CN108247622A - A kind of modularized joint and seven freedom modularization rope drive mechanical arm - Google Patents
A kind of modularized joint and seven freedom modularization rope drive mechanical arm Download PDFInfo
- Publication number
- CN108247622A CN108247622A CN201711492553.3A CN201711492553A CN108247622A CN 108247622 A CN108247622 A CN 108247622A CN 201711492553 A CN201711492553 A CN 201711492553A CN 108247622 A CN108247622 A CN 108247622A
- Authority
- CN
- China
- Prior art keywords
- bearing
- rope
- modularized joint
- modularized
- fixedly connected
- 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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- 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
- B25J9/10—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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of modularized joints and seven freedom modularization rope to drive mechanical arm, its modularized joint includes driving motor, driving motor drives deceleration mechanism, the output shaft of the deceleration mechanism passes through the interstitial hole of rope sheave to drive the rope sheave rotation, also drives the bearing inner race of the clutch shaft bearing set above the rope sheave；It sets second bearing parallel with the axis of the clutch shaft bearing, is fixedly connected between the bearing outer ring mounting flange of first, second bearing, outer race shaft bearing is fixedly connected；Driving rope is wound between the rope sheave and the inner-ring bearing seat of the second bearing.In the modularized joint of the present invention, driving motor drives rope sheave and clutch shaft bearing to move, and the driving rope on rope sheave drives second bearing rotation, simple and reasonable, and is scheduled on load-carrying ability with one；Modularized joint by certain way is laid out, connection, forms seven freedom modularization rope and drive mechanical arm, quality is small, and precision is high, and the security performance during rotation of elevating mechanism arm.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of modularized joints and seven freedom modularization rope to drive
Mechanical arm.
Background technology
With the development of robot technology, the mechanical structure of conventional industrial robot is substantially stationary, and joint is general
It is made of motor, harmonic speed reducer or RV retarders, bearing etc., mechanical structure is complex, especially to crucial zero therein
Part quality requirement is high；Meanwhile the volume of the mechanical arm of conventional industrial robot is big, quality is big, dangerous high, in human-computer interaction
There are security risks.
The record of mechanical arm is driven about rope in the prior art, rope drives machinery of the mechanical arm compared to conventional industrial robot
Arm, quality and volume substantially reduce, but flexible deformation or plastic deformation easily occur in stress for the rope driven in mechanical arm of restricting,
The overall stiffness for making mechanical arm is insufficient, and bearing capacity is limited；And there is movement coupling, control between the joint of part rope drive mechanical arm
The problems such as precision processed is not high, assembly technology is complicated.
Invention content
The technical problems to be solved by the invention are that providing a kind of modularized joint and seven freedom modularization rope drives
Mechanical arm, using the device of the invention, can make modularized joint and rope drive mechanical arm convenience and safety, it is simple and reasonable,
Kinematic accuracy is high, and with certain load-carrying ability.
Technical solution is used by the present invention solves above-mentioned technical problem：
A kind of modularized joint, including：Driving motor, the driving motor drive deceleration mechanism, the deceleration mechanism
Output shaft passes through the interstitial hole of rope sheave to drive the rope sheave rotation, also extends through the bearing of the clutch shaft bearing set above the rope sheave
Inner ring；Setting second bearing by the clutch shaft bearing, the clutch shaft bearing is parallel with the axis of the second bearing, and described the
First, it is fixedly connected between the bearing outer ring mounting flange of second bearing, the outer race shaft bearing of first, second bearing, which is fixed, to be connected
It connects；Driving rope is wound between the rope sheave and the inner-ring bearing seat of the second bearing.
In a preferred embodiment, two driving relatively described rope sheaves of rope are symmetrical arranged, described in every
Rope is driven after the circle of rope sheave Shangrao one half, across the side wall of the outer race shaft bearing of the second bearing on the aperture that opens up,
In the cabling channel of the inner-ring bearing seat of the second bearing after coiling half-turn, it is fixed on the inner-ring bearing seat of the second bearing
In cabling channel.
In a preferred embodiment, the clutch shaft bearing is deep groove ball bearing.
In a preferred embodiment, the second bearing is crossed roller bearing, and the crossed roller bearing
Front setting inner ring mounting flange, the inner ring mounting flange is fixedly connected with the inner ring of the crossed roller bearing；It is described
The back side setting cover board of crossed roller bearing.
In a preferred embodiment, further include absolute type encoder, the absolute type encoder include magnet ring with
Reading head, the reading head are fixedly mounted in the fixed outer race shaft bearing of the second bearing, and the magnet ring is mounted on institute
It states on the inner-ring bearing seat of the rotation of second bearing；The absolute type encoder reads the rotational angle of the second bearing, and
Rotational angle information is fed back to control panel.
In a preferred embodiment, rope tension mechanism is further included, the rope tension mechanism includes hollow spiral shell
Column and adjusting nut, the adjusting nut upper and lower ends are fixedly connected respectively with the upper bottom surface of the rope sheave, the adjusting spiral shell
Threaded hole is opened at female middle part, and the hollow stud is made to be spirally connected with the adjusting nut, and the hollow stud axially along the rope
The tangential direction of wheel；The driving rope passes through the inside of the hollow stud, and knots admittedly in one end of the hollow stud
It is fixed.
A kind of seven freedom modularization rope drives mechanical arm, including：Shoulder, ancon and wrist, the shoulder and the elbow
First linking arm between portion is set, the second linking arm is set between the ancon and the wrist, further includes pedestal and right
It is required that the modularized joint described in any one of 1 to 6；
The modularized joint is distributed with three in the shoulder, for first, second, third modularized joint, the first mould
The outer race shaft bearing of the second bearing in block joint is fixedly connected with the pedestal；Outside the second bearing of second modularized joint
Circle bearing block is fixedly connected with the inner ring mounting flange of the second bearing of first modularized joint；Third modularized joint
The outer race shaft bearing of second bearing is fixedly connected with the inner ring mounting flange of the second bearing of second modularized joint, simultaneously
The inner ring mounting flange of the third modularized joint is fixedly connected with first linking arm；
The modularized joint is distributed with one in the ancon, is the 4th modularized joint, and the 4th modularization is closed
Section, the inner ring mounting flange of second bearing are fixedly connected with first linking arm, and cover board is consolidated with second linking arm
Fixed connection；
There are three the modularized joint is distributed in the wrist, for the five, the six, the 7th modularized joints, the 5th mould
The cover board of the second bearing in block joint is fixedly connected with second linking arm, outside the second bearing of the 6th modularized joint
Circle bearing block is fixedly connected with the inner ring mounting flange of the second bearing of the 5th modularized joint；7th modularized joint
The outer race shaft bearing of second bearing is fixedly connected with the inner ring mounting flange of the second bearing of the 6th modularized joint.
In a preferred embodiment, the axis of the second bearing in three modularized joints of the shoulder
It is mutually perpendicular between any two；The axis of the second bearing in three modularized joints of the wrist mutually hangs down between any two
Directly.
In a preferred embodiment, by the modularized joint of the wrist and the ancon driving motor,
Deceleration mechanism and clutch shaft bearing postposition are installed on the pedestal.
In a preferred embodiment, first linking arm, the second linking arm are equipped with cabling card slot, the wrist
Portion is distributed, and institute with the driving rope in the ancon by the cabling card slot along first linking arm, the second linking arm
It states driving rope by hose to be contained, carries out mobile decoupling.
The beneficial effects of the invention are as follows：
In the modularized joint of the present invention, driving motor drives rope sheave and clutch shaft bearing to move, the driving rope on rope sheave
Strap moves second bearing rotation, simple and reasonable, and is scheduled on load-carrying ability with one；Modularized joint is pressed into certain way
It is laid out, connection, forms seven freedom modularization rope and drive mechanical arm, quality is small, and precision is high, and the safety during rotation of elevating mechanism arm
Performance.
Description of the drawings
The present invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the sectional view of one embodiment of the modularized joint of the present invention；
Fig. 2 is the composition structure diagram of Fig. 1 embodiments；
Fig. 3 is the structure diagram that the seven freedom modularization rope of the present invention drives one embodiment of mechanical arm.
Specific embodiment
The technique effect of the design of the present invention, concrete structure and generation is carried out below with reference to embodiment and attached drawing clear
Chu, complete description, to be completely understood by the purpose of the present invention, scheme and effect.It should be noted that in situation about not conflicting
Under, the feature in embodiment and embodiment in the application can be combined with each other.
It should be noted that unless otherwise specified, when a certain feature is referred to as " fixing ", " connection " is in another feature,
It can directly fix, be connected in another feature, can also fix, be connected in another feature indirectly.In addition, this
The descriptions such as the upper and lower, left and right used in invention are only to be closed relative to the mutual alignment of each component part of the present invention in attached drawing
For system.
In addition, unless otherwise defined, the technology of all of technologies and scientific terms used here by the article and the art
The normally understood meaning of personnel is identical.Term used in the description is intended merely to description specific embodiment herein, without
It is to limit the present invention.Term as used herein " and/or " including the arbitrary of one or more relevant Listed Items
Combination.
Fig. 1 is the composition structure diagram of one embodiment of the modularized joint of the present invention, with reference to Fig. 1-2, the module
Change joint to include：
Driving motor 1, deceleration mechanism 2, rope sheave 3, clutch shaft bearing 4, second bearing 5 drive rope 6, absolute type encoder
7, rope tension mechanism 8 and hose 9.
In the present embodiment, as shown in Figure 1, driving motor 1 drives deceleration mechanism 2, the output shaft of deceleration mechanism 2 passes through rope sheave
3 interstitial hole drives rope sheave 3 to rotate, and also extends through the bearing inner race 401 of clutch shaft bearing that 3 top of rope sheave is set and (does not show in figure
Go out)；4 side setting second bearing 5 of clutch shaft bearing, clutch shaft bearing 4 is parallel with the axis of second bearing 5, and first, second bearing
It is fixedly connected between bearing outer ring mounting flange 402, the outer race shaft bearing 403 of first, second bearing is fixedly connected；Rope sheave 3 with
Driving rope 6 is wound between the inner-ring bearing seat 501 of second bearing.Rope drives low gap and low friction.Herein, preferably
Ground, driving motor 1 select DC brushless motor, and deceleration mechanism 2 selects commutating tooth roller box.
Herein, it is preferable that driving rope 6 has two, and opposite rope sheave 3 is symmetrical arranged, and every driving rope 6 is in rope sheave 3
After the circle of Shangrao one half, across the side wall of the outer race shaft bearing 403 of second bearing on the aperture that opens up, in the inner ring axis of second bearing
In the cabling channel of bearing 501 after coiling half-turn, it is fixed in the cabling channel of inner-ring bearing seat 501 of second bearing.Two symmetrical
The driving rope of setting is respectively used to bear pulling force when joint is rotated both clockwise and counterclockwise.The outer race shaft bearing of second bearing
Aperture is opened up on 403 side wall to be conducive to drive 6 cabling of rope.
Herein, it is preferable that clutch shaft bearing 4 is deep groove ball bearing, can increase what the output shaft of driving motor 1 can bear
The effect of torque, so as to improve the bearing capacity in joint.
Herein, it is preferable that second bearing 5 is crossed roller bearing, and the front of crossed roller bearing 5 sets inner ring fixation
Orchid 503, inner ring mounting flange 503 is fixedly connected with the inner ring 504 of crossed roller bearing；The back side setting lid of crossed roller bearing
Plate 505.The inner and outer ring of crossed roller bearing can detach, and rigidity is also higher, improve the rigidity and load-carrying ability of modularized joint.
In the present embodiment, it is preferable that absolute type encoder 7 is further included, absolute type encoder 7 includes magnet ring and reading head,
Reading head is fixedly mounted in the outer race shaft bearing 403 of fixed second bearing, and magnet ring is mounted on the interior of the second bearing of rotation
It encloses on bearing block 501；Absolute type encoder 7 measures the actual rotation angle of second bearing 5, and feeds back rotational angle information to control
Making sheet forms the closed-loop control with feedback, ensures the kinematic accuracy in joint.
In the present embodiment, it is preferable that further include rope tension mechanism 8, rope tension mechanism 8 include hollow stud 801 with
Adjusting nut 802,802 upper and lower ends of adjusting nut are fixedly connected respectively with the upper bottom surface of rope sheave 3,802 middle part of adjusting nut
Threaded hole is opened, hollow stud 801 is made to be spirally connected with adjusting nut 802, and the tangential direction axially along rope sheave 3 of hollow stud 801；
Rope 6 is driven to pass through the inside of hollow stud 801, and knots and fixes in one end of hollow stud 801.It is hollow by rotating rotation
Stud 801 makes it generate micro movement in an axial direction in adjusting nut 802, has the function that adjust driving 6 tensile force of rope,
Driving rope 6 is made to remain tensioning state.
Seven freedom modularization rope in the present invention drives mechanical arm, including：Shoulder 10, ancon 20 and wrist 30, shoulder
First linking arm 40 between 10 and ancon 20 is set, the second linking arm 50 between ancon 20 and wrist 30 is set, further includes pedestal
60 and above-mentioned modularized joint；
Shoulder 10 is distributed with first, second, third modularized joint, the second bearing of the first modularized joint 101 it is outer
Circle bearing block is fixedly connected with pedestal 60；The outer race shaft bearing of the second bearing of second modularized joint 102 and the first modularization
The inner ring mounting flange of the second bearing in joint 101 is fixedly connected；The race bearing of the second bearing of third modularized joint 103
Seat is fixedly connected with the inner ring mounting flange of the second bearing of the second modularized joint 102, while third modularized joint 103
Inner ring mounting flange is fixedly connected with the first linking arm 40.
The distribution of ancon 20 there are one the 4th modularized joint 201, consolidate by the inner ring of the second bearing of the 4th modularized joint 201
Determine flange to be fixedly connected with the first linking arm 40, the cover board of the second bearing of the 4th modularized joint 201 and the second linking arm 50
It is fixedly connected.
The five, the six, the 7th modularized joints, the lid of the second bearing of the 5th modularized joint 301 is distributed in wrist 30
Plate is fixedly connected with the second linking arm 50, outer race shaft bearing and the 5th modularization of the second bearing of the 6th modularized joint 302
The inner ring mounting flange of the second bearing in joint 301 is fixedly connected；The race bearing of the second bearing of 7th modularized joint 303
Seat is fixedly connected with the inner ring mounting flange of the second bearing of the 6th modularized joint 302.
Mechanical arm is driven in this way, build and to form seven freedom modularization rope.Similar to human hand, 7 degree of freedom keeps away needs
Barrier and the internal singularity of avoidance are minimum number of degrees of freedom,s.
Herein, it is preferable that the material selection carbon enhancement engineering plastics of the first linking arm 40 and the second linking arm 50, and first
The inside of 40 and second linking arm 50 of linking arm uses netted truss structure, in the case where ensureing armed lever strength and stiffness,
Mitigate the quality of armed lever as far as possible.
Herein, it is preferable that the axis of the second bearing in three modularized joints of shoulder 10 is mutually perpendicular between any two；
The axis of second bearing in three modularized joints of wrist 30 is mutually perpendicular between any two.Three joints each serve as and bow
The effect faced upward, yaw and overturn.
In the present embodiment, it is preferable that by the modularized joint of wrist 30 and ancon 20 driving motor 1, deceleration mechanism
2nd, rope sheave 3 and 4 postposition of clutch shaft bearing are installed on pedestal 60.In this way, further mitigate the quality of mechanical arm front end, so as to subtract
The rotary inertia of gadget arm, and then ensure the safety of mechanical arm in high speed motions, and precision when improving movement
The property indices such as property, stability.
In the present embodiment, it is preferable that the first linking arm 40, the second linking arm 50 (do not show equipped with cabling card slot in figure
Go out), wrist 30 is distributed with the driving rope 6 in ancon 20 by cabling card slot along the first linking arm 40, the second linking arm 50, this
When to drive rope 6 cabling be laid out management, prevent driving rope 6 influence mechanical arm rotation；Further, driving rope
Rope 6 is contained by hose 9, is prevented driving rope 6 excessive and is generated movement coupling, influences the normal rotation in each joint of mechanical arm.
In the present invention, the joint of modularized design can flexibly change mechanical arm according to the demand of different application scene
Amount of articulation and the configuration mode in each joint.
It is that the preferable of the present invention is implemented to be illustrated, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations under the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (10)
1. a kind of modularized joint, which is characterized in that including：Driving motor, the driving motor drives deceleration mechanism, described to subtract
The output shaft of fast mechanism passes through the interstitial hole of rope sheave to drive the rope sheave rotation, also drives the first axle set above the rope sheave
The bearing inner race held；Setting second bearing by the clutch shaft bearing, the clutch shaft bearing is parallel with the axis of the second bearing,
And it is fixedly connected between the bearing outer ring mounting flange of first, second bearing, the race bearing of first, second bearing
Seat is fixedly connected；Driving rope is wound between the rope sheave and the inner-ring bearing seat of the second bearing.
2. modularized joint according to claim 1, it is characterised in that：Two driving relatively described rope sheaves pair of rope
Claim setting, the every driving rope is after the circle of rope sheave Shangrao one half, across the side wall of the outer race shaft bearing of the second bearing
On the aperture that opens up, in the cabling channel of the inner-ring bearing seat of the second bearing after coiling half-turn, be fixed on second axis
In the cabling channel of inner-ring bearing seat held.
3. modularized joint according to claim 1, it is characterised in that：The clutch shaft bearing is deep groove ball bearing.
4. modularized joint according to claim 1, it is characterised in that：The second bearing is crossed roller bearing, and
The front setting inner ring mounting flange of the crossed roller bearing, the inner ring mounting flange are interior with the crossed roller bearing
Circle is fixedly connected；The back side setting cover board of the crossed roller bearing.
5. modularized joint according to any one of claim 1 to 4, it is characterised in that：Further include absolute type encoder,
The absolute type encoder includes magnet ring and reading head, and the reading head is fixedly mounted on the fixed outer ring of the second bearing
On bearing block, the magnet ring is mounted on the inner-ring bearing seat of the rotation of the second bearing；The absolute type encoder is read
The rotational angle of the second bearing, and rotational angle information is fed back to control panel.
6. modularized joint according to any one of claim 1 to 4, it is characterised in that：Rope tension mechanism is further included,
The rope tension mechanism includes hollow stud and adjusting nut, and the adjusting nut upper and lower ends are upper with the rope sheave respectively
Bottom surface is fixedly connected, and is opened threaded hole in the middle part of the adjusting nut, the hollow stud is made to be spirally connected with the adjusting nut, and institute
State the tangential direction axially along the rope sheave of hollow stud；The inside that rope is driven to pass through the hollow stud, and
One end of the hollow stud, which knots, to be fixed.
7. a kind of seven freedom modularization rope drives mechanical arm, which is characterized in that including：Shoulder, ancon and wrist, the shoulder
First linking arm between the ancon is set, the second linking arm between the ancon and the wrist is set, further includes pedestal
And modularized joint according to any one of claims 1 to 6；
The modularized joint is distributed with three in the shoulder, for first, second, third modularized joint, the first modularization
The outer race shaft bearing of the second bearing in joint is fixedly connected with the pedestal；The outer race shaft of the second bearing of second modularized joint
Bearing is fixedly connected with the inner ring mounting flange of the second bearing of first modularized joint；The second of third modularized joint
The outer race shaft bearing of bearing is fixedly connected, while described with the inner ring mounting flange of the second bearing of second modularized joint
The inner ring mounting flange of third modularized joint is fixedly connected with first linking arm；
The modularized joint is distributed with one in the ancon, be the 4th modularized joint, the 4th modularized joint,
The inner ring mounting flange of second bearing is fixedly connected with first linking arm, and cover board is fixed with second linking arm to be connected
It connects；
There are three the modularized joint is distributed in the wrist, for the five, the six, the 7th modularized joints, the 5th modularization
The cover board of the second bearing in joint is fixedly connected with second linking arm, the outer race shaft of the second bearing of the 6th modularized joint
Bearing is fixedly connected with the inner ring mounting flange of the second bearing of the 5th modularized joint；The second of 7th modularized joint
The outer race shaft bearing of bearing is fixedly connected with the inner ring mounting flange of the second bearing of the 6th modularized joint.
8. seven freedom modularization rope according to claim 7 drives mechanical arm, it is characterised in that：Three moulds of the shoulder
The axis of the second bearing in block joint is mutually perpendicular between any two；Institute in three modularized joints of the wrist
The axis for stating second bearing is mutually perpendicular between any two.
9. seven freedom modularization rope according to claim 8 drives mechanical arm, it is characterised in that：By the wrist with it is described
Driving motor, deceleration mechanism and clutch shaft bearing postposition in the modularized joint of ancon are installed on the pedestal.
10. seven freedom modularization rope according to claim 9 drives mechanical arm, it is characterised in that：First linking arm,
Second linking arm is equipped with cabling card slot, and the wrist passes through with the driving rope in the ancon described in cabling card slot edge
First linking arm, the distribution of the second linking arm, and the driving rope is contained by hose, carries out mobile decoupling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711492553.3A CN108247622B (en) | 2017-12-30 | 2017-12-30 | Seven-degree-of-freedom modular rope-driven mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711492553.3A CN108247622B (en) | 2017-12-30 | 2017-12-30 | Seven-degree-of-freedom modular rope-driven mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108247622A true CN108247622A (en) | 2018-07-06 |
| CN108247622B CN108247622B (en) | 2021-03-19 |
Family
ID=62725646
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711492553.3A Active CN108247622B (en) | 2017-12-30 | 2017-12-30 | Seven-degree-of-freedom modular rope-driven mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108247622B (en) |
Cited By (6)
| 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 |
| CN111037533A (en) * | 2019-12-26 | 2020-04-21 | 沈阳新松机器人自动化股份有限公司 | Mobile super-redundant composite robot |
| CN112476477A (en) * | 2020-11-12 | 2021-03-12 | 中国科学技术大学 | Rope-driven three-degree-of-freedom offset joint |
| CN113188574A (en) * | 2021-05-25 | 2021-07-30 | 上海电气智能康复医疗科技有限公司 | Split type coding assembly, speed reducer module and installation method |
| CN114406999A (en) * | 2022-02-11 | 2022-04-29 | 吉林大学 | Rope-driven coaxial artificial muscle actuator and control method thereof |
| CN116652920A (en) * | 2023-08-01 | 2023-08-29 | 埃斯顿(南京)医疗科技有限公司 | Rope driving robot, rope differential mechanism and rope driving robot steel rope tensioning detection method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5428713A (en) * | 1991-11-25 | 1995-06-27 | Kabushiki Kaisha Toshiba | Compound module type manipulator apparatus |
| CN101518491A (en) * | 2009-04-03 | 2009-09-02 | 北京航空航天大学 | Finger motor function rehabilitation robot |
| CN105479485A (en) * | 2016-01-28 | 2016-04-13 | 哈尔滨工业大学 | Serial flexible driving joint having steel wire transmission function |
| CN205889243U (en) * | 2016-05-19 | 2017-01-18 | 北京自动化控制设备研究所 | People's arm is imitated to modularization |
| CN106737629A (en) * | 2017-02-28 | 2017-05-31 | 深圳源创智能机器人有限公司 | A kind of flexible arm linkage robot driven based on rope |
-
2017
- 2017-12-30 CN CN201711492553.3A patent/CN108247622B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5428713A (en) * | 1991-11-25 | 1995-06-27 | Kabushiki Kaisha Toshiba | Compound module type manipulator apparatus |
| CN101518491A (en) * | 2009-04-03 | 2009-09-02 | 北京航空航天大学 | Finger motor function rehabilitation robot |
| CN105479485A (en) * | 2016-01-28 | 2016-04-13 | 哈尔滨工业大学 | Serial flexible driving joint having steel wire transmission function |
| CN205889243U (en) * | 2016-05-19 | 2017-01-18 | 北京自动化控制设备研究所 | People's arm is imitated to modularization |
| CN106737629A (en) * | 2017-02-28 | 2017-05-31 | 深圳源创智能机器人有限公司 | A kind of flexible arm linkage robot driven based on rope |
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 |
| CN111037533A (en) * | 2019-12-26 | 2020-04-21 | 沈阳新松机器人自动化股份有限公司 | Mobile super-redundant composite robot |
| CN112476477A (en) * | 2020-11-12 | 2021-03-12 | 中国科学技术大学 | Rope-driven three-degree-of-freedom offset joint |
| CN112476477B (en) * | 2020-11-12 | 2022-04-19 | 中国科学技术大学 | Rope-driven three-degree-of-freedom offset joint |
| CN113188574A (en) * | 2021-05-25 | 2021-07-30 | 上海电气智能康复医疗科技有限公司 | Split type coding assembly, speed reducer module and installation method |
| CN113188574B (en) * | 2021-05-25 | 2022-10-18 | 上海电气智能康复医疗科技有限公司 | Split type coding assembly, speed reducer module and installation method |
| CN114406999A (en) * | 2022-02-11 | 2022-04-29 | 吉林大学 | Rope-driven coaxial artificial muscle actuator and control method thereof |
| CN114406999B (en) * | 2022-02-11 | 2023-11-21 | 吉林大学 | Rope-driven coaxial artificial muscle actuator and control method thereof |
| CN116652920A (en) * | 2023-08-01 | 2023-08-29 | 埃斯顿(南京)医疗科技有限公司 | Rope driving robot, rope differential mechanism and rope driving robot steel rope tensioning detection method |
| CN116652920B (en) * | 2023-08-01 | 2024-02-23 | 埃斯顿(南京)医疗科技有限公司 | Rope driving robot, rope differential mechanism and rope driving robot steel rope tensioning detection method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108247622B (en) | 2021-03-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108247622A (en) | A kind of modularized joint and seven freedom modularization rope drive mechanical arm | |
| US9568074B2 (en) | Motion transmitting device with epicyclic reduction gearing, epicyclic reduction gearing and manipulating arm | |
| CN105150193B (en) | A kind of super redundancy flexible mechanical arm based on closed loop line driving | |
| CN106863313B (en) | Parallel linkage, constant velocity cardan joint and link actuation device | |
| CN102626931B (en) | Robot | |
| US5355743A (en) | Robot and robot actuator module therefor | |
| CN101863018B (en) | Three-rotational-freedom parallel mechanism driven by rope | |
| CN106826907B (en) | A kind of single-degree-of-freedom linkage flexible charging joint of robot group | |
| CN104760055A (en) | Turtle robot and flexible neck device thereof | |
| CN105014664B (en) | It is applicable to the light modularized mechanical arm of small space | |
| US11446814B2 (en) | Electromagnetic drive spherical robotic wrist with two degrees of freedom and control method therefor | |
| CN106275125A (en) | A kind of AGV dolly with obstacle crossing function | |
| CN105835050B (en) | A kind of Three Degree Of Freedom rope drives serial manipulator device | |
| CN107054455A (en) | Transfer, advance system and vehicle | |
| CN109202954A (en) | A kind of sixdegree-of-freedom simulation and service robot suitable for service robot | |
| CN209666824U (en) | Omnidirectional's running gear and omnidirectional's walking arrangement | |
| CN105216640A (en) | With the vehicle flywheel power system of monopolar D. C electromagnetic driven machine | |
| JPS60135196A (en) | Wrist mechanism of industrial robot | |
| CN105922241A (en) | Dual-face and dual-guiding-rail five-axis manipulator with counterweight | |
| CN109955284A (en) | Two turn of one shift three degrees of freedom device for force feedback | |
| CN110307296A (en) | A kind of variable rail gauge steel wheel driving device | |
| CN104476566A (en) | Three-branch and six-degree-of-freedom parallel mechanism with rope-driven joint | |
| CN202687816U (en) | Slewing mechanism for driving synchronous moving of movable arm and crane body of tower crane | |
| CN207290153U (en) | Mechanical joint structure | |
| CN205908698U (en) | A broad width feeding gear switching mechanism that is used for unlimited first draft reed quick -witted |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |