CN105835050A - Three-degree-of-freedom rope driven series robot device - Google Patents
Three-degree-of-freedom rope driven series robot device Download PDFInfo
- Publication number
- CN105835050A CN105835050A CN201610348638.3A CN201610348638A CN105835050A CN 105835050 A CN105835050 A CN 105835050A CN 201610348638 A CN201610348638 A CN 201610348638A CN 105835050 A CN105835050 A CN 105835050A
- Authority
- CN
- China
- Prior art keywords
- rope
- level
- mechanical arm
- winding disc
- rope winding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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
- B25J9/126—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a three-degree-of-freedom rope driven series robot device. The three-degree-of-freedom rope driven series robot device comprises a robot base and three driving motors, wherein the three driving motors are arranged on the robot base; three pairs of connecting ropes are respectively mounted on winches of the driving motors; three-stage mechanical arms are arranged among the three driving motors and are fixed on the robot base through supports; the two-stage mechanical arms which are connected with the supports through connecting shafts and used as in-plane rotary joints and the third-stage mechanical arm which is connected with the supports through a rotary joint connecting piece and is used as an out-plane rotary joint are successively arranged on the supports; a fixed rope winding plate wound with the connecting ropes is arranged on each mechanical arm; the three pairs of connecting ropes are respectively connected to the rope winding plates from the winches; and the driving motors rotate to drive the connecting ropes to perform transmission so as to drive the corresponding mechanical arms to rotate. The driving motors are fixedly mounted on the robot base, the mechanical arms are driven to move in a rope transmission mode, so that the weight of the mechanical arms is greatly reduced, a machinery body is light, and required driving power is reduced.
Description
Technical field
The present invention relates to robot transmission technical field, particularly a kind of Three Degree Of Freedom rope drives serial machine
People's device.
Background technology
Robot is the installations automatically performing work, and it can be operated according to the program edited in advance.
Wherein be most widely used is industrial robot.Industrial robot refers to that the one applied in the industry can be entered
Multipurpose row self-contr ol, repeatable programming, multi-functional, multivariant operation machine, can carry
Material, workpiece and manage instrument, in order to complete various operation.This robot can be fixed on a place,
Can also be placed in above reciprocating dolly.
Design of Transmission System occupies critical role in Robot Design.Instantly robot frequently with transmission side
Formula has: line transmission, Chain conveyer, toothed belt transmission, ball-screw-transmission, rack pinion, worm gear snail
The kinds of drive such as bar transmission.Usually, for the ease of driving, the driver of robot is usually placed in adjacent
The joint position of two mechanical arms, but this can produce some adverse effects, and the weight of driver is relatively large, makes
Mechanical arm load increase, own wt excessive, whole system seems the heaviest.In some specific occasion,
The design of this mechanical arm is the most inapplicable.
Summary of the invention
It is an object of the invention to provide a kind of Three Degree Of Freedom rope and drive serial manipulator device, it drives motor
On fixed installation robot base, using the rope kind of drive, drive manipulator motion, this significantly reduces machine
The weight of mechanical arm so that basic machine is the lightest and the handiest, reduces required driving power.
The present invention is in order to realize above-mentioned requirements, and the concrete solution proposed has:
A kind of Three Degree Of Freedom rope drives serial manipulator device, including robot base, and is located at robot
Three driving motors on base, three pairs of connecting strands are attached separately to drive on the capstan winch of motor, three drivings
Being provided with three grades of mechanical arms between motor, three grades of mechanical arms are fixed on robot base by support, on support
It is sequentially provided with and as the two-stage mechanical arm of rotary joint in face and is closed by face external rotation by what connecting shaft connected
The third level mechanical arm as external rotation joint, face that joint connector connects；Equipped with the company of walking around on mechanical arms at different levels
Connect the rope winding disc of rope；Three pairs of connecting strands are connected respectively in rope winding disc from capstan winch, by driving motor rotating band
Be dynamically connected Suo Chuandong, thus drives corresponding mechanical arm to rotate.
Further, the connecting strand that described three driving motors connect includes first order rope, second level rope and the 3rd
Level rope；Described first order rope and second level rope are connected on the capstan winch of the motor of Relative distribution side by side, use
The two-stage mechanical arm of rotary joint within connecting shaft connects as face；Described third level rope is connected to relative to three
On the capstan winch of the motor of the opposite side of level mechanical arm, for connecting through the conduct that rotary joint connector connects
The third level mechanical arm in external rotation joint, face.
Further, first order mechanical arm and second level machinery are included as the two-stage mechanical arm of rotary joint in face
Arm, two-stage mechanical arm is connected by second level connecting shaft, and first order mechanical arm is by first order connecting shaft and props up
Frame is connected.
Further, the third level mechanical arm as external rotation joint, face passes through rotary joint connector and the second level
Mechanical arm is connected.
Further, on mechanical arms at different levels equipped with the rope winding disc walking around connecting strand include fixing rope winding disc and rotate around
Rope dish；It is respectively equipped with fixing rope winding disc in first order connecting shaft and second level connecting shaft and rotates rope winding disc, the
Two grades of connecting shafts are respectively provided on two sides with one and rotate rope winding disc, connect wherein and have outside a rotation rope winding disc
The fixing rope winding disc being connected is fixed with second level mechanical arm；First order connecting shaft is provided with four and rotates rope winding disc,
The side of its axis is provided with three and rotates rope winding disc, and the opposite side of axle is provided with a rotation rope winding disc and connection has
The fixing rope winding disc being connected is fixed with first order mechanical arm.
Further, the third level rope two ends being wound on the capstan winch driving motor are connected respectively to first order connecting shaft
Two rotation rope winding disc on, and be connected to third level mechanical arm by the rotation rope winding disc of second level connecting shaft
Fixing rope winding disc on.
Further, the fixing rope winding disc being contained on third level mechanical arm thereunder, and connects at rotary joint
In part, rotary joint connector two side is built with the fixed pulley walking around third level rope.
Further, it is wound on the rope two ends, the second level on the capstan winch driving motor, turning by first order connecting shaft
What dynamic rope winding disc was connected in the connecting shaft of the second level fixes in the fixing rope winding disc being connected with second level mechanical arm.
Further, it is wound on the first order rope two ends on the capstan winch driving motor, is connected in first order connecting shaft
Fix in the fixing rope winding disc being connected with first order mechanical arm.
The present invention compared with prior art has a following advantage:
1. driving motor etc. is placed on robot base, utilizes rope to drive so that the deadweight of mechanical arm
Alleviating, whole basic machine is the lightest and the handiest, only needs smaller power just can driven machine people to move.
2. use Suo Chuandong to have the highest economy, cost-effective.And rope abrasion after easily facilitate into
Row is changed.
3. decrease the design of robot interior drive system.The rope drive scheme transmission process used is simple,
It is easily maintained.
Accompanying drawing explanation
Fig. 1 be rope drive serial manipulator totally assemble structural representation；
Fig. 2 (a)-(c) is that rope drives serial manipulator each joint assembling structural representation；Fig. 2 (a)
It is the assembling of third level joint and third level rope connected mode schematic diagram；Fig. 2 (b) is second level joint dress
Join and second and third grade of rope connected mode schematic diagram；Fig. 2 (c) be the first order joint assembling and first and second,
Three grades of rope connected mode schematic diagrams；
Fig. 3 (a)-(e) is the principle schematic that rope drives that the rope of each rope of serial manipulator drives；Fig. 3 (a)
It it is the connected mode schematic diagram of third level rope；Fig. 3 (b) is the connected mode schematic diagram of second level rope；Fig. 3
C () is the connected mode schematic diagram of first order rope；Fig. 3 (d) is the connected mode between rope at different levels and motor
Schematic diagram；Fig. 3 (e) is total connected mode schematic diagram of three grades of ropes.
In figure: 1, robot base；2, drive motor；3, capstan winch (is fixedly connected on driving motor)；
4, first order connecting shaft；5, first order mechanical arm；6, second level connecting shaft；7, second level mechanical arm；8,
Rotary joint connector；9, third level mechanical arm；10, third level rope；11, fixed pulley；12, fixing around
Rope dish；13, rotate rope winding disc；14, second level rope；15, first order rope.
Detailed description of the invention
The invention will be described in further detail with embodiment below in conjunction with the accompanying drawings, but is not intended as doing invention
The foundation of any restriction.
As it is shown in figure 1, this Three Degree Of Freedom rope drives serial manipulator device, including robot base 1, and
Being located on robot base 1 with the driving motor 2 of Atria summit distribution, three pairs of connecting strands are attached separately to
Drive on the capstan winch 3 of motor 2, between three driving motors 2, be provided with three grades of mechanical arms, three grades of mechanical arms
It is fixed on robot base 1 by support, support is sequentially provided with by first order connecting shaft 4 connection
First order mechanical arm 5, the second level mechanical arm 7 connected by second level connecting shaft 6 and by rotary joint even
The third level mechanical arm 9 that fitting 8 connects；Equipped with the rotation rope winding disc 13 of connecting strand in connecting shafts at different levels, three
Equipped with a fixing rope winding disc 12 on level mechanical arm is each；The three pairs of connecting strands be connected respectively to capstan winch 3 and fixing around
On rope dish 12, by driving motor 2 to rotarily drive connecting strand transmission, thus corresponding mechanical arm is driven to turn
Dynamic.
The connecting strand of three driving motor 2 connections includes first order rope 15, second level rope 14 and third level rope
10.On the capstan winch 3 of the motor 2 that first order rope 15 and second level rope 14 are connected to Relative distribution side by side,
Connect as the two-stage mechanical arm of rotary joint in face for connecting shaft；Third level rope 10 is connected to relative to three
On the capstan winch 3 of the motor 2 of the opposite side of level mechanical arm, it is used for connecting through rotary joint connector 8 and connects
The third level mechanical arm 9 as external rotation joint, face.
As shown in Fig. 2 (b) and Fig. 2 (c), the rotation in first order connecting shaft 4 and second level connecting shaft 6
Rope winding disc 13 is respectively equipped with four and two, is respectively located at inside first order mechanical arm 5 and second level mechanical arm 7
Two ends.It is located in second level connecting shaft 6 two rotation rope winding disc and is respectively provided at axle two ends, fixing connection
Fixing rope winding disc 12 on second level mechanical arm 7 is located at one and rotates outside rope winding disc 13.It is located at first
Rope winding disc in level connecting shaft 4 has four, and its axis side is provided with three and rotates rope winding disc 13, axle opposite side
It is provided with one and rotates rope winding disc 13 and the fixing rope winding disc 12 being fixedly connected on first order mechanical arm 5.
The two ends being wound on the third level rope 10 on the capstan winch 3 driving motor 2 are connected respectively to first order connecting shaft
In two rotation rope winding disc 13 of 4, and it is connected to the 3rd by the rotation rope winding disc 13 of second level connecting shaft 6
In the fixing rope winding disc 12 of level mechanical arm 9.As shown in Fig. 2 (a), fixing rope winding disc 12 top and the 3rd
Level mechanical arm 9 is fixing to be connected, equipped with rotary joint connector 8 below third level mechanical arm 9, and third level machinery
Arm 9 is in rotary joint connector 8, and fixed pulley 11 is contained in rotary joint connector 8 two side.It is wound on
Drive the rotation rope winding disc 13 by first order connecting shaft 4 of second level rope 14 two ends on the capstan winch 3 of motor 2
In the fixing rope winding disc 12 being connected fixing with second level mechanical arm 7 being connected in second level connecting shaft 6.Around
Drive motor 2 capstan winch 3 on first order rope 15 two ends be connected in first order connecting shaft 4 with first
In the fixing fixing rope winding disc 12 connected of level mechanical arm 5.
Be can be clearly seen that by the general assembly drawing of Fig. 1, the Three Degree Of Freedom rope that the present invention proposes drives series connection
Robot architecture is: three mechanical arms are connected in series by three rotary joints, are ultimately connected at the bottom of robot
On seat 1.
As shown in Fig. 3 (d), this kind of Three Degree Of Freedom rope of the present invention drives serial manipulator to apply three altogether
To rope, every a pair rope is made up of two ropes.Every a pair rope is all respectively arranged with in a rope winding disc being connected to mechanical arm,
Other end is then fastened on the capstan winch driving motor to be connected.Further, a pair rope is in the fixing rope winding of mechanical arm
On dish 12, capstan winch 3, the winding direction of two ropes is corresponding contrary.When driving electric machine rotation, these two ropes
Length change simultaneously.Further, if wherein the length of a rope is to increase, then another root
The length of rope must be to shorten；That is, the variable quantity of two Suo Changdu of this every a pair correspondence is equal.
This is to ensure that, when a driving motor transmits motion to mechanical arm by rope, rope is to maintain tensioning shape
State, and drive rotating and reverse of motor can transmit motion to accurately on corresponding mechanical arm.
This ensures that there the accuracy of robot motion, and the safe and efficient of transmission that move.
As shown in Fig. 3 (b), (c), the second level, the second level that first order rotary joint is corresponding, first order rope
Canoe and operation principle be identical.And the third level rotary joint shown in Fig. 3 (a) is corresponding
The canoe of the rope that the canoe of third level rope and the first order, joint, the second level are corresponding is the most identical.
Therefore, illustrate as a example by the connected mode in joint, the second level and third level joint.
As shown in Fig. 3 (b), second level rope connected mode is: second level mechanical arm 7 and first order machinery 5
Arm is connected by second level connecting shaft 6 by the way of rotary joint in face, and two mechanical arms can in generating plane relatively
Rotate.Second level rope 14 is fixedly connected in the fixing rope winding disc 12 of second level mechanical arm；Rope passes afterwards
The inside of first order mechanical arm 5, being wrapped in can be in the freely rotatable rotation rope winding disc 13 of first order connecting shaft 4
On；Last rope stretches out be connected fixing with the capstan winch 3 driven motor 2 inside mechanical arm.
As shown in Fig. 3 (e), third level joint is: third level mechanical arm 9 passes through with second level mechnisiam arm
The mode in external rotation joint, face is connected by face external rotation joint connector 8, and two mechanical arms can outside generating plane relatively
Rotate.Third level rope 10 is fixedly connected in the fixing rope winding disc 12 of third level mechanical arm, and rope passes through afterwards
Fixed pulley group 11 fixing on the external rotation joint connector of face carries out turning to the direction making rope along second level machinery
The length direction of arm, rope passes from the inside of second level mechanical arm 7, and being wrapped in can be in second level connecting shaft 6
On upper freely rotatable rotation rope winding disc 13, rope is through the inside of first order mechanical arm 5 afterwards, is wound in
In rotation rope winding disc 13 that can be freely rotatable in first order connecting shaft 4, last rope stretches out inside mechanical arm
Fix with the capstan winch 3 driven on motor 2 and be connected.
The rope being positioned among mechanical arm inner chamber is ensured that, at its corresponding mechanical arm by this winding mode
The length of the rope passed through among mechanical arm inner chamber the most at different levels is to maintain constant.When the rope that mechanical arm is corresponding
Length when changing, only can affect this root rope place when the motion of the mechanical arm of level, i.e. make rope institute right
The rotation of the mechanical arm answered, thus reach by control cord length and then control the purpose that mechanical arm rotates.Just
Due to rope length of rope among mechanical arm inner chambers at different levels below corresponding mechanical arm, no matter corresponding mechanical arm
Pose how to change all without being affected, just can reach each driving motor for each corresponding machinery
The accurate control of arm.
It is that one rotary joint connector 8 of application is to ensure third level mechanical arm 9 energy at third level mechanical arm 9
Enough stable rotation on second level mechanical arm 7.Third level mechanical arm 9 is enclosed within rotary joint connector 8
Extension bar length part, afterwards, rotary joint connector 8 is fixedly connected on above second level mechanical arm 7,
Ensure that third level mechanical arm 9 is at vertical direction Complete Bind.
In the present invention: second level mechanical arm 7 dough-making powder external rotation joint 8 is fixing by the way of welding to be connected,
Third level mechanical arm 9 is that loose fit is connected with face external rotation joint connector；Rotate rope winding disc 13 and the first order
In connecting shaft 4 and second level connecting shaft 6, loose fit connects so that it freely can turn in each connecting shaft
Dynamic, and each rotate separate between rope winding disc 13, be independent of each other；Between capstan winch 3 and driving motor 2
It it is tight fit.
Owing to there is independent driving motor in each joint, therefore the motion between different joints is separate,
Can drive with control cord and carry out linking between the different parts of serial manipulator or the compound movement such as self-movement.
It should be noted that the above is only the preferred embodiment of the present invention, it is noted that for this
The those of ordinary skill in field, under the premise of not departing from the present invention, it is also possible to that makes the present invention is some
Improving and supplement, these improve and supplement, and also should be regarded as protection scope of the present invention.
Claims (9)
1. a Three Degree Of Freedom rope drives serial manipulator device, it is characterised in that: include robot base (1),
And three the driving motors (2) being located on robot base (1), three pairs of connecting strands are attached separately to drive electricity
On the capstan winch (3) of machine (2), between three driving motors (2), it is provided with three grades of mechanical arms, three grades of machineries
Arm is fixed on robot base (1) by support, and support is sequentially provided with the conduct connected by connecting shaft
In face, two-stage mechanical arm and the conduct face external rotation connected by rotary joint connector (8) of rotary joint are closed
The third level mechanical arm (9) of joint；Equipped with the rope winding disc walking around connecting strand on mechanical arms at different levels；Three pairs of connecting strands
It is connected respectively in rope winding disc from capstan winch (3), by driving motor (2) to rotarily drive connecting strand transmission,
Thus drive corresponding mechanical arm to rotate.
Three Degree Of Freedom rope the most according to claim 1 drives serial manipulator device, it is characterised in that:
The connecting strand that described three driving motors (2) connect include first order rope (15), second level rope (14) and
Third level rope (10)；Described first order rope (15) is connected to the most relative dividing with second level rope (14)
On the capstan winch (3) of the motor (2) of cloth, connect as the two-stage machinery of rotary joint in face for connecting shaft
Arm；Described third level rope (10) is connected to the capstan winch of the motor (2) of the opposite side relative to three grades of mechanical arms
(3), on, it is used for connecting through that rotary joint connector (8) connects as the 3rd of external rotation joint, face
Level mechanical arm (9).
Three Degree Of Freedom rope the most according to claim 1 drives serial manipulator device, it is characterised in that:
First order mechanical arm (5) and second level mechanical arm (7) is included as the two-stage mechanical arm of rotary joint in face,
Two-stage mechanical arm is connected by second level connecting shaft (6), and first order mechanical arm (5) is connected by the first order
Axle (4) is connected with support.
Three Degree Of Freedom rope the most according to claim 1 drives serial manipulator device, it is characterised in that:
Third level mechanical arm (9) as external rotation joint, face passes through face external rotation joint connector (8) and second
Level mechanical arm (7) is connected.
Three Degree Of Freedom rope the most according to claim 1 drives serial manipulator device, it is characterised in that:
Include fixing rope winding disc (12) equipped with the rope winding disc walking around connecting strand on mechanical arms at different levels and rotate rope winding disc
(13)；It is respectively equipped with fixing rope winding disc (12) in first order connecting shaft (4) and second level connecting shaft (6)
With rotation rope winding disc (13), second level connecting shaft (6) is respectively provided on two sides with one and rotates rope winding disc (13),
Wherein one rotate rope winding disc (13) outside connect have fixing with second level mechanical arm (7) is connected fix
Rope winding disc (12)；First order connecting shaft (4) is provided with four rope winding disc, wherein first order connecting shaft (4)
Side be provided with three rotate rope winding disc (13), the opposite side of first order connecting shaft (4) be provided with one rotate around
Rope dish (13) connecting has and the grade of fixing fixing rope winding disc (12) being connected of a mechanical arm (5).
Three Degree Of Freedom rope the most according to claim 5 drives serial manipulator device, it is characterised in that:
Third level rope (10) two ends being wound on the capstan winch (3) driving motor (2) are connected respectively to the first cascade
On two rotations rope winding disc (13) of spindle (4), and by the rotation rope winding of second level connecting shaft (6)
Dish (13) is connected in the fixing rope winding disc (12) of third level mechanical arm (9).
Three Degree Of Freedom rope the most according to claim 6 drives serial manipulator device, it is characterised in that:
The fixing rope winding disc (12) being contained on third level mechanical arm (9) thereunder, and at rotary joint connector
(8), in, rotary joint connector (8) two side is built with the fixed pulley (11) walking around third level rope (10).
Three Degree Of Freedom rope the most according to claim 5 drives serial manipulator device, it is characterised in that:
The two ends of the second level rope (14) being wound on the capstan winch (3) driving motor (2), are connected by the first order
The rotation rope winding disc (13) of axle (4) be connected in second level connecting shaft (6) with second level mechanical arm (7)
In the fixing fixing rope winding disc (12) connected.
Three Degree Of Freedom rope the most according to claim 5 drives serial manipulator device, it is characterised in that:
It is wound on first order rope (15) two ends on the capstan winch (3) driving motor (2), is connected to the first order and connects
In the fixing rope winding disc (12) being connected fixing with first order mechanical arm (5) on axle (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610348638.3A CN105835050B (en) | 2016-05-23 | 2016-05-23 | A kind of Three Degree Of Freedom rope drives serial manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610348638.3A CN105835050B (en) | 2016-05-23 | 2016-05-23 | A kind of Three Degree Of Freedom rope drives serial manipulator device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105835050A true CN105835050A (en) | 2016-08-10 |
| CN105835050B CN105835050B (en) | 2017-11-10 |
Family
ID=56593168
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610348638.3A Expired - Fee Related CN105835050B (en) | 2016-05-23 | 2016-05-23 | A kind of Three Degree Of Freedom rope drives serial manipulator device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105835050B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110547093A (en) * | 2019-08-28 | 2019-12-10 | 贵州航天智慧农业有限公司 | Arm is picked to lightweight agricultural |
| CN110788831A (en) * | 2019-10-11 | 2020-02-14 | 东南大学 | Rail-moving type large-arm exhibition robot |
| CN111546304A (en) * | 2020-04-22 | 2020-08-18 | 天津大学 | Single-motor input three-freedom-degree rotating mechanism |
| CN114536315A (en) * | 2022-03-03 | 2022-05-27 | 哈尔滨工业大学（深圳） | Continuous multi-arm robot for on-orbit service |
| CN114589683A (en) * | 2020-12-07 | 2022-06-07 | 山东新松工业软件研究院股份有限公司 | Be applied to straining device of rope drive robot |
| CN114619434A (en) * | 2022-04-24 | 2022-06-14 | 上海大学 | Mechanical arm |
| CN114851239A (en) * | 2022-03-04 | 2022-08-05 | 深圳鹏行智能研究有限公司 | Head end joint, middle joint, bendable mechanical part and robot of line drive machine |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3308475A1 (en) * | 1983-03-10 | 1984-09-13 | Norbert 1000 Berlin Schlimm | Robot arm with multiple joints - has second and third parts of arm actuated by motors mounted in stationary base |
| US4784010A (en) * | 1987-04-27 | 1988-11-15 | Graco Robotics Inc. | Electric robotic work unit |
| WO2001085404A1 (en) * | 2000-05-11 | 2001-11-15 | Abb Ab | Supplying energy to the end tool, with an endless band, to an industrial robot |
| CN101733743A (en) * | 2010-01-02 | 2010-06-16 | 华南理工大学 | Drawing wire type serial mechanical arm |
| CN104440904A (en) * | 2014-12-29 | 2015-03-25 | 淮海工学院 | Steel wire rope transmission mechanical hand |
-
2016
- 2016-05-23 CN CN201610348638.3A patent/CN105835050B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3308475A1 (en) * | 1983-03-10 | 1984-09-13 | Norbert 1000 Berlin Schlimm | Robot arm with multiple joints - has second and third parts of arm actuated by motors mounted in stationary base |
| US4784010A (en) * | 1987-04-27 | 1988-11-15 | Graco Robotics Inc. | Electric robotic work unit |
| WO2001085404A1 (en) * | 2000-05-11 | 2001-11-15 | Abb Ab | Supplying energy to the end tool, with an endless band, to an industrial robot |
| CN101733743A (en) * | 2010-01-02 | 2010-06-16 | 华南理工大学 | Drawing wire type serial mechanical arm |
| CN104440904A (en) * | 2014-12-29 | 2015-03-25 | 淮海工学院 | Steel wire rope transmission mechanical hand |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110547093A (en) * | 2019-08-28 | 2019-12-10 | 贵州航天智慧农业有限公司 | Arm is picked to lightweight agricultural |
| CN110788831A (en) * | 2019-10-11 | 2020-02-14 | 东南大学 | Rail-moving type large-arm exhibition robot |
| CN111546304A (en) * | 2020-04-22 | 2020-08-18 | 天津大学 | Single-motor input three-freedom-degree rotating mechanism |
| CN111546304B (en) * | 2020-04-22 | 2022-07-12 | 天津大学 | Single-motor input three-freedom-degree rotating mechanism |
| CN114589683A (en) * | 2020-12-07 | 2022-06-07 | 山东新松工业软件研究院股份有限公司 | Be applied to straining device of rope drive robot |
| CN114536315A (en) * | 2022-03-03 | 2022-05-27 | 哈尔滨工业大学（深圳） | Continuous multi-arm robot for on-orbit service |
| CN114851239A (en) * | 2022-03-04 | 2022-08-05 | 深圳鹏行智能研究有限公司 | Head end joint, middle joint, bendable mechanical part and robot of line drive machine |
| CN114851239B (en) * | 2022-03-04 | 2024-03-12 | 深圳鹏行智能研究有限公司 | Front end joint, middle joint, bendable mechanical part of line drive machine and robot |
| CN114619434A (en) * | 2022-04-24 | 2022-06-14 | 上海大学 | Mechanical arm |
| CN114619434B (en) * | 2022-04-24 | 2024-05-31 | 上海大学 | Mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105835050B (en) | 2017-11-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105835050A (en) | Three-degree-of-freedom rope driven series robot device | |
| US9308652B2 (en) | Robot module and robot with spacer rods arranged at gravity centers | |
| CN101214098B (en) | Five-freedom shoemaking automatically grinding glue-spraying processing device | |
| KR101270031B1 (en) | Weight compensation mechanism and robot arm using the same | |
| US10513029B2 (en) | Transmission, electric driving device, and industrial robot | |
| US8429996B2 (en) | Robot arm assembly | |
| CN105856191B (en) | The more body mechanisms of high speed of rope parallel drive | |
| FR2929875B1 (en) | MOTORIZED JOINT HAVING TWO PIVOT LINKS AND HUMANOID ROBOTS IMPLEMENTING THE ARTICULATION | |
| CN102642204B (en) | Alternating-current servo direct drive type series-parallel composite robot | |
| CN102431040A (en) | Dynamic balance manipulator | |
| CN102615641A (en) | Five-degree-of-freedom parallel power head | |
| CN102689311A (en) | Robot arm stretching and swinging driving mechanism assembly | |
| CN104476567A (en) | Six-degree-of-freedom parallel mechanism with rope-driven linear joint | |
| CN104908035B (en) | A kind of long-armed industry mechanical arm | |
| CN109176491A (en) | A kind of single-degree-of-freedom module that rope drives and the multiple-degree-of-freedom mechanism using it | |
| CN106166739A (en) | A kind of linear type parallel robot | |
| CN106363610A (en) | Novel three-freedom-degree translational motion parallel mechanism | |
| CN204893986U (en) | Wrist joint structure of robot | |
| CN105965536A (en) | Robot wrist and robot | |
| CN103240737A (en) | Three-degree-of-freedom hybrid drive winding type flexible cable parallel mechanism | |
| CN105818137A (en) | Parallel mechanism with three-dimensional translational motion | |
| CN106514702B (en) | A kind of single shaft Two dimension of freedom robot joint | |
| CN208246811U (en) | A kind of five articulated robots | |
| CN209491763U (en) | A kind of six-joint robot | |
| ATE248046T1 (en) | ROTARY DRIVE FOR AN ARM, SUCH AS A ROBOT ARM, AROUND A VERTICAL AXIS AND HANDLING ROBOT WITH SUCH A DRIVE |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171110 |