CN108098744A - A kind of coordinate type mechanical arm - Google Patents
A kind of coordinate type mechanical arm Download PDFInfo
- Publication number
- CN108098744A CN108098744A CN201711436046.8A CN201711436046A CN108098744A CN 108098744 A CN108098744 A CN 108098744A CN 201711436046 A CN201711436046 A CN 201711436046A CN 108098744 A CN108098744 A CN 108098744A
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- linear motion
- rope
- type mechanical
- component
- screw
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Classifications
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- 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
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
-
- 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
-
- 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
- B25J9/123—Linear actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of coordinate type mechanical arms, including first direction linear motion component, second direction linear motion component and flexible arm component, second direction linear motion component is connected on linear motion component in a first direction so that second direction linear motion component can move along a first direction, flexible arm component is connected on second direction linear motion component so that flexible arm component can be moved along second direction, and first direction is mutually perpendicular to second direction；Flexible arm component includes driving mechanism, rope mechanism and whole arm mechanism, driving mechanism is connected by rope mechanism and controls whole arm mechanism so that whole arm mechanism can be in the first move in plane, wherein the first plane is perpendicular to second direction, and the length direction of whole arm mechanism is set along a first direction.Coordinate type mechanical arm proposed by the present invention can improve the flexibility of mechanical arm and keep high rigidity and positional precision, be particularly suitable for charging robot field.
Description
Technical field
The present invention relates to mechanical arm field more particularly to a kind of coordinate type mechanical arms.
Background technology
Existing coordinate type mechanical arm includes circular cylindrical coordinate type mechanical arm, cartesian co-ordinate type mechanical arm and spherical coordinates type machinery
Arm etc., wherein circular cylindrical coordinate type mechanical arm are configured as a rotary motion, a linear motion adds one not in linear motion institute
Rotary motion planar；Cartesian co-ordinate type mechanical arm is moved by the straight line of Cartesian form X, Y, Z-direction；Ball is sat
Mark type mechanical arm is configured as two rotary motions and adds a linear motion.Shared by the configuration body of these traditional coordinate type mechanical arms
Spatial volume is big, actuating range is small, and it is poor to result in its flexibility, it is difficult to be applied in small space.
The disclosure of background above technology contents is only used for design and the technical solution that auxiliary understands the present invention, not necessarily
Belong to the prior art of present patent application, no tangible proof show the above present patent application the applying date
In the case of disclosed, above-mentioned background technology should not be taken to the novelty and creativeness of evaluation the application.
The content of the invention
In order to solve the above-mentioned technical problem, the present invention proposes a kind of coordinate type mechanical arm, can improve the flexible of mechanical arm
Property and keep high rigidity and positional precision, be particularly suitable for charging robot field.
In order to achieve the above object, the present invention uses following technical scheme：
The invention discloses a kind of coordinate type mechanical arms, are transported including first direction linear motion component, second direction straight line
Dynamic component and flexible arm component, wherein the second direction linear motion component is connected to the first direction linear motion component
Above so that the second direction linear motion component can move along a first direction, the flexibility arm component is connected to described
So that the flexibility arm component can be moved along second direction on second direction linear motion component, and the first direction
It is mutually perpendicular to the second direction；The flexibility arm component includes driving mechanism, rope mechanism and whole arm mechanism, the driving
Mechanism is connected by the rope mechanism and controls the whole arm mechanism so that the whole arm mechanism can be in the first plane
Movement, wherein first plane is perpendicular to the second direction, and the length direction of the whole arm mechanism is along described first
Direction is set.
Preferably, the driving mechanism is led including the 3rd support base, multiple 3rd driving motors, multiple 3rd straight lines
Rail, multiple 3rd screws and multiple 3rd sliding blocks, wherein the 3rd driving motor, the 3rd line slideway, the described 3rd
Screw and the 3rd sliding block correspond setting, multiple 3rd driving motors and multiple 3rd line slideways respectively
It is respectively fixedly disposed in the 3rd support base, multiple 3rd screws are connected to multiple 3rd driving electricity
On machine, multiple 3rd sliding blocks are linked on multiple 3rd screws and are separately positioned on multiple 3rd straight lines respectively
On guide rail, by multiple 3rd driving motors multiple 3rd screws to be driven to drive multiple 3rd sliding block edges
The direction movement of multiple 3rd line slideways.
Preferably, the rope mechanism includes multiple fixed pulleys and Duo Gen ropes, the fixed pulley, the rope and described
3rd sliding block, which corresponds, to be set, and multiple fixed pulleys are respectively fixedly connected on multiple 3rd sliding blocks, the rope
First end be fixed in the 3rd support base, second end is around the fixed pulley and is pierced by the whole arm machine
Structure is fixedly connected on the whole arm mechanism.
Preferably, the rope mechanism further includes multiple euphroes, and the every rope be correspondingly arranged two it is described tight
Rope device, euphroe described in each two are respectively used to fix the both ends of the every rope.
Preferably, the rope mechanism further includes multiple guide pipes, and the guide pipe is corresponded with the rope and set,
The every rope penetrates into the guide pipe after around the fixed pulley and reconnects on the whole arm mechanism.
Preferably, the whole arm mechanism includes multiple joint segments, and each joint segments are connected respectively described in two
Rope, wherein the second end of every two ropes be respectively fixedly connected at the tail end of each joint segments along the 3rd
The both sides in direction, wherein the third direction is perpendicular to first direction and second direction.
Preferably, each joint segments include 2~5 joints.
Preferably, the whole arm mechanism includes multiple joints, and the head and the tail both ends in each joint set two pins respectively
Nail hole, respectively by two pin axis connections, two pin axis are separately positioned on institute at the head and the tail both ends in each joint
State the head end in joint or the both sides along the second direction of tail end.
Preferably, it is additionally provided with elastic element at the connecting portion between joint described in each two.
Preferably, first direction linear motion component is led including the first support base, the first driving motor, first straight line
Rail, the first screw and the first sliding block, first driving motor and the first straight line guide rail are respectively fixedly connected with described
In one support base, first screw is connected on first driving motor, and first sliding block is linked in described first
It on screw and is arranged on the first straight line guide rail, by first driving motor first screw to be driven to drive
First sliding block is moved along the direction of the first straight line guide rail, wherein the first straight line guide rail is along the first party
To setting, the second direction linear motion component is fixedly connected on first sliding block；The second direction linear motion
Component includes the second support base, the second driving motor, second straight line guide rail, the second screw and the second sliding block, and described second drives
Dynamic motor and the second straight line guide rail are respectively fixedly connected in second support base, and second screw is connected to institute
It states on the second driving motor, second sliding block is linked on second screw and is arranged on the second straight line guide rail,
By second driving motor second screw to be driven to drive second sliding block along the second straight line guide rail
Direction movement, wherein the second straight line guide rail is set along the second direction, the flexible arm component is fixedly connected on
On second sliding block.
Compared with prior art, the beneficial effects of the present invention are：Coordinate type mechanical arm disclosed by the invention dexterously will
Flexible arm component is introduced into traditional coordinate type mechanical arm, wherein and the degree of freedom of flexible arm component is reduced, it is only necessary to
Plane motion is carried out in first plane so that the rigidity and positional precision of the coordinate type mechanical arm are obviously improved, and are tied
It closes first direction linear motion component and second direction linear motion component substantially increases the motion range of flexible arm, it is especially suitable
For the robot field that charges.
In further embodiment, the whole arm mechanism in flexible arm component is controlled by rope mechanism, wherein crosser
Structure includes fixed pulley and rope, is halved by the stroke of the 3rd line slideway top shoe of fixed pulley, so that
The structure of the driving mechanism of flexible arm component is more compact, reduces the size of entire flexible arm component.
In further scheme, the second end of every two ropes in the rope mechanism in flexible arm component is solid respectively
Surely the both sides along third direction being connected at the tail end of each joint segments, and third direction is perpendicular to first direction and second
Direction so that by the elongation of every two ropes shorten that each joint segments of flexible arm component is controlled to transport along third direction
It is dynamic, and entire flexible arm component can be realized by first direction linear motion component and second direction linear motion component respectively
The movement of first direction and second direction can realize that space Arbitrary 3 D moves by the coordinate type mechanical arm, disclosure satisfy that
Rigidity and positional precision needed for charging robot, for charging, robot field is especially suitable, and simple in structure, being capable of big model
Enclose popularization.
Description of the drawings
Fig. 1 is the structure diagram of the coordinate type mechanical arm of the preferred embodiment of the present invention；
Fig. 2 is the structure diagram of first direction linear motion component or second direction linear motion component in Fig. 1；
Fig. 3 is the structure diagram of the flexible arm component in Fig. 1；
Fig. 4 is the structure diagram of the driving mechanism and rope mechanism in Fig. 3；
Fig. 5 is the structure diagram of the whole arm mechanism in Fig. 3 and joint enlarged diagram.
Specific embodiment
Below against attached drawing and with reference to preferred embodiment, the invention will be further described.
As shown in Figure 1, the coordinate type mechanical arm of the preferred embodiment of the present invention, including first direction linear motion component 1,
Two direction linear motion components 2 and flexible arm component 3；Wherein second direction linear motion component 2 connects straight line in a first direction
So that second direction linear motion component 2 can move along a first direction on moving parts 1, flexible arm component 3 is connected to
So that flexible arm component 3 can be moved along second direction on second direction linear motion component 2, and first direction and second
Direction is mutually perpendicular to.Wherein in the present embodiment, first direction is X-axis or Y direction, and second direction is Z-direction.
As shown in Fig. 2, it is the structure diagram of first direction linear motion component 1 or second direction linear motion component 2；
First direction linear motion component 1 includes the first support base 11, the first driving motor 12,13, first, first straight line guide rail
14 and first sliding block 15 of bar, the first driving motor 12 and first straight line guide rail 13 are respectively fixedly connected in the first support base 11
On, the first screw 14 is connected on the first driving motor 12, and the first sliding block 15 is linked on the first screw 14 and is arranged on first
On line slideway 13, to drive the first screw 14 that the first sliding block 15 is driven to be led along first straight line by the first driving motor 12
13 direction of rail is moved, and wherein first straight line guide rail 13 is set along a first direction, and second direction linear motion component 2 is fixedly connected
On the first sliding block 15, wherein the first driving motor 12 further includes the first speed reducer 121, during driving, the first driving electricity
Machine 12 slows down commutation to drive the rotation of the first screw 14 (ball screw) with further such that first slides by the first speed reducer 121
Block 15 (being also feed screw nut's unit) is moved along the direction of first straight line guide rail 13；Second direction linear motion component 2 includes
Second support base 21, the second driving motor 22, second straight line guide rail 23, the second screw 24 and the second sliding block 25, the second driving
Motor 22 and second straight line guide rail 23 are respectively fixedly connected in the second support base 21, and the second screw 24 is connected to the second driving
On motor 22, the second sliding block 25 is linked on the second screw 24 and is arranged on second straight line guide rail 23, to pass through the second driving
Motor 22 drives the second screw 24 so that the second sliding block 25 to be driven to be moved along the direction of second straight line guide rail 23, wherein second straight line
Guide rail 23 is set along the second direction, and flexible arm component 3 is fixedly connected on the second sliding block 25, wherein the second driving motor
22 further include the second speed reducer 221, during driving, the second driving motor 22 by the second speed reducer 221 slow down commutation with
Drive the rotation of the second screw 24 (ball screw) with further such that the second sliding block 25 (also for feed screw nut's unit) along second
23 direction of line slideway moves.
As shown in figure 3, flexible arm component 3 includes driving mechanism 31, rope mechanism 32 and whole arm mechanism 33, driving mechanism 31
It is connected by rope mechanism 32 and controls whole arm mechanism 33 so that whole arm mechanism can be in the first move in plane, wherein first
Plane is perpendicular to second direction, and the length direction of whole arm mechanism 33 is set along a first direction, and in the present embodiment, first is flat
Face is the plane vertical with Z axis.
As shown in figure 4, driving mechanism 31 includes the 3rd support base 311, multiple 3rd driving motors 312, the multiple 3rd
Line slideway 313, multiple 3rd screws 314 and multiple 3rd sliding blocks 315, wherein the 3rd driving motor 312, the 3rd line slideway
313rd, the 3rd screw 314 and the 3rd sliding block 315 correspond setting respectively, and multiple 3rd driving motors 312 and the multiple 3rd are directly
Line guide rail 313 is respectively fixedly disposed in the 3rd support base 311, and multiple 3rd screws 314 are connected to multiple three and drive
On dynamic motor 312, multiple 3rd sliding blocks 315 are linked on multiple 3rd screws 314 and are separately positioned on multiple three directly respectively
On line guide rail 313, by multiple 3rd driving motors 312 multiple 3rd screws 314 to be driven to drive multiple 3rd sliding blocks 315
It is moved along the direction of multiple 3rd line slideways 313.Rope mechanism 32 includes multiple fixed pulleys 321, more ropes 322, more
A guide pipe 323, multiple euphroes 324, fixed pulley 321, rope 322,323 and the 3rd sliding block 315 of guide pipe one-to-one corresponding are set
It puts, multiple fixed pulleys 321 are respectively fixedly connected on multiple 3rd pulleys 315, and the first end of rope 322 is fixed at the 3rd
In support base 311, second end is around fixed pulley 321 and penetrates into up to being pierced by whole arm mechanism 33 in guide pipe 323, and solid
Surely it is connected on whole arm mechanism 33, wherein every rope 322 is correspondingly arranged two euphroes 324, each two euphroe 324 is distinguished
For fixing the both ends of every rope 322.By guide pipe 323 guide rope 322 from after around fixed pulley 321 to penetrating to whole
Arm mechanism 33 so that the axis direction of rope 322 is not easy to be compressed, and length hardly changes, and plays the guiding of rope 322
Effect.
As shown in figure 5, whole arm mechanism 33 includes 4 joint segments, each joint segments include 4 joints 331, each joint
331 head and the tail both ends set two pin holes 3311 respectively, and the head and the tail both ends in each joint 331 pass through two pin axis respectively
332 connections, two pin axis 332 are separately positioned on the head end in joint 331 or the both sides along second direction of tail end, and every
Elastic element 333 is additionally provided at connecting portion between two joints 331, elastic element 333 is using pre- in the present embodiment
Tight spring, preloading spring keep tension when joint segments deform.Wherein each joint segments are connected respectively two ropes 322,
The second end of every two ropes 322 is respectively fixedly connected with the both sides along third direction at the tail end of each joint segments,
Middle third direction is perpendicular to first direction and second direction, and in the present embodiment, third direction is that (first direction is X-axis side to Y-axis
To when) or X-axis when Y direction (first direction be) direction.Drawing and tight cooperation of each joint segments by every two ropes 322
Action realizes that joint segments are bent along 332 rotation direction of pin axis, wherein every rope 322 is by the 3rd driving motor 312
Be driven, whole arm mechanism 33 shares 8 ropes 322 and tenses and release in the present embodiment, 8 the 3rd driving motors 312 into
Row driving, rope 322 are by the cable-through hole in joint 331, and then fixed to corresponding joint section in whole 33 interior cabling of arm mechanism
On the euphroe put.In some other embodiments, each joint segments can also include 2~5 joints, different soft to realize
Property control effect.
Flexible arm is dexterously added to traditional coordinate type machine by coordinate type mechanical arm disclosed in the preferred embodiment of the present invention
In the configuration of tool arm, on the one hand, the fast spy of former traditional coordinate type mechanical arm beat can be played using flexible arm as rod piece mechanism
Point keeps the original handling characteristics and speciality of coordinate type mechanical arm, on the other hand, can be played using flexible arm as motion
Its flexibility characteristics can use in the range of small space, play the strong advantage of its avoidance performance, and by flexible arm component from
It is reduced by degree, it is only necessary to plane motion is carried out in the first plane so that the rigidity and positional precision of the coordinate type mechanical arm obtain
To being obviously improved, and combine first direction linear motion component and second direction linear motion component substantially increases flexible arm
Motion range, be particularly suitable for charging robot field.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, it is impossible to assert
The specific implementation of the present invention is confined to these explanations.For those skilled in the art to which the present invention belongs, do not taking off
On the premise of from present inventive concept, several equivalent substitute or obvious modifications can also be made, and performance or purposes are identical, all should
When being considered as belonging to protection scope of the present invention.
Claims (10)
1. a kind of coordinate type mechanical arm, which is characterized in that including first direction linear motion component, second direction linear motion group
Part and flexible arm component, wherein the second direction linear motion component be connected on the first direction linear motion component with
The second direction linear motion component is moved along a first direction, the flexibility arm component is connected to described second
So that the flexibility arm component can be moved along second direction on the linear motion component of direction, and the first direction and institute
Second direction is stated to be mutually perpendicular to；
The flexibility arm component includes driving mechanism, rope mechanism and whole arm mechanism, and the driving mechanism passes through the crosser
Structure connects and controls the whole arm mechanism so that the whole arm mechanism can be in the first move in plane, wherein described first is flat
Face is perpendicular to the second direction, and the length direction of the whole arm mechanism is set along the first direction.
2. coordinate type mechanical arm according to claim 1, which is characterized in that the driving mechanism includes the 3rd support bottom
Seat, multiple 3rd driving motors, multiple 3rd line slideways, multiple 3rd screws and multiple 3rd sliding blocks, wherein the described 3rd
Driving motor, the 3rd line slideway, the 3rd screw and the 3rd sliding block correspond setting respectively, multiple described
3rd driving motor and multiple 3rd line slideways are respectively fixedly disposed in the 3rd support base, and multiple described
Three screws are connected on multiple 3rd driving motors, and multiple 3rd sliding blocks are linked in multiple described three respectively
It on screw and is separately positioned on multiple 3rd line slideways, to drive multiple institutes by multiple 3rd driving motors
The 3rd screw is stated so that multiple 3rd sliding blocks to be driven to be moved along the direction of multiple 3rd line slideways.
3. coordinate type mechanical arm according to claim 2, which is characterized in that the rope mechanism include multiple fixed pulleys and
More ropes, the fixed pulley, the rope and the 3rd sliding block, which correspond, to be set, and multiple fixed pulleys are fixed respectively
It is connected on multiple 3rd sliding blocks, the first end of the rope is fixed in the 3rd support base, second end
Around the fixed pulley and the whole arm mechanism is pierced by, and is fixedly connected on the whole arm mechanism.
4. coordinate type mechanical arm according to claim 3, which is characterized in that the rope mechanism further includes multiple tight ropes
Device, and the every rope is correspondingly arranged two euphroes, euphroe described in each two is respectively used to fix described in every
The both ends of rope.
5. coordinate type mechanical arm according to claim 3, which is characterized in that the rope mechanism further includes multiple guiding
Pipe, the guide pipe are corresponded with the rope and set, and the every rope penetrates into described after around the fixed pulley
Guide pipe is reconnected on the whole arm mechanism.
6. coordinate type mechanical arm according to claim 3, which is characterized in that the whole arm mechanism includes multiple joint segments,
Each joint segments are connected respectively two ropes, wherein the second end of every two ropes is respectively fixedly connected with
The both sides along third direction at the tail end of each joint segments, wherein the third direction perpendicular to first direction and
Second direction.
7. coordinate type mechanical arm according to claim 6, which is characterized in that each joint segments include 2~5 joints.
8. coordinate type mechanical arm according to any one of claims 1 to 7, which is characterized in that the whole arm mechanism includes more
A joint, the head and the tail both ends in each joint set two pin holes respectively, and the head and the tail both ends in each joint lead to respectively
Cross two pin axis connections, two pin axis be separately positioned on the joint head end or tail end along the second party
To both sides.
9. coordinate type mechanical arm according to claim 8, which is characterized in that the connecting portion between joint described in each two
Place is additionally provided with elastic element.
10. coordinate type mechanical arm according to any one of claims 1 to 7, it is characterised in that：
First direction linear motion component include the first support base, the first driving motor, first straight line guide rail, the first screw and
First sliding block, first driving motor and the first straight line guide rail are respectively fixedly connected in first support base,
First screw is connected on first driving motor, and first sliding block is linked on first screw and is arranged on
On the first straight line guide rail, by first driving motor first screw to be driven to drive the first sliding block edge
The direction movement of the first straight line guide rail, wherein the first straight line guide rail is set along the first direction, described the
Two direction linear motion components are fixedly connected on first sliding block；
The second direction linear motion component include the second support base, the second driving motor, second straight line guide rail, second
Bar and the second sliding block, second driving motor and the second straight line guide rail are respectively fixedly connected in second support base
On, second screw is connected on second driving motor, and second sliding block is linked on second screw and sets
It puts on the second straight line guide rail, drives described second to slide to drive second screw by second driving motor
Block is moved along the direction of the second straight line guide rail, wherein the second straight line guide rail is set along the second direction, institute
Flexible arm component is stated to be fixedly connected on second sliding block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711436046.8A CN108098744A (en) | 2017-12-26 | 2017-12-26 | A kind of coordinate type mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711436046.8A CN108098744A (en) | 2017-12-26 | 2017-12-26 | A kind of coordinate type mechanical arm |
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| CN108098744A true CN108098744A (en) | 2018-06-01 |
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| CN201711436046.8A Pending CN108098744A (en) | 2017-12-26 | 2017-12-26 | A kind of coordinate type mechanical arm |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818521A (en) * | 2018-06-11 | 2018-11-16 | 南京航空航天大学 | A kind of flexible robot system towards the detection of underwater narrow space |
| CN108908318A (en) * | 2018-07-13 | 2018-11-30 | 哈尔滨工业大学（深圳） | A kind of small-sized super redundancy flexible mechanical arm |
| CN112008706A (en) * | 2020-08-31 | 2020-12-01 | 哈尔滨工业大学（深圳） | Lifting type rope-driven flexible charging robot |
| CN113305827A (en) * | 2021-06-21 | 2021-08-27 | 西南科技大学 | Line-driven flexible mechanical arm suitable for underwater operation |
| CN114905498A (en) * | 2022-05-27 | 2022-08-16 | 上海交通大学 | Become super redundant robot arm body in joint |
| WO2023065659A1 (en) * | 2021-10-19 | 2023-04-27 | 中国民航大学 | Seven-degree-of-freedom flexible mechanical arm based on offset cross shaft hinging |
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| CN108908318A (en) * | 2018-07-13 | 2018-11-30 | 哈尔滨工业大学（深圳） | A kind of small-sized super redundancy flexible mechanical arm |
| CN112008706A (en) * | 2020-08-31 | 2020-12-01 | 哈尔滨工业大学（深圳） | Lifting type rope-driven flexible charging robot |
| CN112008706B (en) * | 2020-08-31 | 2022-02-11 | 哈尔滨工业大学（深圳） | Lifting type rope-driven flexible charging robot |
| CN113305827A (en) * | 2021-06-21 | 2021-08-27 | 西南科技大学 | Line-driven flexible mechanical arm suitable for underwater operation |
| CN113305827B (en) * | 2021-06-21 | 2021-11-30 | 西南科技大学 | Line-driven flexible mechanical arm suitable for underwater operation |
| WO2023065659A1 (en) * | 2021-10-19 | 2023-04-27 | 中国民航大学 | Seven-degree-of-freedom flexible mechanical arm based on offset cross shaft hinging |
| CN114905498A (en) * | 2022-05-27 | 2022-08-16 | 上海交通大学 | Become super redundant robot arm body in joint |
| CN114905498B (en) * | 2022-05-27 | 2024-04-30 | 上海交通大学 | Variable-joint super-redundancy robot arm body |
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