pneumatic muscles 8, the 5th pneumatic muscles 10 and the 4th pneumatic muscles 9, the 6th pneumatic muscles 11 input different pressures values is around Y-axis.The gas-powered wrist joint of the 11 pneumatic muscles the 16, the 12 pneumatic muscles 17 and the 13 pneumatic muscles the 18, the 14 pneumatic muscles 19 input different pressures values rotates around the Z axle; The gas-powered wrist joint of the 11 pneumatic muscles the 16, the 13 pneumatic muscles 18 and the 12 pneumatic muscles the 17, the 14 pneumatic muscles 19 input different pressures values rotates around X-axis.Realize the rotation in each joint of mechanical arm by controlling the different force value of each Pneumatic artificial muscle gas circuit, thereby make terminal executing agency reach the requisite space position.

Claims (1)

1. a seven freedom pneumatic muscles flexible mechanical arm is characterized in that comprising mechanical arm fixed platform (1), shoulder joint (2), elbow joint (3), wrist joint (4) and gas pawl (5); Shoulder joint (2) is driven by first pneumatic muscles (6), second pneumatic muscles (7), the 3rd pneumatic muscles (8), the 4th pneumatic muscles (9), the 5th pneumatic muscles (10), the 6th pneumatic muscles (11), elbow joint (3) is driven by the 7th pneumatic muscles (12), the 8th pneumatic muscles (13), the 9th pneumatic muscles (14), the tenth pneumatic muscles (15), and wrist joint is driven by the 11 pneumatic muscles (16), the 12 pneumatic muscles (17), the 13 pneumatic muscles (18), the 14 pneumatic muscles (19); Mechanical arm fixed platform (1) is connected with bottom rotating mechanism (21) by shoulder sliding supporting bar (20), drive whole mechanical arm motion, sliding supporting bar (20) both sides are provided with first pneumatic muscles (6), second pneumatic muscles (7), first pneumatic muscles (6), second pneumatic muscles (7) drives whole mechanical arm and rotates support bar (22) rotation around shoulder, ball strand (23) is housed on the shoulder rotation support bar (22), ball strand (23) is connected with shoulder connector (24), one end of shoulder connector (24) is equipped with the 3rd pneumatic muscles (8) that drives shoulder joint kinesitherapy, the 4th pneumatic muscles (9), the 5th pneumatic muscles (10), the 6th pneumatic muscles (11), the other end of shoulder connector (24) is equipped with the 7th pneumatic muscles (12) that drives the elbow joint motion, the 8th pneumatic muscles (13), the 9th pneumatic muscles (14), the tenth pneumatic muscles (15), the 3rd pneumatic muscles (8), the 4th pneumatic muscles (9), the 5th pneumatic muscles (10), the 6th pneumatic muscles (11) drives shoulder joint around X, the Y-axis rotation, bottom rotating mechanism (21) is connected with swivel base (25), swivel base (25) top is connected with shoulder sliding supporting bar (20) by rotating mechanism (26), the center at shoulder connector (24) two ends is respectively equipped with shoulder rotation support bar (22) and ancon rotation support bar (27), ancon rotation support bar (27) connects fork-shaped hinge seat (28) on the elbow joint Hooke's hinge, fork-shaped hinge seat (28) is connected with fork-shaped hinge seat (29) under the elbow joint Hooke's hinge by ancon cross (30) on the elbow joint Hooke's hinge, fork-shaped hinge seat (29) and the 7th pneumatic muscles (12) under the elbow joint Hooke's hinge, the 8th pneumatic muscles (13), the 9th pneumatic muscles (14), the other end of the tenth pneumatic muscles (15) is connected, the 7th pneumatic muscles (12), the 8th pneumatic muscles (13), the 9th pneumatic muscles (14), the tenth pneumatic muscles (15) drives elbow joint around X, the Y-axis rotation, the other end of fork-shaped hinge seat (29) is provided with the 11 pneumatic muscles (16) under the elbow joint Hooke's hinge, the 12 pneumatic muscles (17), the 13 pneumatic muscles (18), the 14 pneumatic muscles (19), fork-shaped hinge seat (29) is connected with wrist support bar (31) under the elbow joint Hooke's hinge, wrist support bar (31) connects fork-shaped hinge seat (33) on the wrist joint Hooke's hinge, fork-shaped hinge seat (33) is connected with fork-shaped hinge seat (32) under the wrist joint Hooke's hinge by ancon cross (34) on the wrist joint Hooke's hinge, fork-shaped hinge seat (32) and the 11 pneumatic muscles (16) under the wrist joint Hooke's hinge, the 12 pneumatic muscles (17), the 13 pneumatic muscles (18), the other end of the 14 pneumatic muscles (19) is connected, the 11 pneumatic muscles (16), the 12 pneumatic muscles (17), the 13 pneumatic muscles (18), the 14 pneumatic muscles (19) drives wrist joint around Y, the rotation of Z axle, fork-shaped hinge seat (32) connects gas pawl (5) under the wrist joint Hooke's hinge.
CN2011200769468U 2011-03-22 2011-03-22 Pneumatic muscle-flexible mechanical arm with seven degrees of freedom Expired - Lifetime CN202029130U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2011200769468U CN202029130U (en) 2011-03-22 2011-03-22 Pneumatic muscle-flexible mechanical arm with seven degrees of freedom

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2011200769468U CN202029130U (en) 2011-03-22 2011-03-22 Pneumatic muscle-flexible mechanical arm with seven degrees of freedom

Publications (1)

Publication Number Publication Date
CN202029130U true CN202029130U (en) 2011-11-09

Family

ID=44891441

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2011200769468U Expired - Lifetime CN202029130U (en) 2011-03-22 2011-03-22 Pneumatic muscle-flexible mechanical arm with seven degrees of freedom

Country Status (1)

Country Link
CN (1) CN202029130U (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102126210A (en) * 2011-03-22 2011-07-20 浙江理工大学 7-DOF (Degree of Freedom) pneumatic muscle flexible mechanical arm
CN106239480A (en) * 2016-08-26 2016-12-21 电子科技大学 A kind of lower jaw based on Pneumatic artificial muscle chews robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102126210A (en) * 2011-03-22 2011-07-20 浙江理工大学 7-DOF (Degree of Freedom) pneumatic muscle flexible mechanical arm
CN102126210B (en) * 2011-03-22 2012-07-11 浙江理工大学 7-DOF (Degree of Freedom) pneumatic muscle flexible mechanical arm
CN106239480A (en) * 2016-08-26 2016-12-21 电子科技大学 A kind of lower jaw based on Pneumatic artificial muscle chews robot

Similar Documents

Publication Publication Date Title
CN102126210B (en) 7-DOF (Degree of Freedom) pneumatic muscle flexible mechanical arm
CN107253188B (en) A kind of multiple degrees of freedom Simple mechanical arm based on IPMC driving
CN110202559B (en) Bionic light mechanical arm for man-machine cooperation
WO2019128361A1 (en) Seven-degrees-of-freedom humanoid robotic arm
CN201493846U (en) Stimulator with three rotational degrees of freedom of pneumatic hybrid mechanism
US20120079908A1 (en) Parallel robot
CN101497198B (en) Three-freedom degree rotary motion parallel connection mechanism with remote motion centre
CN102528817B (en) Three-degree-of-freedom parallel-connection mechanical wrist
CN112476478B (en) Bionic rope-driven four-degree-of-freedom arm oriented to man-machine cooperation
CN101817181B (en) Six-degree-of-freedom flexible mechanical arm based on pneumatic muscles
CN201756146U (en) Modularized bionic wall-climbing robot
CN102962848A (en) Three-degree-of-freedom parallel mechanism for wrists and shoulders of robot
CN204450527U (en) A kind of sphere parallel mechanism with 2 rotational freedoms
CN101704244B (en) 2-RRT and RRS spatial parallel robotic mechanism with three degrees of freedom (DOF)
CN103737208A (en) Multi-degree-of-freedom welding robot
CN105150190A (en) Six-freedom-degree bionic mechanical arm based on pneumatic muscle
CN103737209A (en) Welding robot with symmetrical mechanisms
CN101214647A (en) Spherical surface two-freedom symmetrical parallel connection robot mechanism with redundancy drive
CN201647669U (en) Cartoning and palletizing robot
CN107088870B (en) Based on improving the shifting of 3PUU parallel moving mechanism/turn the synchronous hybrid device of independent control
CN103707288A (en) Multi-degree-of-freedom palletizing robot
CN103707290A (en) Welding robot with a plurality of closed-ring subchains
CN103722553A (en) Multi-degree-of-freedom parallel-mechanism type controllable welding robot
CN107932482B (en) Five-freedom-degree parallel mechanism capable of realizing three-dimensional rotation and two-dimensional movement
CN202029130U (en) Pneumatic muscle-flexible mechanical arm with seven degrees of freedom

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
AV01 Patent right actively abandoned

Granted publication date: 20111109

Effective date of abandoning: 20120711