CN207710784U - The bionic arm of Pneumatic artificial muscle driving - Google Patents
The bionic arm of Pneumatic artificial muscle driving Download PDFInfo
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- CN207710784U CN207710784U CN201721751083.3U CN201721751083U CN207710784U CN 207710784 U CN207710784 U CN 207710784U CN 201721751083 U CN201721751083 U CN 201721751083U CN 207710784 U CN207710784 U CN 207710784U
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Abstract
The utility model belongs to bio-robot technical field, specifically a kind of bionic arm of Pneumatic artificial muscle driving.Including：Large arm, elbow joint, forearm, wrist joint, hand, elbow joint bend and stretch driving mechanism, wrist joint bends and stretches driving mechanism, wrist joint spins driving mechanism and finger flex driving mechanism, wherein elbow joint bends and stretches driving mechanism in large arm, and offer power is bent and stretched for elbow joint；Wrist joint bends and stretches driving mechanism in forearm, bends and stretches offer power for wrist joint, forms drive lacking；Wrist joint spins driving mechanism in forearm, and power is provided for wrist joint spin；Finger flex driving mechanism is mounted in wrist joint, and offer power is bent and stretched for five fingers.The utility model is simple and compact for structure, using Flexible Transmission, light weight, at low cost, modularized design, quick detachable replacement, has the characteristics that integrated level is high, degree of freedom is more, compact and flexible, size and the similar and stability at human arm are good.
Description
Technical field
The utility model belongs to bio-robot technical field, and specifically a kind of Pneumatic artificial muscle drives bionical
Arm.
Background technology
The final goal of anthropomorphic robot research and development is to serve the mankind, and the realization of mechanical arm object run operation can help
Anthropomorphic robot preferably serves the mankind.Therefore arm mechanism design is the key technology of robot research and development, and as machine
The basic components of people's mechanical system, driver play a crucial role.It is different from traditional driver, Pneumatic artificial muscle
It is simple and compact for structure with its, light-weight, flexible, safe and convenient to use and unique as a kind of novel robot driver
Bio-imitability the advantages that just increasingly showing good application development situation.As that studies pneumatic muscles deepens continuously, it
It increasingly attracts attention in all kinds of anthropomorphic robots.
Existing bionic arm mostly uses greatly motor driving, and rigidity is larger, and shape is heavy, in terms of compliance and safety
There is prodigious defect.
Utility model content
In view of the above-mentioned problems, the purpose of this utility model is to provide a kind of bionic arm of Pneumatic artificial muscle driving,
The mechanism is applicable to artificial limb research, the research of novel driving material, control research etc..Pneumatic muscles driving structure is more simple
List, pollution is low, is easily installed, and its mechanical characteristic is similar with biological muscles, therefore compliance is that it is different from motor well
Drive maximum advantage.This compliance bionic arm can not only be applied on rehabilitation field, while as artificial limb
Aspect also has good foreground.
To achieve the goals above, the utility model uses following technical scheme：
A kind of bionic arm of Pneumatic artificial muscle driving, which is characterized in that including：Large arm, elbow joint, forearm, wrist close
Section, hand, elbow joint bend and stretch driving mechanism, wrist joint bends and stretches driving mechanism, wrist joint spin driving mechanism and finger flex drive
Mechanism, wherein the elbow joint bends and stretches driving mechanism in large arm, and offer power is bent and stretched for elbow joint；The wrist
Driving mechanism is bent and stretched in forearm in joint, bends and stretches offer power for wrist joint, forms drive lacking；The wrist joint spin
Driving mechanism is mounted in forearm, and power is provided for wrist joint spin；The finger flex driving mechanism is mounted on wrist joint
It is interior, bend and stretch offer power for five fingers.
The large arm includes large arm pedestal, right large arm side plate, the first large arm pneumatic muscles, large arm steel wire rope terminal, second
Large arm pneumatic muscles, left large arm side plate, steel wire rope double end terminal and third large arm pneumatic muscles, wherein right large arm side plate and a left side are big
One end of arm side plate is connect with large arm pedestal, and the other end is connect with the elbow joint, and the first, second, third large arm is pneumatic
One end of muscle is connect with large arm pedestal, and the other end bends and stretches driving mechanism with the elbow joint and connect.
It includes pulley bracket, large arm steel wire rope terminal, steel wire rope double end terminal, axis that the elbow joint, which bends and stretches driving mechanism,
Set, pulley spindle, pulley, pulley fixed seat and two elbow joints bend and stretch shackle line, wherein the both ends of pulley bracket respectively with
Right large arm side plate is connected with left large arm side plate, and pulley spindle is fixed on pulley bracket, and pulley is installed in rotation on pulley spindle,
Steel wire rope double end terminal is connect with the end of the first large arm pneumatic muscles and the second large arm pneumatic muscles, large arm steel wire rope terminal with
The ends of third large arm pneumatic muscles connects, an elbow joint bend and stretch the both ends of shackle line respectively with the steel wire rope
Double end terminal is connected with elbow joint, the bending for driving the elbow joint；Another elbow joint bends and stretches the two of shackle line
End is connect with the large arm steel wire rope terminal and elbow joint respectively, for driving stretching for the elbow joint, two elbows to close
Section bends and stretches shackle line and is oriented to by pulley.
The elbow joint includes the first elbow joint connector, angular transducer, elbow joint limit shaft, elbow joint axis and second
Elbow joint connector, the wherein both ends of elbow joint axis are rotationally connect with right large arm side plate and left large arm side plate, and end is set
Angled sensor, the first elbow joint connector and and the second elbow joint connector with elbow joint axis connection, and rotate synchronously,
The elbow joint axis bends and stretches driving mechanism with the elbow joint and connect.
The forearm includes arm pedestal, the first forearm pneumatic muscles, forearm support shaft, the second forearm pneumatic muscles and third
Forearm pneumatic muscles, wherein forearm pedestal are connect with the elbow joint, and one end of the first, second, third forearm pneumatic muscles is solid
Surely it being connected on forearm pedestal, the other end of the first, second forearm pneumatic muscles is connect with wrist joint spin driving mechanism,
The other end of third forearm pneumatic muscles bends and stretches driving mechanism with the wrist joint and connect, one end and the forearm base of forearm support shaft
Seat connection, the other end are connect with wrist joint.
The wrist joint spin driving mechanism includes two wrist joints spin shackle lines, two wrist joints spin transmissions
One end of steel wire rope is connect with wrist joint, the other end respectively with the first forearm pneumatic muscles and the second forearm pneumatic muscles end
The forearm steel wire rope terminal connection being equipped with.
It includes that spring, leading block, pulley bracket, pulley and two wrist joints are bent and stretched that the wrist joint, which bends and stretches driving mechanism,
Shackle line, wherein leading block and pulley are mounted on pulley bracket by bearing, and pulley bracket is fixed on forearm support shaft
On, one end of spring is fixedly connected with adjustment terminal, and adjustment terminal is fixed on forearm pedestal, adjustment terminal and adjustment terminal spiral shell
Tether and connect, the connection of the equal wrist joint in one end that two wrist joints bend and stretch shackle line, the other end respectively with spring and third
Forearm pneumatic muscles connect.
The wrist joint include spin pulley, cylinder support seat, roller, pitching limit, wrist joint axis, wrist joint holder,
Output, pitching pulley, angular transducer, steel wire rope terminal, wrist joint seat and five wrist pneumatic muscles, wherein wrist joint branch
Frame is fixedly connected with output, and output is connect with pitching pulley, and pitching pulley is connected to by flat key on wrist joint axis, and wrist closes
Nodal axisn is rotatablely connected with wrist joint seat, and spin pulley is fixedly connected with wrist joint seat；Five wrist pneumatic muscles are closed mounted on wrist
The both sides of holder are saved, and are connect with the finger flex driving mechanism, wrist joint axis is equipped with first angle sensor, can use
Angle is bent and stretched in measuring wrist joint, wrist joint seat is equipped with second angle sensor, can be used for measuring wrist joint spin angle, from
Rotation pulley is used to connect with wrist joint spin driving mechanism, and pitching pulley, which is used to bend and stretch driving mechanism with the wrist joint, to be connected
It connects.
The hand includes identical five fingers of structure, each finger include far finger, middle finger, closely refer to, refer to pedestal, the back of the hand and
Palm is fixedly connected wherein far referring to middle finger, and middle finger and closely finger rotation connection closely refer to and are fixed on the back of the hand by referring to pedestal, closely
Refer to and closely refer to pedestal rotation connection, middle finger and joint closely between finger and the joint that closely refers to and refer between pedestal are equipped with bullet
Spring, forms drive lacking, and palm is connect with the back of the hand.
The finger flex driving mechanism includes five finger actuation leading blocks and five finger flex shackle lines,
Wherein five finger actuation leading blocks are installed in rotation on the back of the hand, one end difference of five finger flex shackle lines
It is connect with five wrist pneumatic muscles, the other end, which extends through, to be referred to pedestal and each finger and far refer to connection, and five fingers are in the wrong
Shackle line is stretched to be oriented to by five finger actuation leading blocks respectively.
The advantages of the utility model is with good effect：
1, the utility model is simple in structure, manufacturing cost is low.What the rotation of elbow joint, wrist joint, finger-joint was all unified
It is driven using Pneumatic artificial muscle, single driving mechanism can be much less the difficulty of control aspect, using wire rope gearing
Cost is very low, and pneumatic muscles and steel wire rope all have good compliance, increase the security performance of movement.
2, the utility model light weight, driving moment are big.It is driven using pneumatic muscles, the driving force with bigger.Elbow closes
The driving pneumatic muscles free suspension load of section is 800N, the driving force of bigger is will produce when pneumatic muscles are shunk, and pneumatic
It is low-down that the cost of muscle, which compares for motor,.It is all slim and graceful using quality in the support construction of entire bionic arm
Aluminium alloy 7075, hardness meets requirement and quality is material lighter in aluminium alloy, and the structure of bionic hand is all adopted
With 3D printing, the material used is liquid resin, requirement is met on material hardness, and 3D printing can also save
Cost.
3, the utility model uses modularized design, and the movement between each joint is mutual indepedent, can individually dismantle.Elbow closes
The rotation angle of section can reach to be spent for 0 to 120, and can adjust each joint according to the tensioning length for adjusting installation steel wire rope
Rotation angle, this makes it possible to more convenient by mechanism accommodation limit rotation angle, reduces the complexity of control.
4, the arm size of the utility model and people are close, the muscle when contraction of pneumatic muscles is similar to the arm motion of people
Contraction, this makes the motion process of bionic arm more close to the real motion process of people.The following pneumatic muscles are imitative
The use in raw field can be more universal.
5, the utility model finger part uses drive lacking structure, and only there are two degree of freedom, steel cables for each finger
Transmission, this makes entire control system simpler, and can realize the daily grasp motion similar to people.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of large arm in the utility model；
Fig. 3 is the exploded perspective view of large arm in the utility model；
Fig. 4 is the structural schematic diagram of elbow joint in the utility model；
Fig. 5 is the exploded perspective view of elbow joint in the utility model；
Fig. 6 is the structural schematic diagram of forearm in the utility model；
Fig. 7 is the exploded perspective view of forearm in the utility model；
Fig. 8 is carpal structural schematic diagram in the utility model；
Fig. 9 is carpal exploded perspective view in the utility model；
Figure 10 is the structural schematic diagram of hand in the utility model；
Figure 11 is the exploded perspective view of hand in the utility model.
Wherein：1 is large arm, and 2 be elbow joint, and 3 be forearm, and 4 be wrist joint, and 5 be hand, and 11 be large arm pedestal, and 12 be right big
Arm side plate, 13 be the first large arm pneumatic muscles, and 14 be right elbow joint end cap, and 15 be pulley bracket, and 16 be large arm steel wire rope end
Son, 17 be left elbow joint end cap, and 18 be the second large arm pneumatic muscles, and 19 be left large arm side plate, and 110 be steel wire rope double end terminal,
111 be axle sleeve, and 112 be pulley spindle, and 113 be pulley, and 114 be pulley fixed seat, and 115 be third large arm pneumatic muscles, and 21 be the
One bearing, 22 be the first elbow joint connector, and 23 be angular transducer, and 24 be elbow joint limit shaft, and 25 be the first flat key, 26
It is the second flat key for elbow joint axis, 27,28 be the second elbow joint connector, and 29 be second bearing, and 31 be to adjust terminal bolt, 32
It is adjustment terminal for forearm pedestal, 33,34 be pneumatic muscles, and 35 be spring, and 36 be forearm steel wire rope terminal, and 37 lead for first
To pulley, 38 be sleeve, and 310 be bearing, and 39 be pulley spindle, and 311 be sleeve, and 312 be bearing, and 313 be pulley spindle, and 314 be cunning
Wheel support, 315 be the second leading block, and 316 be forearm support shaft, and 317 be the second forearm pneumatic muscles, and 318 be third forearm
Pneumatic muscles, 41 be spin pulley, and 42 be bearing, and 43 be cylinder support seat, and 44 be roller, and 45 be wrist pneumatic muscles, and 46 are
Pitching limits, and 47 be wrist joint axis, and 48 be wrist joint holder, and 49 be output, and 410 be pitching pulley, and 411 be sleeve, and 412
It is end cap for first angle sensor, 413,414 be wrist steel wire rope terminal, and 416 be gland, and 417 be second angle sensor,
418 be wrist joint seat, and 51 be pulley gland, and 52 is far refer to, and 53 be middle finger, and 54 is closely refer to, and 55 be finger pedestal, and 56 be the back of the hand, 57
For the first finger actuation leading block, 58 leading block is driven for second finger, 59 be third finger actuation leading block, 510
It is the 5th finger actuation leading block for the 4th finger actuation leading block, 511,512 be palm.
Specific implementation mode
In order to keep the purpose of this utility model, technical solution and advantage clearer, below in conjunction with the accompanying drawings and it is embodied
The utility model is described in detail in example.
As shown in Figure 1, a kind of bionic arm of Pneumatic artificial muscle driving provided by the utility model, including：Large arm 1,
Elbow joint 2, forearm 3, wrist joint 4, hand 5, elbow joint bend and stretch driving mechanism, wrist joint bends and stretches driving mechanism, wrist joint spin is driven
Motivation structure and finger flex driving mechanism, wherein elbow joint bend and stretch driving mechanism in large arm 1, for bending for elbow joint 2
Offer power is provided；Wrist joint bends and stretches driving mechanism in forearm 3, bends and stretches offer power for wrist joint 4, stroke is owed to drive
It is dynamic；Wrist joint spins driving mechanism in forearm 3, and power is provided for the spin of wrist joint 4；Finger flex driving mechanism is pacified
In wrist joint 4, offer power is bent and stretched for five fingers.
As Figure 2-3, large arm 1 includes large arm pedestal 11, right large arm side plate 12, the first large arm pneumatic muscles 13, large arm
Steel wire rope terminal 16, the second large arm pneumatic muscles 18, left large arm side plate 19, steel wire rope double end terminal 110 and third large arm are pneumatic
Muscle 115, wherein one end of right large arm side plate 12 and left large arm side plate 19 is threadedly coupled with large arm pedestal 11, the other end is equal
It is threadedly coupled with large arm pedestal 11 with one end of elbow joint 2, the first, second, third large arm pneumatic muscles 13,18,115, it is another
Driving mechanism is bent and stretched with elbow joint and connect in end.
It includes pulley bracket 15, large arm steel wire rope terminal 16, steel wire rope double end terminal that the elbow joint, which bends and stretches driving mechanism,
110, axle sleeve 111, pulley spindle 112, pulley 113, pulley fixed seat 114 and two elbow joints bend and stretch shackle line, wherein sliding
The both ends of wheel support 15 are connect with right large arm side plate 12 and left large arm side plate 19 respectively, and pulley spindle 112 is fixed on pulley bracket 15
On, pulley 113 is installed in rotation on by bearing on pulley spindle 112, steel wire rope double end terminal 110 and the pneumatic flesh of the first large arm
Meat 13 is connected with the end of the second large arm pneumatic muscles 18, the end of large arm steel wire rope terminal 16 and third large arm pneumatic muscles 115
Portion connects, and the both ends that an elbow joint bends and stretches shackle line are connect with steel wire rope double end terminal 110 and elbow joint 2 respectively, uses
In the bending of driving elbow joint 2；Another elbow joint bend and stretch the both ends of shackle line respectively with large arm steel wire rope terminal 16 and
Elbow joint 2 connects, for driving stretching for elbow joint 2, elbow joint to bend and stretch shackle line wherein one and led by pulley 113
To in addition steel cable height is parallel with third large arm pneumatic muscles 115, is oriented to without pulley, total in two steel wire ropes
Elbow joint 2 is finally driven to rotate under same-action.
As illustrated in figures 4-5, elbow joint 2 includes the first elbow joint connector 22, angular transducer 23, elbow joint limit shaft
24, elbow joint axis 26 and the second elbow joint connector 28, the wherein both ends of elbow joint axis 26 pass through first bearing 21 and the second axis
It holds 29 rotationally to connect with right large arm side plate 12 and left large arm side plate 19, and end is equipped with angular transducer 23, the first elbow closes
Save connector 22 and and the second elbow joint connector 28 pass through the first flat key 25 and the second flat key 27 respectively and connect with elbow joint axis 26
It connects, and rotates synchronously, elbow joint axis 26, which with elbow joint bends and stretches two elbow joints in driving mechanism and bends and stretches shackle line, to be connect.
Elbow joint both ends can connect angle displacement sensor and encoder respectively, and wherein angle displacement sensor is convenient for peace
Dress, small, encoder accuracy is high, and volume is big.
The flexion and extension of elbow joint 2 is realized by three Pneumatic artificial muscles.When two pneumatic muscles (first, side by side
Two large arm pneumatic muscles 13 when 18) shrink, can drive connected elbow joint to bend and stretch shackle line and generate straight line position
It moves, elbow joint axis 26 is finally driven to by leading block becomes rotary motion.The reply of elbow joint 2 is individual by other side
Third large arm pneumatic muscles 115 are driven, when two pneumatic muscles side by side loosen, while other side individual
Three large arm pneumatic muscles 115 are shunk, and so that the elbow joint of connection is bent and stretched shackle line and are generated straight-line displacement, final to be driven
Become rotary motion to elbow joint axis 26.
As shown in fig. 6-7, forearm 3 is small including arm pedestal 32, the first forearm pneumatic muscles 34, forearm support shaft 316, second
First elbow joint connector of arm pneumatic muscles 317 and third forearm pneumatic muscles 318, wherein forearm pedestal 32 and elbow joint 2
22 and and the connection of the second elbow joint connector 28, one end of the first, second, third forearm pneumatic muscles 34,317,318, which is fixed, to be connected
It being connected on forearm pedestal 32, the other end of the first, second forearm pneumatic muscles 34,317 is connect with wrist joint spin driving mechanism,
The other end of third forearm pneumatic muscles 318 bends and stretches driving mechanism with wrist joint and connect, one end of forearm support shaft 316 with it is small
Arm pedestal 32 connects, and the other end is connect with wrist joint 4.
The wrist joint spin driving mechanism includes two wrist joints spin shackle lines, two wrist joints spin transmissions
One end of steel wire rope is connect with wrist joint 4, the other end respectively with the first forearm pneumatic muscles 34 and the second forearm pneumatic muscles
The forearm steel wire rope terminal 36 that 317 ends are equipped with connects.
It includes spring 35, leading block 37, pulley bracket 314, pulley 315 and two that the wrist joint, which bends and stretches driving mechanism,
Wrist joint bends and stretches shackle line, and wherein leading block 37 and pulley 315 is mounted on pulley bracket 314, pulley branch by bearing
Frame 314 is fixed on by pin in forearm support shaft 316, and one end of spring 35 is fixedly connected with adjustment terminal 33, adjusts terminal
33 are fixed on forearm pedestal 32, and adjustment terminal 33 is connect with adjustment terminal bolt 31, and two wrist joints bend and stretch shackle line
One end connect with wrist joint 4, the other end is connect with spring 35 and third forearm pneumatic muscles 318 respectively.
The wrist joint bend and stretch driving mechanism by two wrist joints bend and stretch shackle line drive wrist joint bend and stretch, formed
Drive lacking.
As Figure 8-9, wrist joint 4 includes spin pulley 41, cylinder support seat 43, roller 44, pitching limit 46, wrist pass
Nodal axisn 47, wrist joint holder 48, output 49, pitching pulley 410, angular transducer 412, steel wire rope terminal 414, wrist joint seat
418 and five wrist pneumatic muscles 45, wherein wrist joint holder 48 be fixedly connected with output 49, output 49 and pitching pulley
410 are threadedly coupled, and pitching pulley 410 is connected to by flat key on wrist joint axis 47, and wrist joint axis 47 is rotated with wrist joint seat 418
Connection, spin pulley 41 are fixedly connected with wrist joint seat 418；Five wrist pneumatic muscles 45 are mounted on the two of wrist joint holder 48
Side, and connect with finger flex driving mechanism, wrist joint axis 47 is equipped with first angle sensor 412, can be used for measuring wrist
Angle is bent and stretched in joint, and wrist joint seat 418 is equipped with second angle sensor 417, can be used for measuring wrist joint spin angle.Spin
Pulley 41 is connect with two wrist joints spin shackle line in wrist joint spin driving mechanism.Pitching pulley 410 is closed with wrist
Section bends and stretches two wrist joints in driving mechanism and bends and stretches shackle line connection.
There are two degree of freedom altogether for wrist joint 4, measure rotation angle with two angle displacement sensors respectively.Wherein second jiao
It spends sensor 417 and bends and stretches rotation angle for measuring for measuring spin angle, first angle sensor 412.
By two Pneumatic artificial muscles, (the first forearm pneumatic muscles 34 and the second forearm are pneumatic for the spin motion of wrist joint 2
Muscle 317) driving, bend and stretch shackle line transmission by two wrist joints.One end that a piece wrist joint bends and stretches shackle line is solid
Due on spin pulley 41, other end is fixed on by steel wire rope terminal on the first forearm pneumatic muscles 34；An other wrist
The both ends that shackle line is bent and stretched in joint are individually fixed on spin pulley 41 and the second forearm pneumatic muscles 317.When first small
When arm 34 contractile motion of pneumatic muscles, wrist joint can be driven to bend and stretch shackle line generation linear motion and be finally transmitted to spin
Pulley 41 becomes rotary motion, and while the first forearm pneumatic muscles 34 are shunk, other end of wrist joint bends and stretches transmission steel
Cord starts to loosen, and piece contraction of two pneumatic muscles, one is loosened, to realize rotation return motion.
The flexion and extension of wrist joint 2 is by a Pneumatic artificial muscle (third forearm pneumatic muscles 318) and a spring 35
It realizes, shackle line transmission is bent and stretched by two wrist joints.One end that a piece wrist joint bends and stretches shackle line passes through steel wire rope
Terminal is fixed on third forearm pneumatic muscles 318, and other end is fixed on pitching pulley 410.An other wrist joint is bent
It stretches shackle line one end to be fixed on the hook of spring 35, other end is fixed on pitching pulley 410.In wrist joint 2
Under stationary state, spring 35 is in pre-strained state.When third forearm pneumatic muscles 318 are shunk, wrist joint is driven to bend and stretch biography
Dynamic steel wire rope generates displacement, and driving on pitching pulley 410 becomes rotary motion, while spring 35 bends and stretches transmission due to wrist joint
The transmission of steel wire rope generates displacement, and tensile force is increasing, when third forearm pneumatic muscles 318 loosen, utilizes spring 35
Elastic force, which is realized, replys.
As shown in figs. 10-11, hand 5 includes identical five fingers of structure, and for each finger there are two degree of freedom, each finger is equal
Including far referring to 52, middle finger 53, closely referring to 54, refer to pedestal 55, the back of the hand 56 and palm 512, it is fixedly connected with middle finger 53 wherein far referring to 52,
Middle finger 53 is rotatablely connected with closely finger 54, is closely referred to 54 and is fixed on the back of the hand 56 by referring to pedestal 55, closely finger 54 and closely 55 turns of pedestal of finger
Dynamic connection, middle finger 53 and the joint for closely referring to the joint between 54 and closely referring to 54 and referring between pedestal 55 are equipped with spring, shape
At drive lacking, palm 512 is connect with the back of the hand 56.
The finger flex driving mechanism includes five finger actuation leading blocks and five finger flex shackle lines,
Wherein five finger actuation leading blocks are installed in rotation on the back of the hand 56, one end point of five finger flex shackle lines
It is not connect with the wrist steel wire rope terminal 414 of five 45 ends of wrist pneumatic muscles, the other end, which extends through, refers to pedestal 55 and each
It is connect with far finger 52 after finger, five finger flex shackle lines pass through five finger actuation leading blocks and are oriented to respectively.Hand
Finger bends and stretches driving mechanism and drives finger flex by five finger flex shackle lines, forms drive lacking；Finger actuation is oriented to
Pulley includes coaxial mounted major diameter pulley and minor diameter pulley, and every finger flex shackle line is divided into two sections, wherein
Far referring on 52 for finger is fixed in one end of first segment, and the other end, through pedestal 55 is referred to, is connected to major diameter pulley by finger
On, one end of second segment is fixed on minor diameter pulley, and the other end is fixed on wrist pneumatic muscles 45, is used for expanding wrist with this
The stroke of pneumatic muscles 45.Therefore, finger actuation leading block not only play the guiding role, and can amplify row in mechanism
Journey.
Finger-joint is driven by five wrist pneumatic muscles 45, five finger flex shackle line transmissions.When five wrists
When portion's pneumatic muscles 45 are shunk, finger flex shackle line generates straight-line displacement, and displacement equations are carried out by pulley, final to pass
It moves to finger-joint and realizes the grasp motion of hand.Have underloading spring between the middle finger and nearly articulations digitorum manus of every finger, finger it is close
Refer to and base refer to seat between have middle underloading spring, when wrist pneumatic muscles 45 loosen, under the action of spring-return power, finger from
Grasping state becomes extended configuration.
The operation principle of the utility model is：
The utility model has used ten Pneumatic artificial muscles altogether, wherein three a diameter of 20mm, freely loads and is
800N, the driving mechanism as elbow joint 2；Wherein three a diameter of 10mm, it is 300N, the drive as wrist joint 4 freely to load
Motivation structure；Wherein five a diameter of 5mm, it is 50N, the driving mechanism as finger-joint freely to load.Entire mechanism needs one
11 proportional pressure valves of a industrial personal computer pair realize that the contraction to pneumatic muscles controls by valve.Elbow joint 2 can bend and stretch fortune
Dynamic, wrist joint 4 can be bent and stretched and spin motion, and five finger-joints can carry out grasp motion.
The length of the bionic arm is designed by the size of adult human hand, and large arm forearm supports parts to use matter
Amount can make whole system slimmer and more graceful compared with light, the stronger aluminium alloy 7075 of hardness in structure.The palm of entire hand, the back of the hand,
Pulley and finger are all made of 3D printing technique, are printed by the high-precision high-ductility liquid resin material of high tenacity, acid and alkali-resistance, described
Bionic arm shares eight joint freedom degrees, ten Pneumatic artificial muscle drivings.
The utility model is simple and compact for structure, using novel type of drive, transmission flexible, light weight, at low cost, module
Change design, quick detachable replacement, has more integrated level height, degree of freedom, compact and flexible, size and the similar and stability at human arm good
The features such as.
The foregoing is merely the embodiments of the utility model, are not intended to limit the scope of protection of the utility model.It is all
Any modification, equivalent substitution and improvements made within spirit of the present utility model and principle, extension etc., are all contained in this reality
With in novel protection domain.
Claims (10)
1. a kind of bionic arm of Pneumatic artificial muscle driving, which is characterized in that including：Large arm (1), elbow joint (2), forearm
(3), wrist joint (4), hand (5), elbow joint bends and stretches driving mechanism, wrist joint bends and stretches driving mechanism, wrist joint spin driving mechanism
And finger flex driving mechanism, wherein
The elbow joint bends and stretches driving mechanism in large arm (1), and offer power is bent and stretched for elbow joint (2)；
The wrist joint bends and stretches driving mechanism in forearm (3), and offer power is bent and stretched for wrist joint (4), is formed and owes to drive
It is dynamic；
The wrist joint spin driving mechanism is mounted in forearm (3), and power is provided for wrist joint (4) spin；
The finger flex driving mechanism is mounted in wrist joint (4), and offer power is bent and stretched for five fingers.
2. the bionic arm of Pneumatic artificial muscle driving according to claim 1, which is characterized in that large arm (1) packet
Include large arm pedestal (11), right large arm side plate (12), the first large arm pneumatic muscles (13), large arm steel wire rope terminal (16), second largest
Arm pneumatic muscles (18), left large arm side plate (19), steel wire rope double end terminal (110) and third large arm pneumatic muscles (115), wherein
One end of right large arm side plate (12) and left large arm side plate (19) is connect with large arm pedestal (11), the other end with the elbow joint
(2) it connects, one end of the first, second, third large arm pneumatic muscles (13,18,115) is connect with large arm pedestal (11), the other end
Driving mechanism is bent and stretched with the elbow joint to connect.
3. the bionic arm of Pneumatic artificial muscle driving according to claim 2, which is characterized in that the elbow joint is bent and stretched
Driving mechanism includes pulley bracket (15), large arm steel wire rope terminal (16), steel wire rope double end terminal (110), axle sleeve (111), slides
Wheel shaft (112), pulley (113), pulley fixed seat (114) and two elbow joints bend and stretch shackle line, wherein pulley bracket
(15) both ends are connect with right large arm side plate (12) and left large arm side plate (19) respectively, and pulley spindle (112) is fixed on pulley bracket
(15) on, pulley (113) is installed in rotation on pulley spindle (112), and steel wire rope double end terminal (110) and the first large arm are pneumatic
Muscle (13) is connected with the end of the second large arm pneumatic muscles (18), large arm steel wire rope terminal (16) and third large arm pneumatic muscles
(115) end connection, an elbow joint bend and stretch the both ends of shackle line respectively with the steel wire rope double end terminal
(110) it is connected with elbow joint (2), the bending for driving the elbow joint (2)；Another elbow joint bends and stretches shackle line
Both ends are connect with the large arm steel wire rope terminal (16) and elbow joint (2) respectively, for driving stretching for the elbow joint (2),
Two elbow joints bend and stretch shackle line and are oriented to by pulley (113).
4. the bionic arm of Pneumatic artificial muscle driving according to claim 2, which is characterized in that the elbow joint (2)
Including the first elbow joint connector (22), angular transducer (23), elbow joint limit shaft (24), elbow joint axis (26) and the second elbow
Joint connector (28), the wherein both ends of elbow joint axis (26) rotationally with right large arm side plate (12) and left large arm side plate (19)
Connection, and end is equipped with angular transducer (23), the first elbow joint connector (22) and and the second elbow joint connector (28) it is equal
It connect, and rotates synchronously with elbow joint axis (26), the elbow joint axis (26) is bent and stretched driving mechanism with the elbow joint and connect.
5. the bionic arm of Pneumatic artificial muscle driving according to claim 1, which is characterized in that forearm (3) packet
Include arm pedestal (32), the first forearm pneumatic muscles (34), forearm support shaft (316), the second forearm pneumatic muscles (317) and third
Forearm pneumatic muscles (318), wherein forearm pedestal (32) are connect with the elbow joint (2), and the first, second, third forearm is pneumatic
One end of muscle (34,317,318) is fixedly connected on forearm pedestal (32), the first, second forearm pneumatic muscles (34,317)
The other end and the wrist joint spin driving mechanism connect, the other end and the wrist pass of third forearm pneumatic muscles (318)
Section bends and stretches driving mechanism connection, and one end of forearm support shaft (316) is connect with forearm pedestal (32), the other end and wrist joint (4)
Connection.
6. the bionic arm of Pneumatic artificial muscle driving according to claim 5, which is characterized in that the wrist joint spin
Driving mechanism includes that two wrist joints spin shackle lines, and one end of two wrist joints spin shackle lines is and wrist joint
(4) it connects, the forearm that the other end is equipped with the first forearm pneumatic muscles (34) and second forearm pneumatic muscles (317) end respectively
Steel wire rope terminal (36) connects.
7. the bionic arm of Pneumatic artificial muscle driving according to claim 5, which is characterized in that the wrist joint is bent and stretched
Driving mechanism includes that spring (35), leading block (37), pulley bracket (314), pulley (315) and two wrist joints bend and stretch transmission
Steel wire rope, wherein leading block (37) and pulley (315) are mounted on pulley bracket (314) by bearing, and pulley bracket (314) is solid
Due in forearm support shaft (316), one end of spring (35) is fixedly connected with adjustment terminal (33), and adjustment terminal (33) is fixed on
On forearm pedestal (32), adjustment terminal (33) is connect with adjustment terminal bolt (31), and two wrist joints bend and stretch transmission steel wire
The equal wrist joint in one end (4) of rope connects, and the other end is connect with spring (35) and third forearm pneumatic muscles (318) respectively.
8. the bionic arm of Pneumatic artificial muscle driving according to claim 1, which is characterized in that the wrist joint (4)
Including spin pulley (41), cylinder support seat (43), roller (44), pitching limit (46), wrist joint axis (47), wrist joint holder
(48), output (49), pitching pulley (410), angular transducer (412), steel wire rope terminal (414), wrist joint seat (418) and
Five wrist pneumatic muscles (45), wherein wrist joint holder (48) are fixedly connected with output (49), output (49) and pitching
Pulley (410) connects, and pitching pulley (410) is connected to by flat key on wrist joint axis (47), wrist joint axis (47) and wrist joint
Seat (418) rotation connection, spin pulley (41) are fixedly connected with wrist joint seat (418)；Five wrist pneumatic muscles (45) installations
Both sides in wrist joint holder (48), and connect with the finger flex driving mechanism, wrist joint axis (47) is equipped with first
Angular transducer (412) can be used for measuring wrist joint and bend and stretch angle, and wrist joint seat (418) is equipped with second angle sensor
(417), can be used for measuring wrist joint spin angle, spin pulley (41) is used to connect with wrist joint spin driving mechanism,
Pitching pulley (410) is connect for bending and stretching driving mechanism with the wrist joint.
9. the bionic arm of Pneumatic artificial muscle according to claim 8 driving, which is characterized in that the hand (5) includes
Identical five fingers of structure, each finger include far referring to (52), middle finger (53), closely referring to (54), refer to pedestal (55), the back of the hand (56)
And palm (512), it is fixedly connected with middle finger (53) wherein far referring to (52), middle finger (53) and closely finger (54) rotation connection closely refer to
(54) by refer to pedestal (55) be fixed on the back of the hand (56), closely refer to (54) and closely finger pedestal (55) rotation connection, middle finger (53) and
The joint for closely referring to the joint between (54) and closely referring to (54) and referring between pedestal (55) is equipped with spring, forms drive lacking,
Palm (512) is connect with the back of the hand (56).
10. the bionic arm of Pneumatic artificial muscle driving according to claim 9, which is characterized in that the finger flex
Driving mechanism includes five finger actuation leading blocks and five finger flex shackle lines, wherein five finger actuations are oriented to
Pulley is installed in rotation on the back of the hand (56), one end of five finger flex shackle lines respectively with five wrist gas
Dynamic muscle (45) connection, the other end extend through finger pedestal (55) and each finger and are connect with far finger (52), and five finger flex pass
Dynamic steel wire rope is oriented to by five finger actuation leading blocks respectively.
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| CN201721751083.3U CN207710784U (en) | 2017-12-15 | 2017-12-15 | The bionic arm of Pneumatic artificial muscle driving |
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| CN201721751083.3U CN207710784U (en) | 2017-12-15 | 2017-12-15 | The bionic arm of Pneumatic artificial muscle driving |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107972014A (en) * | 2017-12-15 | 2018-05-01 | 中国科学院沈阳自动化研究所 | A kind of bionic arm of Pneumatic artificial muscle driving |
| 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 |
| CN110812124A (en) * | 2019-12-06 | 2020-02-21 | 上海大学 | Pneumatic-driven flexible wearable upper limb rehabilitation system |
| CN112590961A (en) * | 2020-12-24 | 2021-04-02 | 上海大学 | Bionic jumping leg adopting pneumatic series elastic joints |
| WO2021179597A1 (en) * | 2020-03-09 | 2021-09-16 | 雷国华 | Mechanical arm |
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- 2017-12-15 CN CN201721751083.3U patent/CN207710784U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107972014A (en) * | 2017-12-15 | 2018-05-01 | 中国科学院沈阳自动化研究所 | A kind of bionic arm of Pneumatic artificial muscle driving |
| 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 |
| CN110812124A (en) * | 2019-12-06 | 2020-02-21 | 上海大学 | Pneumatic-driven flexible wearable upper limb rehabilitation system |
| CN110812124B (en) * | 2019-12-06 | 2021-12-03 | 上海大学 | Pneumatic-driven flexible wearable upper limb rehabilitation system |
| WO2021179597A1 (en) * | 2020-03-09 | 2021-09-16 | 雷国华 | Mechanical arm |
| CN112590961A (en) * | 2020-12-24 | 2021-04-02 | 上海大学 | Bionic jumping leg adopting pneumatic series elastic joints |
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