CN205729574U - The six degree of freedom intelligence arm prosthesis in difference joint is driven based on line - Google Patents
The six degree of freedom intelligence arm prosthesis in difference joint is driven based on line Download PDFInfo
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- CN205729574U CN205729574U CN201620052059.XU CN201620052059U CN205729574U CN 205729574 U CN205729574 U CN 205729574U CN 201620052059 U CN201620052059 U CN 201620052059U CN 205729574 U CN205729574 U CN 205729574U
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Abstract
A kind of six degree of freedom intelligence arm prosthesis driving difference joint based on line, this arm prosthesis includes the tensioner of shoulder joint, has the shoulder joint of two-freedom, large arm, elbow joint, forearm and have the wrist joint of two-freedom；The tensioner of shoulder joint connects shoulder joint, and shoulder joint connects large arm, and large arm connects forearm by elbow joint, and forearm connects wrist joint.Six degree of freedom intelligence arm prosthesis of the present utility model has simple in construction, light weight, volume is little, export the advantage that torque is big.Its rotation realizing shoulder joint and pitching, the rotation of elbow joint and pitching and carpal rotation and pitching, increase the rigidity of drive mechanism simultaneously, reduce the telescopic level of steel wire rope, improve the positional precision of arm end, it is achieved arm motion scope is big, the feature of flexible movements.
Description
Technical field
This utility model belongs to intelligent artificial limb field, relates to a kind of six degree of freedom intelligence arm prosthesis driving difference joint based on line.
Background technology
In recent years, owing to the proportion of people with disability is gradually increased, different types of bionic arm in healing robot is applied to be paid attention to by increasing researcher.At present, bionic arm joint is the drive mechanism using motor, gear reduction unit, joint shaft three to be directly connected to mostly, this institution requests motor and gear reduction unit are arranged near joint of mechanical arm, cause frame for movement the most accurate, quality weight, volume are big, and design space is limited and work efficiency is relatively low.
And due to the limitation of general bionic arm kind of drive own characteristic, new-type line actuation techniques is arisen at the historic moment, line drives development evolvement to become a kind of novel driving mechanism.Line drives bionic arm generally motor and deceleration device to be all arranged on pedestal, by rope, the power of motor is delivered to each joint, reaches the mesh ground of remote power transmission.This mode improves space and the rotation precision of bionic arm relatively.But, existing line drives formula bionic arm and realizes predetermined sampling by controlling the change of steel wire rope effective length, transfer action, and be equipped with positioner the transmission precision of bionic arm can not be completely secured, and the bionic arm volume of this mode is bigger, the heaviest, be not suitable for experimenter and carry.In terms of transmission, due to the distinctive flexibility of steel wire rope itself, in place of there is also some shortcomings, bionic arm there will be the problems such as actuating device rigidity is low, end precision is the highest.
Summary of the invention
Utility model purpose: this utility model provides a kind of six degree of freedom intelligence arm prosthesis driving difference joint based on line, its objective is to solve the most existing problem.
Technical scheme: this utility model is achieved through the following technical solutions:
A kind of six degree of freedom intelligence arm prosthesis driving difference joint based on line, it is characterised in that: this arm prosthesis includes the tensioner of shoulder joint, has the shoulder joint of two-freedom, large arm, elbow joint, forearm and have the wrist joint of two-freedom；The tensioner of shoulder joint connects shoulder joint, and shoulder joint connects large arm, and large arm connects forearm by elbow joint, and forearm connects wrist joint.
Shoulder joint structure is the difference mechanism that a kind of line drives, it includes two driving motors, first kinking disk, second kinking disk, the U-shaped pedestal of shoulder joint, 3rd kinking disk, 4th kinking disk, motor is driven to be fixed on the top of large arm by nut, two shoulder joint drive the opposing placement of motor, two shoulder joint drive the output shaft of motor to be connected with the first kinking disk and the second kinking disk respectively, 3rd kinking disk, 4th kinking disk is arranged on above the U-shaped pedestal of shoulder joint, 4th kinking disk is arranged on the 3rd kinking disk upper end, two directive wheels are installed on the U-shaped pedestal of shoulder joint, 4th kinking disk is fixing with upper end connection to be connected.
The difference mechanism that described line drives also includes steel wire rope, steel wire rope wiring path is: left side steel wire penetrating is fixed on the clip side opening of the first kinking disk at machine shaft, and the termination of this steel wire rope is fixed with the first kinking disk, then on the left of this, the directive wheel being fixed on U-shaped pedestal upper end walked around after one week by steel wire rope around the wheel rim groove of the first kinking disk, afterwards further around crossing the 3rd kinking disc wheel emargination groove one week, penetrate in the 3rd kinking disk inner chamber after then passing through the clip side opening of the 3rd kinking disk, afterwards steel wire rope is connected at shoulder joint tensioner；
Right side steel wire penetrating is fixed on the clip side opening of the second kinking disk at machine shaft, and the termination of this steel wire rope is fixed with the second kinking disk, then on the right side of this, another directive wheel being fixed on U-shaped pedestal upper end walked around after one week by steel wire rope around the wheel rim groove of the second kinking disk, afterwards further around crossing the 4th kinking disc wheel emargination groove one week, penetrate in the 4th kinking disk inner chamber after then passing through the clip side opening of the 4th kinking disk, afterwards steel wire rope is connected at shoulder joint tensioner.
Elbow joint structure uses the difference mechanism that the line identical with shoulder joint drives, and the driving motor in elbow joint structure connects forearm, and elbow joint structure upper end is connected with large arm by connector；After the inner chamber of two, the left and right of elbow joint structure steel wire penetrating the 3rd kinking disk and the 4th kinking disk, upper end is connected to large arm.
Upper end connection connects the tensioner of shoulder joint.
Two shoulder joint drive the output shaft of motor to be connected with the first kinking disk and the second kinking disk with pad by ball bearing respectively, are all equipped with a hole being used for fixing steel wire rope outside the first kinking disk and the second kinking disk.
Two directive wheels are placed in the 4th kinking disk and the 3rd kinking disk both sides；Height and the 4th kinking disk of one of them directive wheel adapt, and height and the 3rd kinking disk of another directive wheel adapt.
Tubular mechanical arm is controlled during wherein forearm and large arm all use.
Motor is driven to be servomotor or steering wheel.
Described carpal structure includes the attachment means that carpal joint Xian Qu difference mechanism and palm are fixed, carpal joint difference mechanism is identical with the difference mechanism that the line of shoulder joint drives, wrist drives motor to be fixed in wrist brace, wrist brace and the first kinking disk of wrist, second kinking disk of wrist connects by a pin and carpal U-shaped pedestal are fixing, wrist brace is U-shaped structure, its lower end has centre bore, palm fixed mount is connected by screw with wrist motor, wherein palm fixed mount lower end has a palm and fixes groove, the centre bore through wrist brace of doing evil through another person during use is fixed on palm and fixes on groove.
Advantage and effect: this utility model provides a kind of six degree of freedom intelligence arm prosthesis driving difference joint based on line, it it is a kind of drive mechanism that can control steel wire rope Significant Change and improve bionic arm end precision, solving existing line drives arm own wt big, bears a heavy burden than low shortcoming.Motor is positioned over joint, shoulder joint and elbow joint and have employed the driving of motor difference line style.Two motors have driven two degree of freedom by line and have moved, and achieve the feature of high accuracy output.The shortcoming that this design compensate for tradition bionic arm, it is achieved that " having equal degree of freedom with staff ", " high output ", the feature of " increasing the rigidity of drive mechanism, compensate for the shortcoming that line drives ".
This utility model has the lightweight feature of simple in construction, motor difference line style is used to drive, not only increase the motility of bionic arm, and reduce the flexible of steel wire rope, increase the rigidity of drive mechanism, the problem solving to use the end of wire rope gearing mechanical arm to perform precision, it is achieved the free motion of intelligence arm prosthesis.
In sum, this utility model has been shortened by the distance of motor and joint, reduces the telescopic level of steel wire rope, improves the positional precision of arm end；Use rope type of drive, and aluminum application, alleviate oeverall quality；There is simple in construction, lightweight, the output big feature of torque.
Accompanying drawing illustrates:
Fig. 1 is overall structure schematic diagram of the present utility model；
Fig. 2 is the structural representation of whole shoulder joint differential lines drive mechanism；
Fig. 3 is the structural representation of the first kinking disk in shoulder joint differential lines drive mechanism；
Fig. 4 is the wiring path of shoulder joint differential lines drive mechanism；
Fig. 5 is whole wrist part structure schematic diagram.
nullIn figure: 1、Tensioner，2、Shoulder joint，3、Large arm，4、Elbow joint，5、Forearm，6、Wrist joint，7、Support pedestal，201、End connection in shoulder joint，202、Shoulder joint the 4th kinking disk，203、Shoulder joint the 3rd kinking disk，204、Shoulder joint the first kinking disk，205、Shoulder joint drives motor，215、First drives motor，225、Second drives motor，206、Shoulder joint directive wheel，207、Shoulder joint the second kinking disk，208、The U-shaped pedestal of shoulder joint，601、Carpal joint the 3rd kinking disk，602、Carpal joint the 4th kinking disk，603、Carpal joint directive wheel，604、The U-shaped pedestal of carpal joint，605、Wrist motor，606、Wrist brace，607、Palm fixed mount，608、Palm fixes groove.
Detailed description of the invention:Below in conjunction with the accompanying drawings this utility model is described further:
This utility model relates to a kind of six degree of freedom intelligence arm prosthesis driving difference joint based on line, and this arm prosthesis includes the tensioner 1 of shoulder joint, has the shoulder joint 2 of two-freedom, large arm 3, elbow joint 4, forearm 5 and have the wrist joint 6 of two-freedom；The tensioner 1 of shoulder joint connects shoulder joint 2, and shoulder joint 2 connects large arm 3, and large arm 3 connects forearm 5 by elbow joint 4, and forearm 5 connects wrist joint 6.
Shoulder joint structure 2 is the difference mechanism that a kind of line drives, it includes two driving motors the 205, first kinking disk the 204, second kinking disk 207, the U-shaped pedestal of shoulder joint the 208, the 3rd kinking disk the 203, the 4th kinking disk 202, motor 205 is driven to be fixed on the top of large arm 3 by nut, it is achieved shoulder joint is around the axial-rotation of machine shaft.Two shoulder joint drive the opposing placement of motor 205, two shoulder joint drive the output shaft of motor 205 to be connected with the first kinking disk 204 and the second kinking disk 207 respectively, 3rd kinking disk the 203, the 4th kinking disk 202 is arranged on above the U-shaped pedestal of shoulder joint 208,4th kinking disk 202 is arranged on the 3rd kinking disk 203 upper end, the 3rd kinking disk 203 and the 4th kinking disk 202 coaxial linkage.Installing two directive wheels 206 on the U-shaped pedestal of shoulder joint 208, the 4th kinking disk 202 is fixing with upper end connection 201 to be connected.Complete pivoting in the horizontal plane of shoulder joint.Each driving joint utilizes a pair driving motor, by a line drive system, power passes to each joint.
The difference mechanism that described line drives also includes steel wire rope, steel wire rope wiring path is: left side steel wire penetrating is fixed on the clip side opening 212 of the first kinking disk 204 at machine shaft, and the termination of this steel wire rope is fixed with the first kinking disk 204, then on the left of this, the directive wheel 206 being fixed on U-shaped pedestal 208 upper end walked around after one week by steel wire rope around the wheel rim groove of the first kinking disk 204, afterwards further around crossing the 3rd kinking disk 203 wheel rim groove one week, penetrate in the 3rd kinking disk 203 inner chamber after then passing through the clip side opening of the 3rd kinking disk 203, afterwards steel wire rope is connected at shoulder joint tensioner 1；
Right side steel wire penetrating is fixed on the clip side opening of the second kinking disk 207 at machine shaft, and the termination of this steel wire rope is fixed with the second kinking disk 207, then on the right side of this, another directive wheel 206 being fixed on U-shaped pedestal 208 upper end walked around after one week by steel wire rope around the wheel rim groove of the second kinking disk 207, afterwards further around crossing the 4th kinking disk 202 wheel rim groove one week, penetrate in the 4th kinking disk 202 inner chamber after then passing through the clip side opening of the 4th kinking disk 202, afterwards steel wire rope is connected at shoulder joint tensioner 1；When driving electric machine rotation, rotated by rope belt movable joint, complete the power driving motor is passed to cradle head.Have the groove identical with the wheel rim groove structure of the first kinking disk 204 and the second kinking disk 207 in the wheel rim of the 3rd kinking disk the 203, the 4th kinking disk 202, be used for being wound around and fixing steel wire rope.
Elbow joint structure 4 uses the difference mechanism that the line identical with shoulder joint 2 drives, it is possible to realize the two-freedom motion in joint.Driving motor 205 in elbow joint structure 4 connects forearm 5, and elbow joint structure 4 upper end is connected with large arm 3 by connector；After the inner chamber of two, the left and right of elbow joint structure 4 steel wire penetrating the 3rd kinking disk 203 and the 4th kinking disk 202, upper end is connected to large arm 3.
Upper end connection 201 connects the tensioner 1 of shoulder joint.
Two shoulder joint drive the output shaft of motor 205 to be connected with the first kinking disk 204 and the second kinking disk 207 with pad by ball bearing respectively, are all equipped with a hole being used for fixing steel wire rope outside the first kinking disk 204 and the second kinking disk 207.
Two directive wheels 206 are placed in the 4th kinking disk 202 and the 3rd kinking disk 203 both sides；Height and the 4th kinking disk 202 of one of them directive wheel 206 adapt, and height and the 3rd kinking disk 203 of another directive wheel 206 adapt.So-called adapting is exactly to walk around kinking disk in horizontal direction after directive wheel 206 walked around by steel wire rope.The effect of directive wheel is the direction of winding changing steel wire rope.On the U-shaped pedestal of shoulder joint 208 and increase the cushion block of suitable thickness between two directive wheels 206, keep right hand guide wheels higher than left side directive wheel.
Two identical kinking disks 203 and 202 are placed between end connection 201 and the U-shaped pedestal of shoulder joint, and be fixed on by ball bearing in the axle sleeve supporting pedestal 7, the lower surface of the 4th kinking disk 202 is fixed by screw with the upper surface of the 3rd kinking disk 203,4th kinking disk 202 is fixing with upper end connection 201 to be connected, and completes pivoting in the horizontal plane of shoulder joint.Each driving joint utilizes two driving motors, by a line drive system, power passes to each joint.
Control tubular mechanical arm during wherein forearm 5 and large arm 3 all use, reduce the weight of whole arm prosthesis.
Motor is driven to be servomotor or steering wheel.When driving electric machine rotation, rotated by rope belt movable joint, complete the power driving motor is passed to cradle head.
The structure of described carpal joint 6 includes the attachment means that carpal joint Xian Qu difference mechanism and palm are fixed, carpal joint difference mechanism is identical with the difference mechanism that the line of shoulder joint drives, wrist drives motor 605 to be fixed in wrist brace 606, wrist brace 606 and the first kinking disk of wrist, second kinking disk of wrist is by a pin and the fixing connection of carpal U-shaped pedestal 604, wrist brace is U-shaped structure, its lower end has centre bore, palm fixed mount 607 is connected by screw with wrist motor 605, wherein palm fixed mount 607 lower end has a palm and fixes groove 608, do evil through another person during use and can be fixed on palm through the centre bore of wrist brace 606 and fix on groove.
Described tensioner 1, large arm 3, forearm 5, end connection 201 in shoulder joint, shoulder joint the 4th kinking disk 202, shoulder joint the 3rd kinking disk 203, shoulder joint the first kinking disk 204, shoulder joint the second kinking disk 207, the U-shaped pedestal of shoulder joint 208, carpal joint the 3rd kinking disk 601, carpal joint the 4th kinking disk 602, the U-shaped pedestal of carpal joint 604, wrist brace 606, palm fixed mount 607, palm is fixed the material of groove 608 selection and is aluminum.
The most again the application is described further:
As shown in Figure 1, shoulder joint in the application, elbow joint, wrist joint structure are identical, each joint is driven by two driving motors, can complete the pivoting in vertical and the pivoting in horizontal plane, the driving motor in each joint drives differential system that power passes to each joint each with a line.
The motion of described six degree of freedom intelligence arm prosthesis can realize six-freedom degree, stretches including shoulder joint/bends, revolves inside/outside, elbow joint flexion/extension, rotation inside/outside, carpal joint flexion/extension, rotation inside/outside, can complete the compound motion of shoulder, elbow, wrist.
The structure of shoulder joint structure the first kinking disk and the second kinking disk the 207, the 3rd kinking disk the 203, the 4th kinking disk 202 is identical.First described kinking disk the 204, second kinking disk 207 is identical with the 4th kinking disk 202 structure with the 3rd kinking disk 203, the card of each kinking disk has the central through hole 232 of concentric relation, and the flanged nut pit 222 of circumference uniform distribution is had in card, it is fixed by screws on driving motor and upper end connection；Have U-shaped groove in the wheel rim of kinking disk for lay winding wire ropes, be positioned at the clip side opening 212 that the outside of flanged nut pit has, be used for limiting fixing steel wire rope, its aperture diameter more than steel wire rope and the external diameter less than clamp head.Described line drive system is identical with shoulder joint 2 with the wiring path of carpal joint 6 at elbow joint 4.
Described shoulder joint, elbow joint, carpal joint select servomotor or steering wheel, provide driving torque for joint.In this utility model, each joint is to drive motor as power core.
Owing to six degree of freedom intelligence arm prosthesis based on line driving difference joint of the present utility model takes, wire drive motor be placed in each joint, owing to driving means distance joint is nearer, effectively reduce the flexible of steel wire rope, and increase the rigidity of drive mechanism, improve and use the end of wire rope gearing mechanical arm to perform precision.
The six degree of freedom intelligence arm prosthesis in difference joint is driven to use line to drive difference articulation structure due to of the present utility model based on line, realize steel wire rope and drive the guiding movement in difference joint along the line, this drive mechanism not only realizes the radial and axial motion in joint, it is also possible to improve the end carrying capability of arm prosthesis.
The driving motor 205 of described shoulder joint structure 2 as shown in Figure 2 includes that the first shoulder joint drives motor 215 and the second shoulder joint to drive motor 225, first shoulder joint drives the screwed hole in motor 215 mounting seat to drive motor 225 mounting seat to connect by screw with corresponding second shoulder joint, drive motor and the second shoulder joint to drive at the output shaft of motor in the first shoulder joint and be respectively equipped with the first kinking disk 204, second kinking disk 207, shoulder joint drives motor 205 lower surface screwed hole to be connected with large arm 3 top by nut, make the first kinking disk 204, second kinking disk 207 and large arm keep being relatively fixed, and be connected with each other holding by rotating shaft and bearing and rotate relatively freely.
The structural representation of shoulder joint structure the first kinking disk as shown in Figure 3 is identical with the structure of the second kinking disk the 207, the 3rd kinking disk the 203, the 4th kinking disk 202.First described kinking disk the 204, second kinking disk 207 is identical with the 4th kinking disk 202 structure with the 3rd kinking disk 203, the card of each kinking disk has the central through hole 232 of concentric relation, and the flanged nut pit 222 of circumference uniform distribution is had in card, it is fixed by screws on driving motor and upper end connection；Have U-shaped groove in the wheel rim of kinking disk for lay winding wire ropes, be positioned at the clip side opening 212 that the outside of flanged nut pit has, be used for limiting fixing steel wire rope, its aperture diameter more than steel wire rope and the external diameter less than clamp head.Described line drive system is identical with shoulder joint 2 with the wiring path of carpal joint 6 at elbow joint 4.
Operation principle of the present utility model is:
The structure driven according to motor differential lines, the first kinking disk 204 is disposed vertically with the second relative ground of kinking disk 207, and by driving motor direct-drive, the 3rd kinking disk 203 and the 4th kinking disk 202 horizontal positioned are fixed on end connection position.When first drives motor 215, during second drives motor 225 to rotate in the opposite direction, under the drive of two motors, the steel wire rope being wound on the first kinking disk 204 and the second kinking disk 207 pulls to same direction, 3rd kinking disk 203 and the 4th kinking disk 202 are due to by rightabout pulling force transfixion, shoulder joint can be realized around motor axial direction that is the 3rd kinking disk 203 and the axial rotary motion of the 4th kinking disk 202, it is also possible to be described as realizing shoulder joint lifts motion；First drives motor 215, during second drives motor 225 to rotate with equidirectional, the steel wire rope being wound on the first kinking disk 204 pulls to side, the steel wire rope being wound on the second kinking disk 207 pulls to another direction, make the first kinking disk 204 and the second kinking disk 207 transfixion, 3rd kinking disk 203 and the 4th kinking disk 202 are by unidirectional pulling force, it is achieved the inward turning outward turning campaign of shoulder joint.Based on this principle, shoulder joint, elbow joint, carpal joint can produce the rotation of two degree of freedom, then can be realized the desired motion of intelligence arm prosthesis by shoulder joint, elbow joint, carpal compound motion.
In above-mentioned implementation of the present utility model, take and wire drives motor be placed in each joint, owing to driving means distance joint is relatively near, effectively reduce the flexible of steel wire rope, increase the rigidity of drive mechanism, improve and use the end of wire rope gearing mechanical arm to perform precision.The six degree of freedom intelligence arm prosthesis in difference joint is driven to use line to drive difference articulation structure due to of the present utility model based on line, realize steel wire rope and drive the guiding movement in difference joint along the line, this drive mechanism not only realizes the radial and axial motion in joint, the end carrying capability of arm prosthesis can also be improved, improve the transmission efficiency of steel wire rope.
In sum, six degree of freedom intelligence arm prosthesis of the present utility model has simple in construction, light weight, volume is little, export the advantage that torque is big.Its rotation realizing shoulder joint and pitching, the rotation of elbow joint and pitching and carpal rotation and pitching, increase the rigidity of drive mechanism simultaneously, reduce the telescopic level of steel wire rope, improve the positional precision of arm end, it is achieved arm motion scope is big, the feature of flexible movements.
Claims (9)
1. the six degree of freedom intelligence arm prosthesis driving difference joint based on line, it is characterised in that: this arm prosthesis includes the tensioner (1) of shoulder joint, has the shoulder joint (2) of two-freedom, large arm (3), elbow joint (4), forearm (5) and have the wrist joint (6) of two-freedom；The tensioner (1) of shoulder joint connects shoulder joint (2), and shoulder joint (2) connects large arm (3), and large arm (3) connects forearm (5) by elbow joint (4), and forearm (5) connects wrist joint (6)；
nullShoulder joint structure (2) is the difference mechanism that a kind of line drives，It includes two driving motors (205)、First kinking disk (204)、Second kinking disk (207)、The U-shaped pedestal of shoulder joint (208)、3rd kinking disk (203)、4th kinking disk (202)，Motor (205) is driven to be fixed on the top of large arm (3) by nut，Two shoulder joint drive motor (205) opposing placement，Two shoulder joint drive the output shaft of motor (205) to be connected with the first kinking disk (204) and the second kinking disk (207) respectively，3rd kinking disk (203)、4th kinking disk (202) is arranged on the U-shaped pedestal of shoulder joint (208) top，4th kinking disk (202) is arranged on the 3rd kinking disk (203) upper end，The U-shaped pedestal of shoulder joint (208) is upper installs two directive wheels (206)，4th kinking disk (202) is fixing with upper end connection (201) to be connected.
nullThe six degree of freedom intelligence arm prosthesis driving difference joint based on line the most according to claim 1,It is characterized in that: the difference mechanism that described line drives also includes steel wire rope，Steel wire rope wiring path is: left side steel wire penetrating is fixed on the clip side opening (212) of the first kinking disk (204) at machine shaft，And the termination of this steel wire rope is fixed with the first kinking disk (204)，Then on the left of this, the directive wheel (206) being fixed on U-shaped pedestal (208) upper end walked around after one week by steel wire rope around the wheel rim groove of the first kinking disk (204)，Afterwards further around crossing the 3rd kinking disk (203) wheel rim groove one week，Penetrate in the 3rd kinking disk (203) inner chamber after then passing through the clip side opening of the 3rd kinking disk (203)，Afterwards steel wire rope is connected to shoulder joint tensioner (1) place；
Right side steel wire penetrating is fixed on the clip side opening of the second kinking disk (207) at machine shaft, and the termination of this steel wire rope is fixed with the second kinking disk (207), then on the right side of this, another directive wheel (206) being fixed on U-shaped pedestal (208) upper end walked around after one week by steel wire rope around the wheel rim groove of the second kinking disk (207), afterwards further around crossing the 4th kinking disk (202) wheel rim groove one week, penetrate after then passing through the clip side opening of the 4th kinking disk (202) in the 4th kinking disk (202) inner chamber, afterwards steel wire rope is connected to shoulder joint tensioner (1) place.
The six degree of freedom intelligence arm prosthesis driving difference joint based on line the most according to claim 2, it is characterized in that: elbow joint structure (4) uses the difference mechanism that the line identical with shoulder joint (2) drives, driving motor (205) in elbow joint structure (4) connects forearm (5), and elbow joint structure (4) upper end is connected with large arm (3) by connector；After the inner chamber of two, the left and right of elbow joint structure (4) steel wire penetrating the 3rd kinking disk (203) and the 4th kinking disk (202), upper end is connected to large arm (3).
The six degree of freedom intelligence arm prosthesis driving difference joint based on line the most according to claim 1, it is characterised in that: upper end connection (201) connects the tensioner (1) of shoulder joint.
The six degree of freedom intelligence arm prosthesis driving difference joint based on line the most according to claim 1, it is characterized in that: two shoulder joint drive the output shaft of motor (205) to be connected with the first kinking disk (204) and the second kinking disk (207) with pad by ball bearing respectively, are all equipped with a hole being used for fixing steel wire rope at the first kinking disk (204) and the second kinking disk (207) outside.
The six degree of freedom intelligence arm prosthesis driving difference joint based on line the most according to claim 1, it is characterised in that: two directive wheels (206) are placed in the 4th kinking disk (202) and the 3rd kinking disk (203) both sides；Height and the 4th kinking disk (202) of one of them directive wheel (206) adapt, and height and the 3rd kinking disk (203) of another directive wheel (206) adapt.
The six degree of freedom intelligence arm prosthesis driving difference joint based on line the most according to claim 1, it is characterised in that: control tubular mechanical arm during wherein forearm (5) and large arm (3) all use.
The six degree of freedom intelligence arm prosthesis driving difference joint based on line the most according to claim 1, it is characterised in that: drive motor to be servomotor or steering wheel.
nullThe six degree of freedom intelligence arm prosthesis driving difference joint based on line the most according to claim 1,It is characterized in that: the structure of described carpal joint (6) includes the attachment means that carpal joint Xian Qu difference mechanism and palm are fixed，Carpal joint difference mechanism is identical with the difference mechanism that the line of shoulder joint drives，Wrist drives motor (605) to be fixed in wrist brace (606)，Wrist brace (606) and the first kinking disk of wrist、Second kinking disk of wrist connects by a pin and carpal U-shaped pedestal (604) are fixing，Wrist brace is U-shaped structure，Its lower end has centre bore，Palm fixed mount (607) is connected by screw with wrist motor (605)，Wherein palm fixed mount (607) lower end has a palm and fixes groove (608)，The centre bore through wrist brace (606) of doing evil through another person during use is fixed on palm and fixes on groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620052059.XU CN205729574U (en) | 2016-01-20 | 2016-01-20 | The six degree of freedom intelligence arm prosthesis in difference joint is driven based on line |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620052059.XU CN205729574U (en) | 2016-01-20 | 2016-01-20 | The six degree of freedom intelligence arm prosthesis in difference joint is driven based on line |
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| CN205729574U true CN205729574U (en) | 2016-11-30 |
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|---|---|---|---|
| CN201620052059.XU Withdrawn - After Issue CN205729574U (en) | 2016-01-20 | 2016-01-20 | The six degree of freedom intelligence arm prosthesis in difference joint is driven based on line |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105708585A (en) * | 2016-01-20 | 2016-06-29 | 沈阳工业大学 | Six-degree-of-freedom intelligent artificial arm based on line-drive differential joints |
| CN110116402A (en) * | 2019-06-06 | 2019-08-13 | 哈尔滨工业大学 | Three-freedom mechanical arm based on coupling wire rope gearing |
-
2016
- 2016-01-20 CN CN201620052059.XU patent/CN205729574U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105708585A (en) * | 2016-01-20 | 2016-06-29 | 沈阳工业大学 | Six-degree-of-freedom intelligent artificial arm based on line-drive differential joints |
| CN105708585B (en) * | 2016-01-20 | 2018-01-16 | 沈阳工业大学 | Six degree of freedom intelligence arm prosthesis based on line driving difference joint |
| CN110116402A (en) * | 2019-06-06 | 2019-08-13 | 哈尔滨工业大学 | Three-freedom mechanical arm based on coupling wire rope gearing |
| CN110116402B (en) * | 2019-06-06 | 2022-03-25 | 哈尔滨工业大学 | Three-degree-of-freedom mechanical arm based on coupling steel wire rope transmission |
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