CN107030729B - A kind of apery elbow joint - Google Patents
A kind of apery elbow joint Download PDFInfo
- Publication number
- CN107030729B CN107030729B CN201710449728.6A CN201710449728A CN107030729B CN 107030729 B CN107030729 B CN 107030729B CN 201710449728 A CN201710449728 A CN 201710449728A CN 107030729 B CN107030729 B CN 107030729B
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- Prior art keywords
- connecting rod
- runner frame
- elbow joint
- apery
- driving motor
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- 210000002310 elbow joint Anatomy 0.000 title claims abstract description 45
- 210000000245 forearm Anatomy 0.000 claims abstract description 22
- 235000014676 Phragmites communis Nutrition 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 229920003266 Leaf® Polymers 0.000 description 29
- 206010052904 Musculoskeletal stiffness Diseases 0.000 description 8
- 230000008859 change Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000003993 interaction Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 210000003205 muscle Anatomy 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 210000002027 skeletal muscle Anatomy 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004118 muscle contraction Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000006116 polymerization reaction Methods 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 241000894007 species Species 0.000 description 1
- 230000002194 synthesizing effect Effects 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to bio-robot joint technical fields, and in particular to a kind of apery elbow joint comprising forearm, large arm and elbow joint runner assembly；One end of the forearm and large arm is connected together by central axle sleeve, and elbow joint runner assembly includes slide bar, spring leaf, runner frame, connecting rod, the first lead screw, the first driving motor；The both ends of slide bar are stuck in the resigning sliding slot that forearm front end two sides open up, centre is fixedly connected with one end of spring leaf, the other end of spring leaf is fixedly connected on the surface of runner frame front end, runner frame is set in forearm and the cavity of large arm junction, the centre of runner frame passes through bearing holder (housing, cover) on center shaft, one end of runner frame end connection connecting rod, the other end of connecting rod is connected with sliding block, sliding block is fixed on the end of the first lead screw, first lead screw is fixedly connected with the first driving motor, and the first driving motor is fixed on the inside of the other end of large arm.The configuration of the present invention is simple, easy for installation, flexible, small in size, light-weight, production cost substantially reduces, easy to use.
Description
Technical field
The present invention relates to bio-robot joint technical fields, and in particular to a kind of apery elbow joint knot.
Background technique
With the development of robot technology, such as healing robot, wearable robot, intelligent artificial limb, walking robot
Robot focusing on people is more and more, and physical human-computer interaction also increases as, and human-computer interaction security and environment adapt to
Property is also by more extensive concern.In order to meet the requirement that robot is high to control precision, responds fast control simplification, pass through electricity
Machine driving method guarantees that the execution precision of robot end still, also has Gao Gang by more and more robot applications
The characteristics of spending, and high rigidity characteristic is unfavorable for the requirement of human-computer interaction security.
In terms of sport biomechanics angle, muscle is the power resources of human motion system, and the power for passing through contraction of muscle
Amount maintains or the execution of execution.Muscle have nonlinear variable-stiffness characteristic, certain collision can be buffered, moreover it is possible to absorb and
Storage energy designs the joint with bionic muscle characteristic if it is possible to use for reference human skeleton muscle system, can
Improve the high rigidity characteristic of traditional robot, to improve safety and the environmental suitability of human-computer interaction.
Currently, there are many implementation for imitating skeletal muscle, such as electroluminescent polymerization species artificial-muscle, shape memory is closed
Gold, Pneumatic artificial muscle, variation rigidity driver with elastic element etc., but the implementation of above-mentioned imitation skeletal muscle still without
Method simulates the characteristic of human joint completely, and not only there is power outputs compared with small, weight is big, motion range is small, rigidity is smaller etc.
Shortcoming, structure is complicated there is also having, and volume is big, assembles the defects of cumbersome.
Summary of the invention
(1) technical problems to be solved
In order to solve the above problem of the prior art, the present invention provides a kind of apery elbow joint, and structure is simple, volume
It is small, easy to assembly, flexible, the joint with nonlinear variable-stiffness muscle property can be simulated, the peace of human-computer interaction is effectively improved
Full property and environmental suitability.
(2) technical solution
In order to achieve the above object, the main technical schemes that the present invention uses include:
A kind of apery elbow joint comprising forearm (1), large arm (11) and elbow joint runner assembly, the forearm (1) and big
One end of arm (11) is connected together by central axis (9), the elbow joint runner assembly include slide bar (2), spring leaf (6),
Runner frame (7), connecting rod (15), the first lead screw (17), the first driving motor (18)；The both ends of the slide bar (2) are stuck in described small
In the resigning sliding slot (5) that arm (1) front end two sides open up, centre is fixedly connected with one end of the spring leaf (6), the spring leaf
(6) the other end is fixedly connected on the surface of the runner frame (7) front end, and the runner frame (7) is set to the forearm
(1) and in the cavity of the large arm (11) junction, the centre of the runner frame (7) is by bearing holder (housing, cover) in the central axis (9)
On, runner frame (7) end connects one end of the connecting rod (15), and the other end of the connecting rod (15) is connected with sliding block
(16), the sliding block (16) is fixedly connected on the end of the first lead screw (17), and first lead screw (17) is fixedly connected with described
One driving motor (18), first driving motor (18) are fixed on the inside of the other end of the large arm (11).
It further include stiffness variation executive module, the rigidity as a kind of preferred embodiment of apery elbow joint as described above
Variation executive module includes moving sliding base (3), the second lead screw (20) and the second driving motor (10), the moving sliding base (3)
Centre is equipped at least a pair of of gag lever post (4), gap of the spring leaf (6) across the pair of gag lever post (4), the shifting
The two sides of dynamic slide (3) are equipped with raised (12), which is fastened on the runner frame (7) front end two sides and opens
If slideway in；Second driving motor is fixed at the runner frame (7) end, and close to the central axis (9) position
Setting, second driving motor pass through second lead screw (20) connection moving sliding base (3).
As a kind of preferred embodiment of apery elbow joint as described above, the spring leaf (6) is set as two, respectively described
The upper and lower two sides of runner frame (7) are symmetrical arranged, and accordingly, the upper and lower end of the moving sliding base (3) is respectively provided with two gag lever posts
(4), the slide bar (2) is set as two, there are two the resigning sliding slot (5) opens up above and below same side.
As a kind of preferred embodiment of apery elbow joint as described above, it is described protrusion (12) be all provided in one side there are two.
As a kind of preferred embodiment of apery elbow joint as described above, the protrusion (12) is set as rectangular or cylindrical.
As a kind of preferred embodiment of apery elbow joint as described above, the large arm (11) two parallel arms of connection it is interior
Linear guide (14) are equipped in parallel on wall, the sliding block (16) is slidably fixed on the linear guide (14).
As a kind of preferred embodiment of apery elbow joint as described above, time of the connecting rod (15) and the runner frame (7)
Turn centerline offset of the center relative to the runner frame (7).
As a kind of preferred embodiment of apery elbow joint as described above, the sliding block (16) and the connecting rod (15) hinge connect
It connects, the connecting rod (15) connect with the runner frame (7) hinge.
As a kind of preferred embodiment of apery elbow joint as described above, the connecting rod (15) includes the U-shaped company integrally synthesized
Fitting and connecting rod, the open end of the U-shaped connector can be connected to the runner frame (7) end with rotating upwardly and downwardly, described U-shaped
Two brachiocylloosis of connector open end are arranged, and the connecting rod hinge connects the sliding block (16).
As a kind of preferred embodiment of apery elbow joint as described above, the open end of the U-shaped connector is in two inner sidewalls
It is equipped with clip-connecting rod, the through-hole being mutually adapted with the clip-connecting rod, the clamping are equipped on the runner frame (7) end two sides
Column passes through through-hole, is equipped with bayonet lock in the end of the clip-connecting rod.
As a kind of preferred embodiment of apery elbow joint as described above, the elbow of the large arm (11), forearm (1) and human body is closed
Section ruler cun is almost the same.
(3) beneficial effect
The beneficial effects of the present invention are: compared with prior art, apery elbow joint provided by the invention is not only functionally
The joint with nonlinear variable-stiffness muscle property can be simulated, and dimensionally consistent with the elbow joint of human body, maximally
Realize apery structure；The present invention uses spring leaf as stiffness tuning component, and spring leaf is as force transmission member, rigidity
It can be changed according to action length and be changed, for the adjusting for meeting spring leaf action length, the present invention is cooperated by motor and lead screw
It uses, and can easily adjust the action length of spring leaf by the sliding of moving sliding base.
Present invention can be implemented in rigidity it is constant in the case where, only joint structure is enabled to rotate, that is, meets permanent rigidity condition
The position of ShiShimonoseki section structure adjusts；The present invention can also be achieved in the case where joint structure does not rotate, and only change joint knot
The rigidity of structure, to meet the joint operation requirement under setting rigidity condition.The configuration of the present invention is simple, easy for installation, flexible, body
Product is small, and light-weight, production cost substantially reduces, easy to use.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of a preferred apery elbow joint of the invention；
Fig. 2 is the structural schematic diagram removed at the runner frame of spring leaf；
Fig. 3 is the structural schematic diagram of a preferred apery elbow joint solid of the invention；
Fig. 4 is the structural schematic diagram of moving sliding base；
Schematic diagram when Fig. 5 is preferred apery elbow joint rotation of the invention.
[description of symbols]
1: forearm；
2: slide bar；
3: moving sliding base；
4: gag lever post；
5: resigning sliding slot；
6: spring leaf；
7: runner frame；
8: the second motor support bases；
9: central axis；
10: the second driving motors；
11: large arm；
12: protrusion；
13: bearing；
14: linear guide；
15: connecting rod；
16: sliding block；
17: the first lead screws；
18: the first driving motors；
19: slideway；
20: the second screw rods；
21: gap.
Specific embodiment
In order to preferably explain the present invention, in order to understand, with reference to the accompanying drawing, by specific embodiment, to this hair
It is bright to be described in detail.
Embodiment 1
As shown in Figure 1, a kind of apery elbow joint comprising forearm 1, large arm 11, elbow joint runner assembly, forearm 1 can be set
For U-bracket, large arm 11 can be intermediate two parallel legs connected by upper surface portion, open end and the forearm 1 of large arm 11
Open end is socketed on central axis 9 by bearing, leads to large arm 11 and central axis 9 is perpendicular；Forearm 1 and central axis 9 are perpendicular, small
The opening end cap of arm 1 is between the parallel leg of large arm 11；Elbow joint runner assembly include slide bar 2, spring leaf 6, runner frame 7,
Connecting rod 15, the first lead screw 17, the first driving motor 18；The resigning sliding slot 5 opened up on the front end two sides of forearm 1, the two of slide bar 2
End is stuck in resigning sliding slot, and slide bar 2 can slide in resigning sliding slot, and one end of spring leaf 6, spring are fixedly connected among slide bar 2
The other end of piece 6 is fixedly connected on the surface of 7 front end of runner frame；Runner frame 7 is set to the sky between forearm 1 and large arm 11
Intracavitary, the centre of runner frame 7 offers slot on two sides, and slot is embedded to be cased with bearing 13,13 sets of the bearing on central axis 9,
Runner frame 7 is fixed on central axis 9, runner frame 7 can be rotated around central axis 9；7 end of runner frame is fixedly connected with the one of connecting rod 15
End, the other end of connecting rod 15 are connect with sliding block 16, and sliding block 16 is fixed on the end of the first lead screw 17, and the first driving motor 18 is fixed
The first lead screw 17 is connected, the first driving motor 18 is fixedly mounted on the inside of the end of large arm 11.
Apery elbow joint is additionally provided with stiffness variation executive module, is set in runner frame, the stiffness variation executive module
For changing the elastic force of the spring leaf, and then change the rigidity of entire elbow joint structure.As shown in Fig. 2, stiffness variation executes
Component includes moving sliding base 3, the second lead screw 20 and the second driving motor 10, and moving sliding base 3 is set to the front end of runner frame 7, and can
It slidably reciprocates in the front end of runner frame 7, the second driving motor 10 is fixed at the end of runner frame 7, and moving sliding base 3 and second drive
It is connected between dynamic motor 10 by the second lead screw 20.Specifically, it is set between two parallel-plates of moving sliding base 3 there are two gag lever post 4,
The parallel-plate in gap of the spring leaf 6 across two gag lever posts 4,3 two sides of moving sliding base is equipped with protrusion, which is fixed
In in the slideway 19 opened up on 7 front end two sides of runner frame, protrusion can be set as rectangular or cylindrical；In the end of moving sliding base 3
It is equipped with the second motor cabinet 8 close to the position of central axis 9, the second driving motor 10 is fixed in the second motor cabinet 8, second drives
Dynamic motor is spindle motor, is fixedly connected with the second lead screw, the second lead screw 20 is fixedly connected with moving sliding base 3.Second driving motor fortune
Turn to drive the second lead screw 20 flexible, related moving sliding base 3 in slideway 19 forward, slide backward, such spring leaf 6 is located at limit
Length between bar 4 and slide bar 2 can change therewith.
It is equipped with a sliding block 16 in the junction of the first screw rod 17 and connecting rod 15, is used to connect two parallel branch in large arm 11
Linear guide 14 is fixed on the inside of arm upper surface, linear guide 14 is arranged in parallel between two parties in large arm 11, and sliding block 16 is fixed
In linear guide 14, sliding block 16 can be slided in linear guide along linear guide.First screw rod 17 is fixedly connected with sliding block 16,
Sliding block 16 is connect by hinge with connecting rod 15.Sliding block play the guiding role, and keeps screw rod transmission precision high.
Rotate elbow joint to a direction, 15 other end of connecting rod is connect by hinge with runner frame 7, connecting rod 15 and sliding slot
Centerline offset of the centre of gyration of frame 7 relative to runner frame 7, that is to say, that the centre of gyration and cunning of connecting rod 15 and runner frame 7
The out-of-line setting of the center line of truss 7, connecting rod 15 and the centre of gyration of sliding block 16 are set on the center line of runner frame 7
It sets.
It is of the invention use process is as follows:
A. in the case where rigidity is constant, apery elbow joint of the invention is only enabled to rotate:
Start the first driving motor 18, drives first motor lead screw 17 to rotate by the first driving motor 18, and then drive
Sliding block 16 is mobile, is rotated by the mobile drive connecting rod 15 of sliding block 16, and then runner frame 7 is driven to rotate, at this time the second driving electricity
Machine 10 is rotated together with runner frame 7, and rotating drive spring leaf 6 by runner frame 7, deformation occurs, and 4 position of gag lever post is constant at this time,
I.e. moving sliding base 3 is not displaced, and is rotated by 6 deformation band moving slide-bar 2 of spring leaf, and then forearm 1 is driven to rotate.
B. in the case where joint structure of the invention does not rotate, change the rigidity of joint structure:
Start the second driving motor 10, the rotation of the second lead screw 20 is driven by the second driving motor 10, and then drive movement
Slide 3 is mobile, by length of the mobile change spring leaf 6 of moving sliding base 3 between gag lever post 4 and slide bar 2, due to being located at
Spring leaf 6 between gag lever post 4 and slide bar 2 is for transmitting forces, and spring leaf 6 is in power transmittance process, rigidity
It is determined completely by its length, the spring when moving sliding base 3 is mobile to 9 direction of central axis, between gag lever post 4 and slide bar 2
6 length of piece, rigidity become smaller, conversely, being located at gag lever post 4 when moving sliding base 3 is mobile far from 9 direction of central axis and sliding
6 length of spring leaf between bar 2 shortens, and rigidity becomes larger.
After adjusting 6 corresponding length of spring leaf between gag lever post 4 and slide bar 2 through the above way, when forearm 1 by
When being forced to rotate joint structure to external force, spring leaf 6 can bend, and slide bar 2 can be slided in resigning sliding slot and be realized at this time
It is servo-actuated, until the bending degree of spring leaf 6 is stablized, at this point, apery axis joint of the invention has fully met setting rigidity condition
Under joint operation requirement.
Embodiment 2
In order to keep the structure of apery elbow joint more stable, entire rigidity is more easier to control, on the basis of embodiment 1
On, spring leaf is set as two panels, as shown in figure 3, two spring leafs 6 are symmetrical arranged in the upper and lower two sides of runner frame 7, correspondingly,
The correspondence of slide bar 2 is set as two, opens up in forearm front end there are two resigning sliding slot 5, meanwhile, the upper and lower end of moving sliding base 3 is respectively set
There are two gag lever posts 4, and specifically as shown in figure 4, interval has the gap 21 between two adjacent gag lever posts 4, spring leaf 6 passes through the seam
One end of gap, spring leaf 6 is fixed among the slide bar 2 of opposite position, and the other end is fixed on close to the surface of 7 front end of runner frame
On；It is all provided on the two sides of moving sliding base there are two protrusion 12, protrusion 12 can be entrenched in the slideway 19 of sliding rack two sides setting
Interior sliding is set as two protrusions, keeps structure more stable.
Connecting rod is connected with sliding block hinge, as shown in figure 5, specific connecting rod 15 can be set as U-shaped connector by integrally synthesizing with
Connecting rod composition, the open end of U-shaped connector is fixedly connected on the runner frame end, two support arms of U-shaped connector open end
Bending setting, part U-shaped in this way can prevent from generating collision with the second lead screw stretched out from the second driving motor, while can increase
The rotation angle of forearm, by being provided inwardly with clip-connecting rod on two support arms of U-shaped connector, close to open end, at runner frame end
End two sidewalls are equipped with the through-hole being mutually adapted with clip-connecting rod, and clip-connecting rod passes through through-hole, are equipped with bayonet lock in the end of clip-connecting rod, will
U-shaped connector is stably fixed on runner frame, and will not be fallen off from runner frame；Connecting rod is fixedly connected with the sliding block.Sliding block
It is connected by a hinge with the connecting rod.
Apery elbow joint of the invention, which can be used for being connected in robot, to be used, and is directly connect with shoulder joint by large arm.
The above described is only a preferred embodiment of the present invention, being not the limitation for doing other forms to the present invention, appoint
What those skilled in the art changed or be modified as possibly also with the technology contents of the disclosure above equivalent variations etc.
Imitate embodiment.But without departing from the technical solutions of the present invention, according to the technical essence of the invention to above embodiments institute
Any simple modification, equivalent variations and the remodeling made, still fall within the protection scope of technical solution of the present invention.
Claims (9)
1. a kind of apery elbow joint, which is characterized in that it includes forearm (1), large arm (11) and elbow joint runner assembly, described small
Arm (1) and one end of large arm (11) are connected together by central axis (9), and the elbow joint runner assembly includes slide bar (2), bullet
Reed (6), runner frame (7), connecting rod (15), the first lead screw (17), the first driving motor (18)；The both ends card of the slide bar (2)
In the resigning sliding slot (5) that the forearm (1) front end two sides open up, centre is fixedly connected with one end of the spring leaf (6), described
The other end of spring leaf (6) is fixedly connected on the surface of the runner frame (7) front end, and the runner frame (7) is set to institute
In the cavity for stating forearm (1) and the large arm (11) junction, the centre of the runner frame (7) is by bearing holder (housing, cover) at the center
On axis (9), runner frame (7) end connects one end of the connecting rod (15), and the other end of the connecting rod (15) is connected with cunning
Block (16), the sliding block (16) are fixed on the end of first lead screw (17), and first lead screw is fixedly connected with described first
Driving motor (18), first driving motor (18) are fixed on the inside of the other end of the large arm (11)；The connecting rod (15)
Centerline offset with the centre of gyration of the runner frame (7) relative to the runner frame (7).
2. apery elbow joint as described in claim 1, which is characterized in that further include stiffness variation executive module, the rigidity
Variation executive module includes moving sliding base (3), the second lead screw (20) and the second driving motor (10), the moving sliding base (3)
Centre is equipped with gap (21) of at least a pair of of gag lever post (4) spring leaf (6) across the pair of gag lever post, the shifting
The two sides of dynamic slide (3) are equipped with raised (12), which is fastened on the runner frame (7) front end two sides and opens
If slideway (19) in；Second driving motor (10) is fixed at the end of the runner frame (7), and close to the center
Axis (9) setting, second driving motor (10) connect the moving sliding base (3) by second lead screw (20).
3. apery elbow joint as claimed in claim 2, which is characterized in that the spring leaf (6) is set as two, respectively described
The upper and lower two sides of runner frame (7) are symmetrical arranged, and accordingly, the upper and lower end of the moving sliding base (3) is respectively provided with one group of gag lever post
(4), the slide bar (2) is set as two, there are two the resigning sliding slot (5) opens up above and below same side.
4. apery elbow joint as claimed in claim 2, which is characterized in that the protrusion (12) is set as two in one side.
5. apery elbow joint as claimed in claim 2, which is characterized in that the protrusion (12) is set as rectangular or cylindrical.
6. apery elbow joint as described in claim 1, which is characterized in that the large arm (11) two parallel arms of connection it is interior
Linear guide (14) are equipped in parallel on wall, the sliding block (16) is slidably fixed on the linear guide (14).
7. apery elbow joint as described in claim 1, which is characterized in that the sliding block (16) and the connecting rod (15) hinge connect
It connects, the connecting rod (15) connect with the runner frame (7) hinge.
8. such as apery elbow joint of any of claims 1-7, which is characterized in that the connecting rod (15) includes that one is closed
At U-shaped connector and connecting rod, the open end of the U-shaped connector can be connected to rotating upwardly and downwardly the runner frame (7) end
End, two brachiocylloosis setting of the U-shaped connector open end, the connecting rod hinge connect the sliding block (16).
9. apery elbow joint as claimed in claim 8, which is characterized in that the open end of the U-shaped connector is in two inner sidewalls
It is equipped with clip-connecting rod, the through-hole being mutually adapted with the clip-connecting rod, the clamping are equipped on the runner frame (7) end two sides
Column passes through through-hole, is equipped with bayonet lock in the end of the clip-connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710449728.6A CN107030729B (en) | 2017-06-14 | 2017-06-14 | A kind of apery elbow joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710449728.6A CN107030729B (en) | 2017-06-14 | 2017-06-14 | A kind of apery elbow joint |
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| Publication Number | Publication Date |
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| CN107030729A CN107030729A (en) | 2017-08-11 |
| CN107030729B true CN107030729B (en) | 2019-11-29 |
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| CN201710449728.6A Expired - Fee Related CN107030729B (en) | 2017-06-14 | 2017-06-14 | A kind of apery elbow joint |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109664327A (en) * | 2019-01-31 | 2019-04-23 | 陕西伟景机器人科技有限公司 | A kind of manipulator arm joint system |
| CN110497393A (en) * | 2019-09-29 | 2019-11-26 | 中国科学技术大学 | A kind of upper limb exoskeleton robot |
| CN111938988A (en) * | 2020-07-17 | 2020-11-17 | 哈尔滨理工大学 | Wearable five-degree-of-freedom exoskeleton upper limb rehabilitation robot |
| CN114905541B (en) * | 2022-04-06 | 2024-03-22 | 重庆奔腾科技发展有限公司 | Variable-rigidity robot joint |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB2541369B (en) * | 2015-07-22 | 2021-03-31 | Cmr Surgical Ltd | Drive mechanisms for robot arms |
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| CN101372096A (en) * | 2008-08-05 | 2009-02-25 | 东南大学 | Multiple-joint service robot arm capable of implementing translational decoupling at Z direction |
| CN102601792A (en) * | 2012-03-29 | 2012-07-25 | 苏州市思玛特电力科技有限公司 | Humanoid robot remotely driven and controlled by rope |
| CN104890006A (en) * | 2015-05-18 | 2015-09-09 | 重庆交通大学 | Combined drive bionic elbow joint |
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| CN107030729A (en) | 2017-08-11 |
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