CN109304729A - A kind of folding Torque Control multi-function robot end effector and its application in parallel - Google Patents
A kind of folding Torque Control multi-function robot end effector and its application in parallel Download PDFInfo
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- CN109304729A CN109304729A CN201811393538.8A CN201811393538A CN109304729A CN 109304729 A CN109304729 A CN 109304729A CN 201811393538 A CN201811393538 A CN 201811393538A CN 109304729 A CN109304729 A CN 109304729A
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- end effector
- shaft
- encoder
- sliding
- rotary shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of folding Torque Control multi-function robot end effector and its application in parallel, the end effector include rotating part, folding part, parallelogram linkage (12), end execution unit (13)；The rotating part and folding part is driven by a set of motor respectively, it drives parallelogram linkage (12) to realize the operating angle of end execution unit (13) by rotating part, the folding of end execution unit (13) is realized by folding part drive parallelogram linkage (12).Present invention could apply to the anti-explosion mechanical arm grippers that individual soldier's portable robot system is carried.
Description
Technical field
The present invention relates to a kind of end effector of robot.
Background technique
" minimizing multi-functional battlefield job that requires special skills mechanical arm " is applied to the model project of Central Military Commission's equipment Development portion reply:
" individual soldier's Portable unmanned optimal in structure ", the multi-functional war of miniaturization developed for " the lightweight ground robot " in the project
The special mechanical arm of field job that requires special skills.
End executes system as " individual soldier's portable type ground unmanned battle platform " important important load, in fire-fighting
System, observation and search and rescue task, electric power workshop, big data computer room patrol task in play very important effect.
Summary of the invention
Technology of the invention solves the problems, such as: it is more to overcome the deficiencies of the prior art and provide a kind of parallel folding Torque Control
Function end effector of robot.
The technical solution of the invention is as follows: a kind of parallel folding Torque Control multi-function robot end effector, packet
Include rotating part, folding part, parallelogram linkage, end execution unit；The rotating part and folding part
It is driven respectively by a set of motor, the work of parallelogram linkage realization end execution unit is driven by rotating part
Make angle, the folding of parallelogram linkage realization end execution unit is driven by folding part.
Preferably, the rotating part and folding part are both placed in the shell of end effector.
Preferably, the rotating part includes rotating seat, absolute encoder, rotary shaft, rotary shaft retarder, rotary shaft
Motor, rotary/shaft encoder；
Rotary/shaft encoder is mounted on the motor side of shaft rotating motor, and the output end connection rotary shaft of shaft rotating motor is slowed down
The output end of device, rotary shaft retarder connects rotary shaft by an external gear wheel；Rotating seat cover is outside rotary shaft and fixed；Rotation
Seat is mounted on the rack by bearing and can be rotated relative to rack；One end of four groups of parallelogram linkages is installed in
On rotating seat, the other end installs end execution unit, and the output shaft of absolute encoder and rotary shaft retarder is co-axially mounted.
Preferably, the outer ring of the absolute encoder and rotary shaft retarder are mounted on an electric machine support, absolutely
The inner ring of encoder is co-axially mounted by the output shaft of bearing and rotary shaft retarder.
Preferably, rotary/shaft encoder uses incremental encoder or absolute encoder.
Preferably, one end of parallelogram linkage is pressed on rotating seat by copper sheathing, copper sheathing and rotating seat are solid
Fixed connection, there are gap between parallelogram linkage upper surface and copper sheathing, parallelogram linkage can be around copper sheathing
Rotation.
Preferably, the opening and closing part point includes sliding axle, the retarder with lead screw, flexible spindle motor, telescopic shaft coding
Device；The lead screw is self-locking lead screw；
Flexible shaft encoder is mounted on the motor side of flexible spindle motor, the output shaft connecting band lead screw of flexible spindle motor subtracts
Fast device；Feed screw nut is set on lead screw；Sliding axle is mounted in rotary shaft, and feed screw nut can push the rear end of sliding axle to transport
It is dynamic；Sliding slot is arranged in the inboard Sinks of every group of parallelogram linkage, and four groups of sliding slots are linked together by a push rod；On
It states push rod and passes through the hole slided in rotary shaft, the front end of sliding axle passes through push rod and sliding rotary shaft；Pacify the front end of sliding axle
Limiting device being filled, when for retreating, providing pulling force for sliding rotary shaft.
Preferably, the feed screw nut is fixed together by screw rod bushing and sliding axle.
It preferably, further include that line slide rail, the sliding block of line slide rail and screw rod bushing are connected, sliding rail is mounted on end effector
Shell on.
Preferably, the shaft encoder that stretches is absolute encoder or uses incremental encoder, when using incremental encoder,
The zero-bit of feed screw nut need to be determined by optoelectronic switch.
Preferably, the push rod is the cylindrical body with a radial through-hole, and threaded hole is arranged in the both ends of cylindrical body；It is sliding
The front end of moving axis passes through the through-hole and can relatively rotate, and two end caps are placed on two cunnings of parallelogram linkage outermost
It is mounted in above-mentioned threaded hole on slot end face and by screw, sliding slot transfer of the anti-throw-out lever from parallelogram linkage
Out.
Preferably, the rotary shaft is the cylindrical body with central through hole, the through-hole and sliding axle clearance fit, cylinder
The mounting hole of one end setting external gear of body, the other end is symmetrical arranged two ladder planes, solid by ladder plane and rotating seat
It is fixed.
Preferably, the end execution unit is gripper or scissors or pliers.
Preferably, the front end of the gripper gripping surface is plane, and plane rear end is arcwall face, hollow out in arcwall face.
Preferably, inclined-plane is arranged in the marginal position of the inside hollow out of arcwall face.
Preferably, the both sides up and down of the gripper are asymmetrical design, are on one side straight flange, are on one side round edge.
Preferably, camera is installed on the shell, provides effective way for remote operation or autonomous crawl.
Preferably, all conducting wires of end effector, which do not leak outside, is both placed in shell, mechanical interface and surfaces of revolution peace
Equipped with sealing ring, it to be used for waterproof.
Above-mentioned end actuator, the anti-explosion mechanical arm gripper carried applied to individual soldier's portable robot system.
The present invention has the beneficial effect that compared with prior art
1. the rotation of gripper and folding are highly integrateable in a mechanical armed lever, rotate and close with the end of traditional mechanical arm
It saves external gripper to compare, significantly reduces overall structure size, can reduce and be grabbed object the load of joint of mechanical arm is wanted
It asks.
2. using servo motor offer power, rather than the mode of common cylinder, multi-point high-precision control may be implemented,
The object for adapting to the different soft or hard degree of size different weight different surfaces can use servo motor electric current and realize power control.
3. realizing absolute position control equipped with incremental encoder and optoelectronic switch for the servo motor of gripper folding.
4. the freedom degree of gripper folding is in such a way that servo motor adds gear reduction box and self-locking lead screw, gripper is firmly grasped
When retentivity do not depend on current of electric so that crawl task is more reliable, reduce bus current and mechanical arm general power, motor and
Lead screw is matched by genuine, and precision is high, and gripper return difference hereinafter, simultaneously, in order to preferably reduce gap, reduces error in 0.1mm,
Line slide rail is housed below lead screw shaft.
5. motor side installs 512 line incremental encoders, and retarder output end is equipped with height for the servo motor of gripper rotation
Precision individual pen absolute encoder is for realizing position readings and position control.
6. respectively connection shaft is all made of bearing, copper sheathing or nonmetallic self-lubricating component come when reducing intermetallic phase to movement
Abrasion, effectively avoid structure stuck, while utmostly reducing gap, reduce end shake.
7. gripper folding uses parallelogram sturcutre, it is strong to cut bearing capacity for grasping stability, it is possible to provide bigger crawl
Power.
Detailed description of the invention
Fig. 1 is existing counter weight construction isometric side view；
Fig. 2 is variable-quality counterweight isometric side view of the invention；
Fig. 3 is gripper schematic diagram of the present invention；
Fig. 4 is one group of parallelogram linkage schematic diagram of the invention；
Fig. 5 is parallelogram bindiny mechanism of the present invention coupling part schematic diagram；
Fig. 6 is present invention sliding rotary shaft schematic diagram；
Fig. 7 is sliding axle schematic diagram of the present invention；
Fig. 8 is rotary shaft schematic diagram of the present invention；
Fig. 9 is rotating seat schematic diagram of the present invention；
Figure 10 is effect diagram after end effector of the present invention sealing；
Figure 11 is push rod schematic diagram.
Specific embodiment
With reference to the accompanying drawing and example elaborates to the present invention.
The parallel folding Torque Control multi-function robot end effector of one kind, including rotating part, folding are partially, in parallel
Quadrilateral connecting rod mechanism 12, end execution unit 13；The rotating part and folding part is carried out by a set of motor respectively
Driving is driven the operating angle of the realization end execution unit 13 of parallelogram linkage 12 by rotating part, by opening and closing part
Divide the folding for driving parallelogram linkage 12 to realize end execution unit 13.Rotating part and folding part are both placed in
In the shell of end effector.
End execution unit 13 can be gripper as shown in Figure 3, and the front end of gripper gripping surface is plane, and plane rear end is
Arcwall face, hollow out in arcwall face.Specific size is that foundation is grabbed object antitank grenade and howitzer design, and there is a larger hollow out in centre,
When being spherical structure to grab object, gripper by two sides hollow out upper and lower surface totally four contact surfaces be stuck in wherein, when
When to be grabbed object be cylindricality or similar other shapes, gripper by arc contact surface or front end Planar realization crawl.
In order to increase mantle friction, rubber material can be adhered on the inside of gripper.
Inclined-plane is arranged in the marginal position of the inside hollow out of arcwall face.The both sides up and down of gripper be asymmetrical design, on one side for
Straight flange is on one side round edge.When gripper grabs object obliquely, selection straight flange or round edge can grab according to the actual situation,
It should just be grabbed using round edge when the end of straight flange side may contact ground.
Gripper end can be convenient disassembly, as multifunctional usage, install the hand that other shapes are used for other application scenarios
The common tools such as pawl and scissors, pliers.
As shown in Figure 1, rotating part includes rotating seat 1, absolute encoder 2, rotary shaft 3, rotary shaft retarder 4, rotation
Spindle motor 5, rotary/shaft encoder 6；
Rotary/shaft encoder 6 is mounted on the motor side of shaft rotating motor 5, and the output end of shaft rotating motor 5 connects rotary shaft
The output end of retarder 4, rotary shaft retarder 4 connects rotary shaft 3 by an external gear wheel；1 set of rotating seat it is outer in rotary shaft 3 and
It is fixed；Rotating seat 1 is mounted in rack 7 by bearing and can be rotated relative to rack 7；As shown in Figure 4,5, parallelogram connects
One end of linkage 12 end execution unit 13, the output of absolute encoder 2 and rotary shaft retarder 4 are installed by structural member 14
Axis is co-axially mounted.One end of parallelogram linkage 12 is pressed on rotating seat 1 by copper sheathing, copper sheathing and rotating seat 1 are solid
Fixed connection, there are gap between 12 upper surface of parallelogram linkage and copper sheathing, parallelogram linkage 12 can be around
Copper sheathing rotation.
The outer ring of absolute encoder 2 and rotary shaft retarder 4 are mounted on an electric machine support, absolute encoder 2 it is interior
Circle is co-axially mounted by the output shaft of bearing and rotary shaft retarder 4.Rotary/shaft encoder 6 is using incremental encoder or absolutely
Encoder.
As shown in Fig. 2, opening and closing part point includes sliding axle 8, the retarder 9 with lead screw, flexible spindle motor 10, telescopic shaft coding
Device 11；
Flexible shaft encoder 11 is mounted on the output shaft connecting band silk of the motor side of flexible spindle motor 10, flexible spindle motor 10
The retarder 9 of thick stick；Feed screw nut is set on lead screw；Sliding axle 8 is mounted in rotary shaft 3, and feed screw nut can push sliding axle 8
Rear end motion；Sliding slot is arranged in the inboard Sinks of every group of parallelogram linkage, and four groups of sliding slots pass through a push rod 17
It is tied；Above-mentioned push rod 17 passes through the hole in sliding rotary shaft 16 (Fig. 6), and the front end of sliding axle 8 passes through push rod 17 and slides
Dynamic rotary shaft 16；Limiting device is installed in the front end of sliding axle 8, when for retreating, provides pulling force for sliding rotary shaft 16.Telescopic shaft
Encoder 11 is absolute encoder or uses incremental encoder, when using incremental encoder, need to be determined by optoelectronic switch
The zero-bit of feed screw nut.
As shown in figure 11, push rod 17 is the cylindrical body with a radial through-hole, and threaded hole is arranged in the both ends of cylindrical body；It is sliding
The front end of moving axis 8 (Fig. 7) passes through the through-hole and can relatively rotate, and two end caps are placed on parallelogram linkage outermost
It is mounted in above-mentioned threaded hole on two sliding slot end faces and by screw, sliding slot of the anti-throw-out lever from parallelogram linkage
In produce.
As shown in figure 8, rotary shaft 3 is the cylindrical body with central through hole, the through-hole and 8 clearance fit of sliding axle, cylinder
The mounting hole of one end setting external gear of body, the other end is symmetrical arranged two ladder planes, solid by ladder plane and rotating seat
It is fixed.
The included lead screw of retarder 9 is self-locking lead screw, and feed screw nut is fixed together by screw rod bushing 15 with sliding axle 8.
The sliding block and screw rod bushing 15 of line slide rail are connected, and sliding rail is mounted on the shell of end effector.
Camera is installed on the shell, provides effective way for remote operation or autonomous crawl.
As shown in Figure 10, all conducting wires of end effector, which do not leak outside, is both placed in shell, mechanical interface and rotation
Face is equipped with sealing ring (between rotating seat 1 and rack 7, between rotating seat 1 and rotary shaft 3, to be made between rotary shaft 3 and sliding axle 8
Dynamic sealing, camera support and shell are carried out with sealing ring, for using close between two shells and rack 7 and shell of make-up
Seal and sealant carry out static seal), it is used for waterproof, can achieve IP67.
All electric interfaces of gripper are convenient for integral demounting, can be used as integrated gripper together with mechanical interface, cooperate
The flange of Unified Form realizes the installation on different mechanical arms
The structure that the present invention generally inner shaft is mobile, outer shaft rotates.Rotating electric machine 5 drives rotary shaft retarder 4 to rotate, and leads to
External gear wheel drives rotary shaft 3 to rotate, and rotary shaft 3 is driven by the flat structure of Double Milling shown in Fig. 9 and the card master of rotating seat 1
Rotating seat rotation, parallelogram linkage 12 equally rotates under the drive of rotating seat 1, due to 17 upper and lower ends of push rod
Limit is slided and is separated among rotary shaft 16 and sliding axle 18 with wear-resistant material so that push rod 17 drives sliding rotary shaft 16 to rotate,
So that rotary motion and linear motion are able to solution occasionally, sliding axle is not involved in rotary motion.When linear motion, stretch 10 band of spindle motor
The dynamic retarder 9 with lead screw rotates, so that the nut of lead screw, screw rod bushing 15, sliding axle 8, sliding rotary shaft 16 and push rod
17 move axially forward, and push rod 17 moves in the sliding slot of parallelogram linkage 12, and then pushes quadrilateral connecting rod open
Mechanism 12 opens end execution unit 13；When end execution unit 13 needs to be closed, the spindle motor 10 that stretches drives band lead screw
Retarder 9 rotate so that the nut of lead screw, screw rod bushing 15 and sliding axle 8 can counter motion, sliding the tip of the axis pass through
Nut is retracted rotary shaft 16 is slided, and push rod 17, quadrilateral connecting rod mechanism 12 and end execution unit 13 can be completed to be closed.
Gripper realizes the parallel folding of end by parallelogram linkage, improves crawl reliability, stability
Simultaneously but also it is convenient for operation.Gripper end maximum opens 80mm, and crawl mission requirements are the antitank grenade that diameter is generally 50mm
With the howitzer of diameter 35mm, the tolerance close to 50% can effectively improve the success rate of crawl task, and reduce and entirely grab
Requirement of the extract operation to the control precision of end and entire explosive removing system and carrying platform.
Unspecified part of the present invention belongs to common sense well known to those skilled in the art.
Claims (19)
1. a kind of parallel folding Torque Control multi-function robot end effector, it is characterised in that: including rotating part, folding
Partially, parallelogram linkage (12), end execution unit (13)；The rotating part and folding part passes through respectively
A set of motor is driven, and the work of parallelogram linkage (12) realization end execution unit (13) is driven by rotating part
Make angle, the folding of parallelogram linkage (12) realization end execution unit (13) is driven by folding part.
2. end effector according to claim 1, it is characterised in that: the rotating part and folding part is placed
In the shell of end effector.
3. end effector according to claim 1, it is characterised in that: the rotating part include rotating seat (1), absolutely
To encoder (2), rotary shaft (3), rotary shaft retarder (4), shaft rotating motor (5), rotary/shaft encoder (6)；
Rotary/shaft encoder (6) is mounted on the motor side of shaft rotating motor (5), and the output end of shaft rotating motor (5) connects rotation
The output end of axis retarder (4), rotary shaft retarder passes through external gear wheel connection rotary shaft (3)；Rotating seat (1), which covers, to be rotated
Axis (3) is outside and fixed；Rotating seat (1) is mounted on rack (7) by bearing and can be rotated relative to rack (7)；Four groups parallel
One end of quadrilateral connecting rod mechanism (12) is installed on rotating seat (1), and the other end installs end execution unit (13), is absolutely compiled
Code device (2) and the output shaft of rotary shaft retarder (4) are co-axially mounted.
4. end effector according to claim 3, it is characterised in that: the outer ring of the absolute encoder (2) and rotation
Shaft retarder (4) is mounted on an electric machine support, and the inner ring of absolute encoder (2) passes through bearing and rotary shaft retarder
(4) output shaft is co-axially mounted.
5. end effector according to claim 3, it is characterised in that: rotary/shaft encoder (6) uses incremental encoder
Or absolute encoder.
6. end effector according to claim 3, it is characterised in that: by copper sheathing by parallelogram linkage
(12) one end is pressed on rotating seat (1), and copper sheathing is fixedly connected with rotating seat (1), parallelogram linkage (12) upper end
There are gap between face and copper sheathing, parallelogram linkage (12) can be rotated around copper sheathing.
7. end effector according to claim 1 or 2, it is characterised in that: the opening and closing part point includes sliding axle
(8), the retarder with lead screw (9), flexible spindle motor (10), flexible shaft encoder (11)；The lead screw is self-locking lead screw；
Flexible shaft encoder (11) are mounted on the motor side of flexible spindle motor (10), the output shaft connecting band of flexible spindle motor (10)
The retarder (9) of lead screw；Feed screw nut is set on lead screw；Sliding axle (8) is mounted in rotary shaft (3), and feed screw nut can push away
The rear end motion of dynamic sliding axle (8)；Sliding slot is arranged in the inboard Sinks of every group of parallelogram linkage, and four groups of sliding slots pass through one
A push rod (17) links together；Above-mentioned push rod (17) passes through the hole in sliding rotary shaft (16), and the front end of sliding axle (8) passes through
Push rod (17) and sliding rotary shaft (16)；Limiting device is installed in the front end of sliding axle (8), when for retreating, for sliding rotation
Axis (16) provides pulling force.
8. end effector according to claim 7, it is characterised in that: the feed screw nut by screw rod bushing (15) with
Sliding axle (8) is fixed together.
9. end effector according to claim 8, it is characterised in that: further include line slide rail (18), line slide rail
Sliding block and screw rod bushing (15) are connected, and sliding rail is mounted on the shell of end effector.
10. end effector according to claim 7, it is characterised in that: flexible shaft encoder (11) are absolute encoder
Or incremental encoder is used, when using incremental encoder, the zero-bit of feed screw nut need to be determined by optoelectronic switch.
11. end effector according to claim 7, it is characterised in that: the push rod (17) is with a radial direction
Threaded hole is arranged in the both ends of the cylindrical body of through-hole, cylindrical body；The front end of sliding axle (8) passes through the through-hole and can relatively rotate, two
A end cap is placed on two sliding slot end faces of parallelogram linkage outermost and is mounted on above-mentioned threaded hole by screw
Interior, anti-throw-out lever is produced from the sliding slot of parallelogram linkage.
12. end effector according to claim 7, it is characterised in that: the rotary shaft (3) is with central through hole
Cylindrical body, the through-hole and sliding axle (8) clearance fit, the mounting hole of one end setting external gear of cylindrical body, the other end is symmetrical
Two ladder planes are set, are fixed by ladder plane with rotating seat.
13. end effector according to claim 1, it is characterised in that: the end execution unit (13) is gripper
Either scissors or pliers.
14. end effector according to claim 13, it is characterised in that: the front end of the gripper gripping surface is flat
Face, plane rear end are arcwall face, hollow out in arcwall face.
15. end effector according to claim 13, it is characterised in that: the margin location of the inside hollow out of arcwall face installs
Set inclined-plane.
16. end effector described in 3 or 14 according to claim 1, it is characterised in that: the both sides up and down of the gripper are not
Symmetric design is on one side straight flange, is on one side round edge.
17. end effector according to claim 2, it is characterised in that: camera is installed on the shell, for remote operation or
Person, which independently grabs, provides effective way.
18. end effector according to claim 2, it is characterised in that: all conducting wires of end effector do not leak outside
It is both placed in shell, mechanical interface and the surfaces of revolution are equipped with sealing ring, are used for waterproof.
19. end effector described in one of -18 according to claim 1 is carried applied to individual soldier's portable robot system
Anti-explosion mechanical arm gripper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811393538.8A CN109304729B (en) | 2018-11-21 | 2018-11-21 | Parallel opening and closing moment control multifunctional robot end effector and application thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811393538.8A CN109304729B (en) | 2018-11-21 | 2018-11-21 | Parallel opening and closing moment control multifunctional robot end effector and application thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109304729A true CN109304729A (en) | 2019-02-05 |
| CN109304729B CN109304729B (en) | 2022-07-29 |
Family
ID=65222232
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811393538.8A Active CN109304729B (en) | 2018-11-21 | 2018-11-21 | Parallel opening and closing moment control multifunctional robot end effector and application thereof |
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| Country | Link |
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| CN (1) | CN109304729B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113815007A (en) * | 2021-09-29 | 2021-12-21 | 深圳市大肯科技有限公司 | Rotary electric claw and automatic cover opening mechanism |
| CN114434434A (en) * | 2020-11-02 | 2022-05-06 | 北京配天技术有限公司 | Mechanical arm |
| CN114571432A (en) * | 2020-11-30 | 2022-06-03 | 沈阳新松机器人自动化股份有限公司 | Movable type flexible operation mechanical arm |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102490174A (en) * | 2011-11-22 | 2012-06-13 | 中国人民解放军总装备部军械技术研究所 | Mechanical arm with frame-type extension arm |
| CN103640027A (en) * | 2013-05-20 | 2014-03-19 | 上海交通大学 | Space bearing type modular mechanical arm joint and combination thereof |
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2018
- 2018-11-21 CN CN201811393538.8A patent/CN109304729B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102490174A (en) * | 2011-11-22 | 2012-06-13 | 中国人民解放军总装备部军械技术研究所 | Mechanical arm with frame-type extension arm |
| CN103640027A (en) * | 2013-05-20 | 2014-03-19 | 上海交通大学 | Space bearing type modular mechanical arm joint and combination thereof |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114434434A (en) * | 2020-11-02 | 2022-05-06 | 北京配天技术有限公司 | Mechanical arm |
| CN114434434B (en) * | 2020-11-02 | 2024-02-09 | 北京配天技术有限公司 | Mechanical arm |
| CN114571432A (en) * | 2020-11-30 | 2022-06-03 | 沈阳新松机器人自动化股份有限公司 | Movable type flexible operation mechanical arm |
| CN113815007A (en) * | 2021-09-29 | 2021-12-21 | 深圳市大肯科技有限公司 | Rotary electric claw and automatic cover opening mechanism |
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| Publication number | Publication date |
|---|---|
| CN109304729B (en) | 2022-07-29 |
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