CN105415369A - Ultra-dexterous mechanical arm driving device based on muscle group principle - Google Patents
Ultra-dexterous mechanical arm driving device based on muscle group principle Download PDFInfo
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- CN105415369A CN105415369A CN201510990819.1A CN201510990819A CN105415369A CN 105415369 A CN105415369 A CN 105415369A CN 201510990819 A CN201510990819 A CN 201510990819A CN 105415369 A CN105415369 A CN 105415369A
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- mechanical arm
- fixedly mounted
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- casing
- driving device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Abstract
The invention discloses an ultra-dexterous mechanical arm driving device based on a muscle group principle, relates to a mechanical arm driving device, and solves the problems of complex control system, increment of power consumption and cost increment caused by obtaining of higher load capacity through modes of shortening the section length or the arm rod length and increasing the drive number in a traditional ultra-dexterous mechanical arm. Three strip-shaped connecting frames are uniformly distributed below a mechanical arm body with center axis in the axial direction of the mechanical arm body as center; each strip-shaped connecting frame is corresponding to one set of driving system; each set of driving system is detachably connected to the corresponding strip-shaped connecting frame; one set of absolute position sensor is arranged on each set of driving system; each set of driving system is corresponding to one set of absolute position sensor; three guide pulley sets are uniformly distributed around the mechanical arm body with the center axis in the axial direction of the mechanical arm body as center; and each guide pulley set is fixedly connected to the top surface of a box. The ultra-dexterous mechanical arm driving device is used for driving the mechanical arm.
Description
Technical field
The present invention relates to a kind of mechanical arm driving device, be specifically related to the skilful mechanical arm driving device of a kind of oversoul based on muscle group principle.
Background technology
The skilful mechanical arm of oversoul (Hyper-DexterousManipulator, HDM) be a kind of in complexity or non-structure environment in the face of various unknown task can have the robot of surprising motion, operation and dexterous performance as snake, trunk or octopus tentacle etc.Due to the skilful characteristic of its intrinsic oversoul, the motion of the skilful mechanical arm of oversoul unknown task faced by restricted clearance or small space and operational capacity are far above traditional Joint Manipulator, in spatial manipulation, industry and the field such as medical, all there is important using value and potential value, embody the progressive direction of Robotics.
At medical field, the skilful mechanical arm of oversoul has maximally utilised the flexibility of mechanical arm and biological tissue and mutual passive compliant motion thereof in intra-operative procedures, thus the dependence broken away from kinematics accurate Calculation and ACTIVE CONTROL, its mechanism and structural design pays close attention to Wicresoft, without the functional requirement such as wound.And for the application of spatial manipulation and industrial circle, the active control ability of its motion and control accuracy are but basic functional requirements.This has just drawn the most important characteristics of the skilful mechanical arm of oversoul in spatial manipulation and commercial Application is exactly that its end operating load is usually far above medical field.The mode that the skilful mechanical arm of existing oversoul often adopts shortening to save length or armed lever length and increase driver number obtains higher load capacity, but the increase of driver number, control system can be made to become complexity, power consumption increase, cost increase.
Summary of the invention
The present invention solves the skilful mechanical arm of existing oversoul to adopt the mode shortening joint length or armed lever length and increase driver number to obtain higher load capacity, and then cause control system to become complicated, that power consumption increases, cost increases problem, propose the skilful mechanical arm driving device of a kind of oversoul based on muscle group principle.
The present invention is the technical scheme taked that solves the problem:
The skilful mechanical arm driving device of a kind of oversoul based on muscle group principle of the present invention comprises casing, three cover leading block groups, three cover drive systems and three cover absolute position transducers, described casing comprises three bar shaped connection boxes, be fixedly connected with between described three bar shaped connection boxes and be made as one, described three bar shaped connection boxes are evenly distributed on the below of mechanical arm body centered by the central axis of mechanical arm body axial direction, each bar shaped connection box is to there being a set of drive system, often overlapping drive system is detachably connected on the bar shaped connection box of its correspondence, often overlap in drive system and be provided with a set of absolute position transducer, three cover leading block groups are evenly distributed on around mechanical arm body centered by the central axis of mechanical arm body axial direction, often overlapping leading block group is fixedly connected on the end face of casing,
Often overlap drive system comprise motor, decelerator, movement output axle and drive wheels, described decelerator is fixedly mounted on casing, the output shaft of motor is connected by decelerator one end with movement output axle, the other end of described movement output axle is arranged in casing, drives wheels to be fixedly mounted on movement output axle.
Of the present invention have following beneficial effect:
The principle of muscle group is applied to the design of the skilful mechanical arm driving device of oversoul by the present invention, and achieve 15 road movement outputs by three set drives, the Driving Torque of every set drive is up to 10Nm; The present invention has compact conformation, integrated level is high, reliability is high, be easy to the advantage of maintenance; The present invention adopts the drive unit of muscle group formula, and structure is simple, and efficiency is high, has saved cost, simplifies the design of the skilful mechanical arm driving device of oversoul.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram that the present invention is connected with mechanical arm body 1;
Fig. 2 is the main TV structure schematic diagram of three cover drive systems 2;
Fig. 3 is the profile at A-A place in Fig. 2;
Fig. 4 is the decomposing schematic representation that decelerator 2-2 is connected with switching framework 2-3;
Fig. 5 is the perspective view that end cap 2-9 is connected with casing 2-15;
Fig. 6 is the perspective view driving wheels 2-6;
Fig. 7 is the perspective view of annexation between an a pulley 2-16 and two clutch shaft bearing 2-17;
Fig. 8 is the perspective view of absolute position transducer 5;
Fig. 9 is the main TV structure profile of mechanical arm body 1;
Figure 10 is mechanical arm body 1, the overall structure schematic diagram driving annexation between tendon rope 4 and the present invention.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 ~ Figure 10 illustrates present embodiment, present embodiment comprises casing 2-15, three cover leading block groups, three cover drive system 2 and three cover absolute position transducers 5, described casing 2-15 comprises three bar shaped connection boxes, be fixedly connected with between described three bar shaped connection boxes and be made as one, described three bar shaped connection boxes are evenly distributed on the below of mechanical arm body 1 centered by the central axis of mechanical arm body 1 axial direction, each bar shaped connection box is to there being a set of drive system 2, often overlapping drive system 2 is detachably connected on the bar shaped connection box of its correspondence, often overlap in drive system 2 and be provided with a set of absolute position transducer 5, three cover leading block groups are evenly distributed on mechanical arm body 1 around centered by the central axis of mechanical arm body 1 axial direction, often overlapping leading block group is fixedly connected on the end face of casing 2-15,
Often overlap drive system 2 comprise motor 2-1, decelerator 2-2, movement output axle 2-4 and drive wheels 2-6, described decelerator 2-2 is fixedly mounted on casing 2-15, the output shaft of motor 2-1 is connected with one end of movement output axle 2-4 by decelerator 2-2, the other end of described movement output axle 2-4 is arranged in casing 2-15, drives wheels 2-6 to be fixedly mounted on movement output axle 2-4.
The present invention have simple and compact for structure, integrated level is high, reliability is high, be easy to safeguard advantage, the principle of muscle group is applied to the design of the skilful mechanical arm driving device of oversoul, save cost, simplify the design of the skilful mechanical arm driving device of oversoul, achieve 15 road movement outputs by three set drives, the Driving Torque of every set drive is up to 10Nm.
The present invention is the drive unit of mechanical arm body 1, mechanical arm body 1 is the skilful mechanical arm of a kind of oversoul, mechanical arm body 1 comprises six-dimension force sensor assembly 1-1, hollow support tube 1-4, adapting rod 1-5, multiple vertebra assembly 1-2 and multiple interverbebral disc 1-3, described multiple vertebra assembly 1-2 and multiple interverbebral disc 1-3 coaxially arranges and is alternately connected to form mechanical arm skeleton, the top and bottom of each interverbebral disc 1-3 are respectively arranged with a vertebra assembly 1-2, described six-dimension force sensor assembly 1-1 is fixedly mounted on and is on the vertebra assembly 1-2 of top in mechanical arm skeleton, described hollow support tube 1-4 is located in all vertebra assembly 1-2 and interverbebral disc 1-3, described adapting rod 1-5 is positioned at the below of mechanical arm skeleton and coaxially arranges with mechanical arm skeleton, described adapting rod 1-5 is the notch cuttype body of rod, the miner diameter end of described adapting rod 1-5 is arranged on and is on the vertebra assembly 1-2 of lowermost end in mechanical arm skeleton, cavity is processed with in described adapting rod 1-5, described cavity is connected with the lower end of hollow support tube 1-4, 15 drive tendon rope 4 to be all arranged between mechanical arm skeleton and three cover drive systems 2.
Each vertebra assembly 1-2 comprises vertebral body, large fixed cover, two locking nuts, three little fixed covers and three tendon ropes are through block, the two ends of described vertebral body are respectively processed with a circular groove along its length, the groove inwall of each circular groove is evenly processed with multiple gap along its circumferencial direction, described large fixed cover is sleeved in vertebral body, the outer wall of described large fixed cover three little fixed covers have been evenly arranged along its circumferencial direction, described large fixed cover, be fixedly connected with between three little fixed covers and vertebral body and be made as one, a tendon rope is removably connected with through each tendon rope of block through block being processed with five tendon ropes through hole in each fixed cover, each tendon rope drives tendon rope 4 through being equipped with one in hole, two locking nuts are set in the two ends of vertebral body and each locking nut is adjacent to mutually with large fixed cover.
Detailed description of the invention two: composition graphs 1, Fig. 2 and Fig. 7 illustrate present embodiment, angle in present embodiment between the adjacent leading block group of every two cover is 120 °, often overlap leading block group and comprise gripper shoe 2-18 and multiple pulley 2-16, described gripper shoe 2-18 is vertically arranged, the lower end of gripper shoe 2-18 is fixedly connected on casing 2-15, the side of gripper shoe 2-18 is connected with the outer wall of mechanical arm body 1, gripper shoe 2-18 is processed with multiple shoulder hole, in each shoulder hole, is provided with a pulley 2-16.Setting like this is to guide the trend driving tendon rope 4, driving tendon rope 4 is stably arranged on and drives on wheels 2-6, reduce friction and energy loss, ensures the service life driving tendon rope 4.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 2, Fig. 5 and Fig. 7 illustrate present embodiment, the number of often overlapping leading block group middle pulley 2-16 in present embodiment is nine, and each pulley 2-16 is arranged on the gripper shoe 2-18 of its correspondence by two clutch shaft bearing 2-17.
Drive on wheels 2-6 for making driving tendon rope 4 stably be arranged in present embodiment, every root drives tendon rope 4 to need two pulley 2-16 to move towards to guide it, the edge driving wheels 2-6 is tangential on to make the trend of driving tendon rope 4, and be connected to driving tendon rope 4 on the vertebra assembly 1-2 of top in mechanical arm skeleton due to the restriction in structure and space and only need a pulley 2-16 just can guide its correct trend, so often overlap leading block group to comprise nine pulley 2-16.Often overlapping the structure of leading block group and position relationship is drawn by repeatedly sampling test.Other composition and annexation identical with detailed description of the invention two.
Detailed description of the invention four: composition graphs 3 illustrates present embodiment, often overlap drive system 2 in present embodiment and also comprise switching framework 2-3, movement output axle 2-4, second bearing 2-5, axle sleeve 2-7, 3rd bearing 2-8, end cap 2-9, back-up ring 2-10 and Coupling Shaft 2-11, described decelerator 2-2 is fixedly mounted on casing 2-15 by switching framework 2-3, one end of movement output axle 2-4 is connected by the output shaft of nibs with decelerator 2-2, the other end of power output shaft 2-4 is arranged in casing 2-15 respectively by the second bearing 2-5 and the 3rd bearing 2-8, wheels 2-6 is driven to be fixedly mounted on movement output axle 2-4 by nibs, wheels 2-6 is driven to be positioned the 3rd bearing 2-8 by axle sleeve 2-7, back-up ring 2-10 is fixedly mounted on movement output axle 2-4 by Coupling Shaft 2-11, end cap 2-9 is fixedly mounted on casing 2-15.
Motor 2-1 in present embodiment is manufactured by FAULHABER company, and model is 3242G, power 21.7W, and supply voltage is 24V, and continuous Driving Torque is 56mNm, and decelerator 2-2 is manufactured by FAULHABER company, and model is 32/3S, speed reducing ratio 246:1.
In present embodiment, the output shaft of motor 2-1 is arranged on the input of decelerator 2-2, decelerator 2-2 is fixedly mounted on casing 2-15 by switching framework 2-3, one end of movement output axle 2-4 is connected by the output shaft of nibs with decelerator 2-2, power output shaft 2-4 is connected with casing 2-15 with the 3rd bearing 2-8 by the second bearing 2-5, wheels 2-6 is driven to be fixedly mounted on movement output axle 2-4 by nibs, wheels 2-6 is driven to be positioned the 3rd bearing 2-8 by axle sleeve 2-7, compressing tablet 2-14 is fixedly mounted on and drives on wheels 2-6, potentiometer 5-1 is connected with movement output axle 2-4 by Coupling Shaft 2-11, Coupling Shaft 2-11 is pressed on back-up ring 2-10 on the 3rd bearing 2-8, end cap 2-9 is fixedly mounted on casing 2-15.Setting like this make often to overlap drive system 2 have simple and compact for structure, integrated level is high, be easy to the advantage safeguarded, cost-saving, achieve 15 road movement outputs by three cover drive systems 2, often overlap the Driving Torque of drive system 2 up to 10Nm.Other composition and annexation identical with detailed description of the invention three.
Detailed description of the invention five: composition graphs 1, Fig. 2, Fig. 3 and Fig. 8 illustrate present embodiment, often overlap absolute position transducer 5 in present embodiment and comprise potentiometer 5-1 and switching circuit board 5-2, potentiometer 5-1 is welded on switching circuit board 5-2, and switching circuit board 5-2 is fixedly mounted on end cap 2-9.In present embodiment, the structure of three cover absolute position transducers 5 is identical and be the existing product bought.Other composition and annexation identical with detailed description of the invention four.
Detailed description of the invention six: composition graphs 6 illustrates present embodiment, often overlap drive system 2 in present embodiment and also comprise multiple compressing tablet 2-12, multiple compressing tablet 2-12 is fixedly mounted on and drives on wheels 2-6, described driving wheels 2-6 is fixedly mounted on movement output axle 2-4, wheels 2-6 is driven to comprise the driving wheel of five different radiis, each drive flange place correspondence is provided with a compressing tablet 2-12, and the driving tendon rope 4 of its correspondence is fixedly mounted on driving wheels 2-6 by the screw of a M2 by each compressing tablet 2-12.
In present embodiment, each driving wheels 2-6 comprises the driving wheel of five different radiis, tendon rope 4 is driven because the present invention comprises 15,15 drive tendon rope 4 to be divided into three equal parts tendon rope group, every equal portions tendon rope group comprises five and drives tendon rope 4, namely on each driving wheel, correspondence is wound with one and drives tendon rope 4, five in every equal portions tendon rope group drive tendon rope 4 length different, in every equal portions tendon rope group, each radius driving the knots modification of tendon rope 4 length to be proportional to driving wheel, is proportional to the corner driving wheels 2-6 simultaneously.Setting like this is because the knots modification of the driving tendon rope 4 tendon rope length in manipulator motion process be connected on the vertebra assembly 1-2 of diverse location in mechanical arm skeleton is proportional to the position of the vertebra assembly 1-2 driving tendon rope 4 to connect.Setting like this, wheels 2-6 can be driven to export five tunnel motions by one, the relational dependence between the motion of each road is in the radius of wheel.
In present embodiment, decelerator 2-2 is fixedly mounted on switching framework 2-3 by the screw of four M3.End cap 2-9 is fixedly mounted on casing 2-15 by the screw of four M2.Switching framework 2-3 is fixedly mounted on casing 2-15 by the screw of four M3.Other composition and annexation identical with detailed description of the invention one or five.
Detailed description of the invention seven: composition graphs 1, Fig. 2 and Fig. 6 illustrate present embodiment, in present embodiment, multiple compressing tablet 2-12 is staggered installation of on driving wheels 2-6.Setting like this, reduces the processing and manufacturing cost driving wheels 2-6, is conducive to the assembling of compressing tablet 2-12 simultaneously.
In present embodiment, each pulley 2-16 is arranged on the gripper shoe 2-18 of its correspondence by two clutch shaft bearing 2-17.Setting like this is to guide the trend driving tendon rope 4, driving tendon rope 4 is stably arranged on and drives on wheels 2-6, reduce friction and energy loss, ensures the service life driving tendon rope 4.Potentiometer 5-1 is connected with movement output axle 2-4 by Coupling Shaft 2-11, and Coupling Shaft 2-11 is fixedly mounted on movement output axle 2-4, back-up ring 2-10 is pressed on the 3rd bearing 2-8 simultaneously.Setting like this, can save space effectively, makes simple and compact for structure.Other composition and annexation identical with detailed description of the invention six.
The present invention is as follows with the process of 15 15 road movement outputs driving tendon rope 4 to match to realize:
In the present invention, 15 drive tendon rope 4 to be divided into three equal parts tendon rope group, every equal portions tendon rope group comprises five and drives tendon rope 4, every equal portions tendon rope group is to having a set of leading block group and a driving wheels 2-6, five in every equal portions tendon rope group drive tendon rope 4 to be respectively the first tendon rope, second tendon rope, 3rd tendon rope, 4th tendon rope and the 5th tendon rope, the length of the first tendon rope is the longest, first tendon rope is to should having a pulley 2-16 and driving the driving wheel that in wheels 2-6, radius is maximum, the head end of the first tendon rope is processed with copper spherical protuberances, the head end tendon rope be located in the vertebra assembly 1-2 of top in mechanical arm skeleton of the first tendon rope passes on block, the head end of the first tendon rope is connected with the vertebra assembly 1-2 of top by copper spherical protuberances, the pulley 2-16 of its correspondence in leading block group is walked around after the end of the first tendon rope multiple vertebra assembly 1-2 successively through vertebra below the assembly 1-2 of top, finally be arranged on driving wheel that in the driving wheels 2-6 of its correspondence, radius is maximum, the end of the first tendon rope is fixedly mounted on the maximum driving wheel of radius according to its head end position on mechanical arm skeleton by the compressing tablet 2-14 of screw and its correspondence successively, the end of the first tendon rope also can be processed with the installation that copper spherical protuberances is convenient to its terminal position.
The length of the second tendon rope is less than the first tendon rope and is greater than the 3rd tendon rope, second tendon rope is to should having two pulley 2-16 and driving the driving wheel that in wheels 2-6, radius is second largest, the head end of the second tendon rope is processed with copper spherical protuberances, the head end of the first tendon rope is located in the vertebra assembly 1-2 hithermost vertebra assembly 1-2 with top in mechanical arm skeleton, namely a tendon rope in time apical vertebral assembly 1-2 is through on block 1-2-1, the head end of the first tendon rope is connected with time apical vertebral assembly 1-2 by copper spherical protuberances, two pulley 2-16 of its correspondence in leading block group are walked around after the end of the second tendon rope multiple vertebra assembly 1-2 successively through time apical vertebral below assembly 1-2, finally be arranged on driving wheel that in the driving wheels 2-6 of its correspondence, radius is second largest, the end of the second tendon rope is fixedly mounted on second largest driving wheel of radius according to its head end position on mechanical arm skeleton by screw and its corresponding compressing tablet 2-14 successively, the end of the second tendon rope also can be processed with the installation that copper spherical protuberances is convenient to its terminal position.
The length of the 3rd tendon rope, the 4th tendon rope and the 5th tendon rope is reduced successively, and the 3rd tendon rope, the 4th tendon rope are identical with annexation with the layout of the second tendon rope with annexation with the layout of the 5th tendon rope.The course of work of other equal portions tendon rope groups is the same.
Operation principle:
The output shaft of motor 2-1 drives decelerator 2-2, the output shaft actuation movement output shaft 2-4 of decelerator 2-2, movement output axle 2-4 drives and exports wheels 2-6 rotation, by compressing tablet 2-12, driving tendon rope 4 is fixedly mounted on driving wheels 2-6, thus realizing the output of 15 tunnel motions, the relational dependence between the motion of each road is in the radius of wheel.Realizing mechanical arm body 1 bending motion in any direction by the present invention, cooperatively interacting between 15 driving tendon ropes 4 and mechanical arm body 1, driving the length elongated or shortened of tendon ropes 4 that mechanical arm body 1 can be made to bend to the limiting condition of a semicircle shape by coordinating 15.
Claims (7)
1. the skilful mechanical arm driving device of the oversoul based on muscle group principle, it is characterized in that: it comprises casing (2-15), three cover leading block groups, three covers drive system (2) and three covers absolute position transducer (5), described casing (2-15) comprises three bar shaped connection boxes, be fixedly connected with between described three bar shaped connection boxes and be made as one, described three bar shaped connection boxes are evenly distributed on the below of mechanical arm body (1) centered by the central axis of mechanical arm body (1) axial direction, each bar shaped connection box is to there being a set of drive system (2), often overlapping drive system (2) is detachably connected on the bar shaped connection box of its correspondence, often overlap in drive system (2) and be provided with a set of absolute position transducer (5), three cover leading block groups are evenly distributed on mechanical arm body (1) around centered by the central axis of mechanical arm body (1) axial direction, often overlapping leading block group is fixedly connected on the end face of casing (2-15),
Often overlap drive system (2) comprise motor (2-1), decelerator (2-2), movement output axle (2-4) and drive wheels (2-6), described decelerator (2-2) is fixedly mounted on casing (2-15), the output shaft of motor (2-1) is connected by decelerator (2-2) one end with movement output axle (2-4), the other end of described movement output axle (2-4) is arranged in casing (2-15), drives wheels (2-6) to be fixedly mounted on movement output axle (2-4).
2. the skilful mechanical arm driving device of a kind of oversoul based on muscle group principle according to claim 1, it is characterized in that: the angle between the adjacent leading block group of every two cover is 120 °, often overlap leading block group and comprise gripper shoe (2-18) and multiple pulley (2-16), described gripper shoe (2-18) is vertically arranged, the lower end of gripper shoe (2-18) is fixedly connected on casing (2-15), the side of gripper shoe (2-18) is connected with the outer wall of mechanical arm body (1), gripper shoe (2-18) is processed with multiple shoulder hole, a pulley (2-16) is provided with in each shoulder hole.
3. the skilful mechanical arm driving device of a kind of oversoul based on muscle group principle according to claim 2, it is characterized in that: the number of often overlapping leading block group middle pulley (2-16) is nine, and each pulley (2-16) is arranged in the gripper shoe (2-18) of its correspondence by two clutch shaft bearings (2-17).
4. the skilful mechanical arm driving device of a kind of oversoul based on muscle group principle according to claim 3, it is characterized in that: often overlap drive system (2) and also comprise switching framework (2-3), movement output axle (2-4), second bearing (2-5), axle sleeve (2-7), 3rd bearing (2-8), end cap (2-9), back-up ring (2-10) and Coupling Shaft (2-11), described decelerator (2-2) is fixedly mounted on casing (2-15) by switching framework (2-3), one end of movement output axle (2-4) is connected by the output shaft of nibs with decelerator (2-2), the other end of power output shaft (2-4) is arranged in casing (2-15) respectively by the second bearing (2-5) and the 3rd bearing (2-8), wheels (2-6) are driven to be fixedly mounted on movement output axle (2-4) by nibs, wheels (2-6) are driven to be positioned the 3rd bearing (2-8) by axle sleeve (2-7), back-up ring (2-10) is fixedly mounted on movement output axle (2-4) by Coupling Shaft (2-11), end cap (2-9) is fixedly mounted on casing (2-15).
5. the skilful mechanical arm driving device of a kind of oversoul based on muscle group principle according to claim 4, it is characterized in that: often overlap absolute position transducer (5) and comprise potentiometer (5-1) and switching circuit board (5-2), potentiometer (5-1) is welded on switching circuit board (5-2), and switching circuit board (5-2) is fixedly mounted on end cap (2-9).
6. the skilful mechanical arm driving device of a kind of oversoul based on muscle group principle according to claim 1 or 5, it is characterized in that: often overlap drive system (2) and also comprise multiple compressing tablet (2-12), multiple compressing tablet (2-12) is fixedly mounted on and drives on wheels (2-6), described driving wheels (2-6) are fixedly mounted on movement output axle (2-4), wheels (2-6) are driven to comprise the driving wheel of five different radiis, each drive flange place correspondence is provided with a compressing tablet (2-12), the driving tendon rope (4) of its correspondence is fixedly mounted in driving wheels (2-6) by the screw of a M2 by each compressing tablet (2-12).
7. the skilful mechanical arm driving device of a kind of oversoul based on muscle group principle according to claim 6, is characterized in that: multiple compressing tablet (2-12) is staggered installation of in driving wheels (2-6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510990819.1A CN105415369B (en) | 2015-12-25 | 2015-12-25 | A kind of skilful mechanical arm driving device of oversoul based on muscle group principle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510990819.1A CN105415369B (en) | 2015-12-25 | 2015-12-25 | A kind of skilful mechanical arm driving device of oversoul based on muscle group principle |
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| CN105415369A true CN105415369A (en) | 2016-03-23 |
| CN105415369B CN105415369B (en) | 2017-07-25 |
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|---|---|---|---|---|
| US20090062602A1 (en) * | 2007-07-30 | 2009-03-05 | Hansen Medical, Inc. | Apparatus for robotic instrument having variable flexibility and torque transmission |
| CN102896633A (en) * | 2012-09-27 | 2013-01-30 | 浙江大学 | Flexible spine with omni-directional angle feedback |
| CN103358304A (en) * | 2012-04-02 | 2013-10-23 | 三星电子株式会社 | Robot arm driving apparatus and robot arm having same |
| CN104440944A (en) * | 2014-12-26 | 2015-03-25 | 哈尔滨工业大学 | Super-smart mechanical arm with spine structure principle |
| CN104589310A (en) * | 2014-12-29 | 2015-05-06 | 浙江理工大学 | Self-adaption MDOF (Multi-Degree Of Freedom) humanoid manipulator based on pneumatic artificial muscle |
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2015
- 2015-12-25 CN CN201510990819.1A patent/CN105415369B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090062602A1 (en) * | 2007-07-30 | 2009-03-05 | Hansen Medical, Inc. | Apparatus for robotic instrument having variable flexibility and torque transmission |
| CN103358304A (en) * | 2012-04-02 | 2013-10-23 | 三星电子株式会社 | Robot arm driving apparatus and robot arm having same |
| CN102896633A (en) * | 2012-09-27 | 2013-01-30 | 浙江大学 | Flexible spine with omni-directional angle feedback |
| CN104440944A (en) * | 2014-12-26 | 2015-03-25 | 哈尔滨工业大学 | Super-smart mechanical arm with spine structure principle |
| CN104589310A (en) * | 2014-12-29 | 2015-05-06 | 浙江理工大学 | Self-adaption MDOF (Multi-Degree Of Freedom) humanoid manipulator based on pneumatic artificial muscle |
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| CN105415369B (en) | 2017-07-25 |
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