CN206066422U - Six-degree-of-freedom humanoid mechanical arm and robot based on serial-parallel mirror - Google Patents
Six-degree-of-freedom humanoid mechanical arm and robot based on serial-parallel mirror Download PDFInfo
- Publication number
- CN206066422U CN206066422U CN201620958578.2U CN201620958578U CN206066422U CN 206066422 U CN206066422 U CN 206066422U CN 201620958578 U CN201620958578 U CN 201620958578U CN 206066422 U CN206066422 U CN 206066422U
- Authority
- CN
- China
- Prior art keywords
- gear
- motor
- shaft
- decelerator
- bearing
- 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.)
- Withdrawn - After Issue
Links
Landscapes
- Manipulator (AREA)
- Gear Transmission (AREA)
Abstract
This utility model embodiment discloses a kind of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror and robot.Should be included based on the six-degree-of-freedom humanoid mechanical arm of serial-parallel mirror：Shoulder joint, elbow joint, carpal joint, large arm shell and forearm shell；The large arm shell both sides the first motor connecting base fastening respectively with the second output connecting plate and elbow joint of shoulder joint, the forearm shell both sides are fastened with the 4th of elbow joint the output connecting plate and carpal second motor connecting base respectively.This utility model embodiment by the structure using serial-parallel mirror, and using different actuators, while reducing motor and bearing, to increase to the control of shoulder joint, the degree of accuracy to improve motion.
Description
Technical field
This utility model embodiment is related to apery mechanical arm technical field, and in particular to it is a kind of based on serial-parallel mirror six from
By degree apery mechanical arm and robot.
Background technology
Mechanical arm can complete many work for the mankind, or assist human work.Especially work in the presence of a harsh environment,
Mechanical arm has bigger advantage compared with the mankind.Designed using the apery mechanical arm with robot arm Homogeneous, can control well and advise
Draw its motion.
The articulation structure design of existing mechanical arm at present mainly has series connection and two class in parallel.Tie for series connection joint is adopted
The scheme of structure design, as each degree of freedom is all driven by separate electrical motor so that motor burden is big, affects load；And for employing
The scheme of articulation structure design in parallel, each of which degree of freedom have multiple motor coupling drivings, share motor burden, with certain
Load capacity, but its shoulder joints control difficulty is larger, and bionical degree is relatively low.
Utility model content
One purpose of this utility model embodiment is to solve the bionical low degree of existing apery mechanical arm, loads energy
The problem of power difference.
This utility model embodiment proposes a kind of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror, including：Shoulder joint
Section, elbow joint, carpal joint, large arm shell and forearm shell.
The shoulder joint includes：First motor, first planet decelerator, the first rotary encoder, the first motor contact,
First axle sleeve, clutch shaft bearing lid, the first shaft joint, the first input shaft, first bevel gear, second bevel gear, the first output shaft,
One deep groove ball bearing, the first thrust ball bearing, the first angular contact bearing, second bearing lid, two first output connecting plates, second
Output connecting plate, two the first hubcap pieces, and it is the second motor, the second planetary reduction gear, the second rotary encoder, first electric
Machine connecting plate, the second shaft joint, the first travelling gear, two the second deep groove ball bearings, the second travelling gear, two the 3rd zanjons
Ball bearing, the first sleeve, second sleeve, the 4th deep groove ball bearing, the second angular contact bearing, the first straight-tooth wheel decelerator protecgulum,
First straight-tooth wheel decelerator body, the second straight-tooth wheel decelerator bonnet, the first connecting plate, two the second connecting plates, the first housing, two
Individual first magnetic coder fixed block, two the first L-type trunk connecting plates；
First motor, the first planet decelerator and first rotary encoder are sequentially connected with, and lead to successively
Cross the first motor contact, the first axle sleeve, clutch shaft bearing lid to fix with the first straight-tooth wheel decelerator protecgulum；First planet decelerator
Output shaft be connected with the first input shaft by the first shaft joint；First input shaft is connected with first bevel gear, first bevel gear
Engage with second bevel gear；Second bevel gear, the first deep groove ball bearing, the first thrust ball bearing and the first angular contact bearing
It is each attached on the first output shaft, described two first output connecting plates are separately mounted to the two ends of first output shaft, and
Described two first output connecting plates are fixed respectively by two the first hubcap pieces；Second output connecting plate and described two the
One output connecting plate is fixedly connected；Second motor, the second planetary reduction gear, the second rotary encoder are sequentially connected with, and by the
One connecting plate for electric motor is fixed with the first straight-tooth wheel decelerator protecgulum；The output shaft of the second planetary reduction gear by the second shaft joint with
First travelling gear is connected；Described two second deep groove ball bearings are separately mounted to the first travelling gear both sides, and described two
Individual 3rd deep groove ball bearing is separately mounted to the second travelling gear both sides, first travelling gear and the described second transmission
Gear is engaged, and second travelling gear is arranged on the first sleeve；It is first sleeve and first connecting plate, described
Second sleeve is fastened, the 4th deep groove ball bearing and second angular contact bearing be installed in the second sleeve with it is described
Between first input shaft；First connecting plate is fixed with first housing by described two second connecting plates；Described two
Individual first magnetic coder fixed block, in the first shell body；The first straight-tooth wheel decelerator protecgulum and described first
Straight-tooth wheel decelerator body, the second straight-tooth wheel decelerator bonnet are fixedly connected with first connecting plate；Described two L
Type trunk connecting plate is separately fixed at the first straight-tooth wheel decelerator body both sides；
The elbow joint includes：3rd motor, third planet decelerator, the 3rd rotary encoder, the 3rd shaft joint, second
Input shaft, third hand tap gear, the 4th bevel gear, the second output shaft, two the third angle contact bearings, the second shaft end cover plate, two
3rd output connecting plate, the 4th output connecting plate, and the 4th motor, fourth planet decelerator, the 4th rotary encoder, the 3rd
Travelling gear, the first graphite self-lubricating bearing, the 4th travelling gear, two the 5th deep groove ball bearings, the second housing, two second
Magnetic coder fixed block, the first cap, the second cap, the first motor connecting base, the 3rd housing；
3rd motor, the third planet decelerator and the 3rd rotary encoder are sequentially connected, and described
The output shaft of three planetary reduction gears is connected by the 3rd shaft joint with second input shaft, the second input shaft end
Equipped with third hand tap gear, third hand tap gear is engaged with the 4th bevel gear；4th bevel gear is fixed on second output shaft
On, described two second output shaft two ends are attached separately to the third angle contact bearing both sides, and second shaft end cover plate is installed
The third angle contact bearing away from the 4th bevel gear side；Described two 3rd output connecting plates are separately mounted to described second
Output shaft both sides, and be connected with the described 4th output connecting plate；
4th motor, the fourth planet decelerator and the 4th rotary encoder are sequentially connected, and the described 4th
The output shaft of planetary reduction gear is connected with one end of the 3rd travelling gear；The first graphite self-lubricating bearing is arranged on institute
State the other end of the 3rd travelling gear；3rd travelling gear is engaged with the 4th travelling gear, the 4th driving cog
Wheel is set on the 3rd shaft joint, and described two 5th deep groove ball bearings and the second bearing lid are set in described the
On four travelling gears；Second shaft end cover plate is fixedly connected with second housing, and second output shaft is through described the
Two housings, described two second magnetic coder fixed blocks are arranged in the second enclosure interior；First cap and described second
Cap is arranged at second hull outside；3rd travelling gear is equipped with first with the outside of the 4th travelling gear
Motor connecting base, is equipped with the 3rd housing, the 3rd housing and first motor on the outside of described two 5th deep groove ball bearings
Connecting seat is fastened；
The carpal joint includes：5th motor, fifth line star decelerator, the 5th rotary encoder, the first connecting cylinder, two
6th deep groove ball bearing, the second motor connecting base, clutch shaft bearing cylinder, the 3rd magnetic coder fixed block, the 4th magnetic coder are fixed
Block, the first steering wheel connector, two the second steering wheel connectors, two the 3rd steering wheel connectors, the first high-power steering wheel, front wrists are solid
Fixed board；
5th motor, the fifth line star decelerator and the 5th rotary encoder are sequentially connected, and the described 5th
The output shaft of planetary reduction gear is fastened by jackscrew with first connecting cylinder；Described two 6th deep groove ball bearings are set in
The outside of first connecting cylinder, second motor connecting base are fixedly connected with first connecting cylinder；Described two six
Deep groove ball bearing is set on the clutch shaft bearing cylinder, and second motor connecting base is fastened with the clutch shaft bearing cylinder；Institute
State the 3rd magnetic coder fixed block to be fixed on the clutch shaft bearing cylinder, and the 3rd magnetic coder fixed block and the described 4th
Magnetic coder fixed block is fastened；The clutch shaft bearing cylinder is fastened with the first steering wheel connector, and described two second steering wheels connect
Fitting is fastened with the first steering wheel connector both sides respectively, and described two 3rd steering wheel connectors are arranged on described two second
In the middle of steering wheel connector, and the first high-power steering wheel is arranged in the middle of described two 3rd steering wheel connectors, the front wrist
Fixed plate is arranged on the output shaft of the described first high-power steering wheel；
The large arm shell both sides are fastened with the described second output connecting plate and first motor connecting base respectively, described
Forearm shell both sides are fastened with the described 4th output connecting plate and second motor connecting base respectively.
Optionally, the gear ratio of first travelling gear and the second travelling gear, the third hand tap gear and described
The gear ratio of the gear ratio of four bevel gears, the 3rd travelling gear and the 4th travelling gear is preset value.
Optionally, the first bevel gear and the gear ratio of the second bevel gear are 1:2.
Optionally, first travelling gear and second transmission gear ratio are 1:2.
Optionally, the third hand tap gear and the 4th number of teeth in bevel gears and hypoid gears ratio are 1:2.
Optionally, the 3rd travelling gear and the 4th transmission gear ratio are 1:2.
Optionally, first input shaft and the first bevel gear, first input shaft and the first bevel gear,
The output shaft of the fourth planet decelerator and the 3rd travelling gear, are fastened by jackscrew.
This utility model also proposed a kind of imitative human upper limb robot, including above-mentioned apery mechanical arm.
As shown from the above technical solution, the six-degree-of-freedom humanoid machine based on serial-parallel mirror that this utility model embodiment is proposed
Tool arm and robot by the structure using serial-parallel mirror, and using different actuators, to reduce the same of motor burden
When, increase to the control of shoulder joint, the degree of accuracy to improve motion.
Description of the drawings
Feature and advantage of the present utility model can be more clearly understood from by reference to accompanying drawing, accompanying drawing be schematic and not
It is interpreted as carrying out any restriction to this utility model, in the accompanying drawings：
Fig. 1 shows a kind of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror that one embodiment of this utility model is provided
External structure schematic diagram；
Fig. 2 shows a kind of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror that one embodiment of this utility model is provided
The structural representation of middle shoulder joint；
Fig. 3 shows a kind of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror that one embodiment of this utility model is provided
In the first housing structural representation；
Fig. 4 shows a kind of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror that one embodiment of this utility model is provided
The sectional view of middle shoulder joint；
Fig. 5 shows a kind of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror that one embodiment of this utility model is provided
The structural representation of middle elbow joint；
Fig. 6 shows a kind of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror that one embodiment of this utility model is provided
In the second housing structural representation；
Fig. 7 shows a kind of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror that one embodiment of this utility model is provided
The sectional view of middle elbow joint；
Fig. 8 shows a kind of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror that one embodiment of this utility model is provided
In carpal structural representation；
Fig. 9 shows a kind of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror that one embodiment of this utility model is provided
The structural representation of middle clutch shaft bearing；
Wherein, 1, shoulder joint；2nd, elbow joint；3rd, carpal joint；4th, large arm shell；5th, forearm shell；
1-1, the first motor；1-2, first planet decelerator；1-3, the first rotary encoder；1-4, the first motor connection
Part；1-5, the first axle sleeve；1-6, clutch shaft bearing lid；1-7, the first shaft joint；1-8, the first input shaft；1-9, first bevel gear；
1-10, second bevel gear；1-11, the first output shaft；1-12, the first deep groove ball bearing；1-13, the first thrust ball bearing；1-14、
First angular contact bearing；1-15, second bearing lid；1-16-1, the first output connecting plate a；1-16-2, the first output connecting plate b；
1-17, the second output connecting plate；1-18-1, the first hubcap piece a；1-18-2, the first hubcap piece b；1-19, the second motor；
1-20, the second planetary reduction gear；1-21, the second rotary encoder；1-22, the first connecting plate for electric motor；1-23, the second shaft joint；
1-24, the first travelling gear；1-25-1, the second deep groove ball bearing a；1-25-2, the second deep groove ball bearing b；1-26, the second transmission
Gear；1-27-1, the 3rd deep groove ball bearing a；1-27-2, the 3rd deep groove ball bearing b；1-28, the first sleeve；1-29, second set
Cylinder；1-30, the 4th deep groove ball bearing 1-31, the second angular contact bearing；1-32, the first straight-tooth wheel decelerator protecgulum；1-33, first
Straight-tooth wheel decelerator body；1-34, the second straight-tooth wheel decelerator bonnet；1-35, the first connecting plate；1-36-1, the second connecting plate a；
1-36-2, the second connecting plate b；1-37, the first housing；1-38-1, the first magnetic coder fixed block a；1-38-2, the first magnetic coding
Device fixed block b；1-39-1, the first L-type trunk connecting plate composition a；1-39-2, the first L-type trunk connecting plate composition b；
2-1, the 3rd motor；2-2, third planet decelerator；2-3, the 3rd rotary encoder；2-4, the 3rd shaft joint；2-
5th, the second input shaft；2-6, third hand tap gear；2-7, the 4th bevel gear；2-8, the second output shaft；2-9-1, the third angle engagement shaft
Hold a；2-9-2, the third angle contact bearing b；2-10, the second shaft end cover plate；2-11-1, the 3rd output connecting plate a；2-11-2,
Three output connecting plate b；2-12, the 4th output connecting plate；2-13, the 4th motor；2-14, fourth planet decelerator；2-15, the 4th
Rotary encoder；2-16, the 3rd travelling gear；2-17, the first graphite self-lubricating bearing；2-18, the 4th travelling gear；2-19-
1st, the 5th deep groove ball bearing a；2-19-2, the 5th deep groove ball bearing b；2-20, the second housing；2-21-1, the second magnetic coder are solid
Determine block a；2-21-2, the second magnetic coder fixed block b；2-22, the first cap；2-23, the second cap；2-24, the first motor connect
Joint chair；2-25, the 3rd housing；
3-1, the 5th motor；3-2, fifth line star decelerator；3-3, the 5th rotary encoder；3-4, the first connecting cylinder；3-
5-1, the 6th deep groove ball bearing a；3-5-2, the 6th deep groove ball bearing b；3-6, the second motor connecting base；3-7, clutch shaft bearing cylinder；
3-8, the 3rd magnetic coder fixed block；3-9, the 4th magnetic coder fixed block；3-10, the first steering wheel connector；3-11-1, second
Steering wheel connector a；3-11-2, the second steering wheel connector b；3-12-1, the 3rd steering wheel connector a；3-12-2, the connection of the 3rd steering wheel
Part b；3-13, the first high-power steering wheel；3-14, front wrist fixed plate.
Specific embodiment
It is to make purpose, technical scheme and the advantage of this utility model embodiment clearer, new below in conjunction with this practicality
Accompanying drawing in type embodiment, is clearly and completely described to the technical scheme in this utility model embodiment, it is clear that retouched
The embodiment stated is a part of embodiment of the present utility model, rather than the embodiment of whole.Based on the reality in this utility model
Apply example, the every other embodiment obtained on the premise of creative work is not made by those of ordinary skill in the art, all
Belong to the scope of this utility model protection.
Fig. 1 shows a kind of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror that one embodiment of this utility model is provided
External structure schematic diagram, referring to Fig. 1, the apery mechanical arm includes：Shoulder joint 1, elbow joint 2, carpal joint 3, large arm shell 4,
And forearm shell 5, wherein；
Elbow joint 2 is connected with shoulder joint 1, carpal joint 3 respectively,
Large arm shell 4 connects shoulder joint 1 and elbow joint 2 respectively, and forearm shell 5 connects elbow joint 2 and carpal joint 3 respectively.
Fig. 2-4 respectively illustrates a kind of six-degree-of-freedom humanoid based on serial-parallel mirror of one embodiment of this utility model offer
The structural representation of shoulder joint and the first housing in mechanical arm, and the sectional view of shoulder joint, referring to Fig. 2-4, the shoulder joint 1 is wrapped
Include：First motor 1-1, first planet decelerator 1-2, the first rotary encoder 1-3, the first motor contact 1-4, the first axle sleeve
1-5, clutch shaft bearing lid 1-6, the first shaft joint 1-7, the first input shaft 1-8, first bevel gear 1-9, second bevel gear 1-10,
One output shaft 1-11, the first deep groove ball bearing 1-12, the first thrust ball bearing 1-13, the first angular contact bearing 1-14, the second axle
Lid 1-15, two the first output connecting plate 1-16, the second output connecting plate 1-17, two the first hubcap piece 1-18 are held, and
Second motor 1-19, the second planetary reduction gear 1-20, the second rotary encoder 1-21, the first connecting plate for electric motor 1-22, second connect
Axle device 1-23, the first travelling gear 1-24, two the second deep groove ball bearing 1-25, the second travelling gear 1-26, two the 3rd depths
Ditch ball bearing 1-27, the first sleeve 1-28, second sleeve 1-29, the 4th deep groove ball bearing 1-30, the second angular contact bearing 1-31,
First straight-tooth wheel decelerator protecgulum 1-32, the first straight-tooth wheel decelerator body 1-33, the second straight-tooth wheel decelerator bonnet 1-34, first
Connecting plate 1-35, two the second connecting plate 1-36, the first housing 1-37, two the first magnetic coder fixed block 1-38, two
One L-type trunk connecting plate 1-39.
The annexation of each part of shoulder joint 1 is as follows：
First motor 1-1, first planet decelerator 1-2, the first rotary encoder are sequentially connected with 1-3, pass sequentially through first
Motor contact 1-4, the first axle sleeve 1-5, clutch shaft bearing lid 1-6 are fixed with the first straight-tooth wheel decelerator protecgulum 1-32.The first row
The output shaft of star decelerator 1-2 is connected with the first input shaft 1-8 by the first shaft joint 1-6.The cones of first input shaft 1-8 and first
Gear 1-9 is fixed by jackscrew, and first bevel gear 1-9 is engaged with second bevel gear 1-10.Second bevel gear 1-10 and first is deeply
Ditch ball bearing 1-12, the first thrust ball bearing 1-13, the first angular contact bearing 1-14 are together fixed on the first output shaft 1-12,
The first output connecting plate 1-15 is fixed at first output shaft 1-10 two ends respectively, and is fixed by the first hubcap piece 1-17 respectively.
Second output connecting plate 1-16 is fixed with two first output connecting plate 1-15.
Second motor 1-19, the second planetary reduction gear 1-20, the second rotary encoder are sequentially connected with 1-21, electric by first
Machine connecting plate 1-22 is fixed with the first straight-tooth wheel decelerator protecgulum 1-32.The output shaft of the second planetary reduction gear 1-20 passes through second
Shaft joint 1-23 is connected with the first travelling gear 1-23.First travelling gear 1-23 both sides are respectively mounted the second deep groove ball bearing 1-
24, and engage with the second travelling gear 1-25.Second travelling gear 1-25 both sides are respectively mounted the 3rd deep groove ball bearing 1-27, and
On the first sleeve 1-28.First sleeve 1-28 and the first connecting plate 1-34 and the fastening of second sleeve 1-29.Second sleeve
4th deep groove ball bearing 1-30, the second angular contact bearing 1-31 are housed, it is ensured that between the two can between 1-29 and the first input shaft 1-8
Realize relative slip.
First connecting plate 1-35 is fixed by two the second connecting plate 1-36 and the first housing 1-37.In first housing 1-37
Equipped with two the first magnetic coder fixed block 1-38 to fixed magnetic coder circuit board.First straight-tooth wheel decelerator protecgulum 1-32
Fix with the first straight-tooth wheel decelerator body 1-33, the second straight-tooth wheel decelerator bonnet 1-34 and the first connecting plate 1-35.Second is straight
Gear reduction unit bonnet 1-34 outer openings are to fixed magnetic coder circuit board.First straight-tooth wheel decelerator body 1-33 both sides point
First L-type trunk connecting plate 1-39 is not fixed.
Fig. 5-Fig. 7 respectively illustrates a kind of six degree of freedom based on serial-parallel mirror of one embodiment of this utility model offer and imitates
The structural representation of elbow joint and the second housing in people's mechanical arm, and the sectional view of elbow joint, referring to Fig. 5-Fig. 7, elbow joint 2
Including：3rd motor 2-1, third planet decelerator 2-2, the 3rd rotary encoder 2-3, the 3rd shaft joint 2-4, the second input shaft
2-5, third hand tap gear 2-6, the 4th bevel gear 2-7, the second output shaft 2-8, two the third angle contact bearing 2-9, the second shaft ends
Cover plate 2-10, two the 3rd output connecting plate 2-11, the 4th output connecting plate 2-12, and the 4th motor 2-13, fourth planet
Decelerator 2-14, the 4th rotary encoder 2-15, the 3rd travelling gear 2-16, the first graphite self-lubricating bearing 2-17, the 4th pass
Moving gear 2-18, two the 5th deep groove ball bearing 2-19, the second housing 2-20, two the second magnetic coder fixed block 2-21,
One cap 2-22, the second cap 2-23, the first motor connecting base 2-24, the 3rd housing composition 2-25.
The annexation of each part of elbow joint 2 is as follows：
3rd motor 2-1, third planet decelerator 2-2, the 3rd rotary encoder 2-3 are sequentially connected with, and third planet is slowed down
The output shaft of device 2-2 is connected by the 3rd shaft joint 2-3 with the second input shaft 2-5, and the second input shaft 2-5 ends are equipped with third hand tap
Gear 2-6, third hand tap gear 2-6 are engaged with the 4th bevel gear 2-7.4th bevel gear 2-7 is fixed on the second output shaft 2-8
On.Second output shaft 2-8 two ends are respectively provided with the third angle contact bearing 2-9, and away from the 4th bevel gear 2-7 offsides equipped with the
Two shaft end cover plate 2-10.Second output shaft 2-8 both-side ends are respectively provided with the 3rd output connecting plate 2-11, the 4th output connecting plate
2-12 is fixed with two the 3rd output connecting plate 2-11.
4th motor 2-13, fourth planet decelerator 2-14, the 4th rotary encoder 2-15 are sequentially connected with, and fourth planet subtracts
The output shaft of fast device 2-14 is fixed by jackscrew with the 3rd travelling gear 2-16.The other end of the 3rd travelling gear 2-16 is equipped with the
One graphite self-lubricating bearing 2-17.3rd travelling gear 2-16 is engaged with the 4th travelling gear 2-18.4th travelling gear 2-18
It is enclosed within the 3rd shaft joint 2-5, two the 5th deep groove ball bearing 2-19 and second bearing cover plate 2-10 are enclosed within the 4th travelling gear
On 2-18.Second shaft end cover plate 2-9 and the second housing 2-20 is fixed.Second output shaft 2-8 passes through the second housing 2-20.Second shell
Inside body 2-20, upper and lower ends are respectively equipped with the second magnetic coder fixed block 2-21 to fixed magnetic coder circuit board, and in outside
Equipped with the first cap 2-22 and the second cap 2-23.The outside of the 3rd travelling gear 2-16 and the 4th travelling gear 2-18 is equipped with the
One motor connecting base 2-24, is equipped with the 3rd housing 2-25, the 3rd housing 2-25 and the on the outside of two the 5th deep groove ball bearing 2-19
One motor connecting base 2-24 is fastened.3rd housing 2-25 outer openings are to fixed magnetic coder circuit board.
Fig. 8 and Fig. 9 respectively illustrate a kind of six degree of freedom based on serial-parallel mirror of one embodiment of this utility model offer
The structural representation of carpal joint and clutch shaft bearing in apery mechanical arm, referring to Fig. 8 and Fig. 9, carpal joint 3 includes：5th motor 3-
1st, fifth line star decelerator 3-2, the 5th rotary encoder 3-3, the first connecting cylinder 3-4, two the 6th deep groove ball bearing 3-5,
Two motor connecting base 3-6, clutch shaft bearing cylinder 3-7, the 3rd magnetic coder fixed block 3-8, the 4th magnetic coder fixed block 3-9,
One steering wheel connector 3-10, two the second steering wheel connector 3-11, two the 3rd steering wheel connector 3-12, the first high-power steering wheels
3-13, front wrist fixed plate composition 3-14, wherein；
The annexation of each part of carpal joint 3 is as follows：
5th motor 3-1, fifth line star decelerator 3-2, the 5th rotary encoder 3-3 are sequentially connected with, and fifth line star slows down
The output shaft of device 3-2 and the first connecting cylinder 3-4 are fastened by jackscrew, and two the 6th zanjons are cased with the outside of the first connecting cylinder 3-4
Ball bearing 3-5-1.The second motor connecting base 3-6, two the 6th deep groove ball bearing 3-5 are fixed with the outside of first connecting cylinder 3-7
Fasten equipped with clutch shaft bearing cylinder 3-7, the second motor connecting base 3-6 and clutch shaft bearing cylinder 3-7.Is fixed on clutch shaft bearing cylinder 3-7
Three magnetic coder fixed block 3-8, the 3rd magnetic coder fixed block 3-8 and the 4th magnetic coder fixed block 3-9 are fastened, and the 4th magnetic is compiled
Code device fixed block 3-9 is to fixed magnetic coder circuit board.On clutch shaft bearing cylinder, 3-7 has limited screw perforate, clutch shaft bearing
There is stopper slot on cylinder 3-7.Clutch shaft bearing cylinder 3-7 and the first steering wheel connector 3-10 fastenings, the first steering wheel connector 3-10 two
Side is fastened with the second steering wheel connector 3-11, and two the 3rd steering wheel connector 3-12 are housed in the middle of the second steering wheel connector 3-11,
First high-power steering wheel 3-13 is installed between two the 3rd steering wheel connector 3-12, the output shaft of the first high-power steering wheel 3-13 is installed
Front wrist fixed plate 3-14.
The present embodiment by the structure using serial-parallel mirror, and using different actuators, to reduce motor burden
While, increase to the control of shoulder joint, the degree of accuracy to improve motion.
Each number of element types of the apery mechanical arm for proposing to the application below, parameter are illustrated：
1. shoulder actuator：
A) two parameters of electric machine：Maxon DCX are serial, electrographite brush, ball bearing, external diameter 35mm, rated power 80W, volume
Determine voltage 24V, output torque 121mNm；
B) decelerator：Maxon GPX series epicyclic gearboxes, 3 grades of decelerations, external diameter 42, speed reducing ratio 156:1, maximum output
Torque 15Nm
C) reduction box：
I. spur gear group：Linear cutter, carbon steel, gear ratio 1:2
1. 1.5 number of teeth 22 of incoming spur gear modulus
2. 1.5 number of teeth 44 of spur gear modulus is spread out of
Ii. bevel gear set：Japanese KG, steel, gear ratio 1:2
1. 1.5 number of teeth 18 of incoming bevel gear modulus
2. 1.5 number of teeth 36 of bevel gear modulus is spread out of
D) encoder：16 line rotary encoder+AS5045 magnetic coder chips of Maxon ENX
E) steering wheel：Nothing
2. ancon actuator：
A) two parameters of electric machine：Maxon DCX are serial, electrographite brush, ball bearing, external diameter 26mm, rated power 40W, volume
Determine voltage 24V, output torque 57.8mNm；
B) decelerator：Maxon GPX series epicyclic gearboxes, 3 grades of decelerations, external diameter 32, speed reducing ratio 186:1, maximum output
Torque 6.6Nm
C) reduction box：
I. spur gear group：Linear cutter, carbon steel, gear ratio 1:2
1. 1 number of teeth 24 of incoming spur gear modulus
2. 1 number of teeth 48 of spur gear modulus is spread out of
Ii. bevel gear set：Japanese KG, steel, gear ratio 1:2
1. 1 number of teeth 20 of incoming bevel gear modulus
2. 1 number of teeth 40 of bevel gear modulus is spread out of
D) encoder：16 line rotary encoder+AS5045 magnetic coder chips of Maxon ENX
E) steering wheel：Nothing
3. wrist actuator：
A) parameter of electric machine：Maxon DCX are serial, electrographite brush, ball bearing, external diameter 22mm, rated power 20W, volume
Determine voltage 24V, output torque 31.5mNm；
B) decelerator：Maxon GPX series epicyclic gearboxes, 3 grades of decelerations, external diameter 26, speed reducing ratio 231:1, maximum output
Torque 6Nm
C) gear-box：Nothing
D) encoder：16 line rotary encoder+AS5045 magnetic coder chips of Maxon ENX
E) steering wheel：Hitec HSR-5980SG, metal gear, 6V, 24kg/cm
Should be carried out specifically based on the operation principle of the six-degree-of-freedom humanoid mechanical arm of serial-parallel mirror referring to Fig. 1-9 pair
It is bright：
1st, shoulder joint kinesitherapy
Shoulder joint is designed using cascaded structure, and comprising two freedoms of motion independent of one another, its operation principle is respectively：
Shoulder joint one degree of freedom is moved：When first motor 1-1 is rotated, motion passes sequentially through first planet decelerator 1-
2nd, the first shaft joint 1-6 and the first input shaft 1-8 pass to first bevel gear 1-9.First bevel gear 1-9 drives second bevel gear
1-10 is rotated.Second bevel gear 1-10 drives the first output shaft 1-12 motions, drives then first to export connecting plate 1-15 and the
Two output connecting plate 1-16 are rotated.In motor process, the first rotary encoder 1-3 can gather the rotating speed of the first motor 1-1,
On first magnetic coder fixed block 1-38, fixed magnetic coder circuit can gather the corner of the first output shaft 1-12.
Second degree of freedom motion of shoulder joint：When second motor 1-19 is rotated, motion passes sequentially through the second planetary reduction gear
1-20, the second shaft joint 1-23 pass to the first travelling gear 1-23.First travelling gear 1-23 drives the second travelling gear 1-
25 rotate.Second travelling gear 1-25 drives the first sleeve 1-28 to rotate, and drives then the first connecting plate 1-34, the second connecting plate
1-36, second sleeve 1-29, the first housing 1-37 unitary rotations.Due to being equipped between second sleeve 1-29 and the first input shaft 1-8
4th deep groove ball bearing 1-30, the second angular contact bearing 1-31, can realize relative slip between the two, therefore the second motor 1-19 turns
Shoulder joint one degree of freedom is not interfered with when dynamic.In motor process, it is electric that the second rotary encoder 1-21 can gather second
The rotating speed of machine 1-19, the magnetic coder circuit fixed at the second straight-tooth wheel decelerator bonnet 1-34 outer openings can gather second
The corner of travelling gear 1-25.
2nd, elbow joint motion
Elbow joint is designed using parallel-connection structure, and comprising two coupled motions degree of freedom, its operation principle is：
When 3rd motor 2-1 is rotated, it is defeated that motion passes sequentially through third planet decelerator 2-2, the 3rd shaft joint 2-3 and second
Enter axle 2-5 and pass to third hand tap gear 2-6, third hand tap gear 2-6 drives the 4th bevel gear 2-7 to rotate.4th bevel gear 2-7 bands
Dynamic second output shaft 2-8 motions, drive then the 3rd to export the output connecting plate 2-12 of connecting plate 2-11 and the 4th and rotate；
When 4th motor 2-13 is rotated, motion passes to the 3rd travelling gear 2-16 by fourth planet decelerator 2-14.
3rd travelling gear 2-16 drives the 4th travelling gear 2-18 to rotate.4th travelling gear 2-18 drives the 3rd shaft joint 2-5 to turn
It is dynamic.As the 3rd shaft joint 2-5 is fixed with the second shaft end cover plate 2-9 and the second housing 2-20, the rotation of the 4th motor 2-13 is not
The rotation of the second housing 2-20, the rotation can be only caused also to cause to turn between the 4th bevel gear 2-7 and third hand tap gear 2-6
It is dynamic.Therefore the rotation of the 4th motor causes two degree of freedom of ancon while coupled motions.
In motor process, the 3rd rotary encoder 2-3 can gather the rotating speed of the 3rd motor 2-1, the 4th rotary coding
Device 2-15 can gather the rotating speed of the 4th motor 2-13, fixed magnetic coder circuit energy on the second magnetic coder fixed block 2-21
The corner of the second output shaft 2-8 is gathered enough, the magnetic coder circuit fixed at the 3rd housing 2-25 outer openings can gather the
The corner of four travelling gear 2-18.
3rd, wrist joints sporting
Carpal joint is designed using cascaded structure, and comprising two freedoms of motion independent of one another, its operation principle is respectively：
Carpal joint one degree of freedom is moved：When 5th motor 3-1 is rotated, move and passed by fifth line star decelerator 3-2
Pass the first connecting cylinder 3-7.First connecting cylinder 3-7 drives the first steering wheel connector 3-10 to rotate.In motor process, the 5th rotation
Turn the rotating speed that encoder 3-3 can gather the 5th motor 3-1, fixed magnetic coder electricity on the 4th magnetic coder fixed block 3-9
Road can gather the corner of fifth line star decelerator 3-2.
Second degree of freedom motion of carpal joint：When first high-power steering wheel 3-13 is rotated, before driving, wrist fixed plate 3-14 turns
It is dynamic.
Specific embodiment two：With reference to Fig. 2, Fig. 3 illustrate present embodiment, first bevel gear 1-9 of present embodiment with
Second bevel gear 1-10 gear ratio is 1:2, so design causes structure more reasonable.Other compositions and annexation are interior with above-mentioned
Hold identical.
Specific embodiment three：Present embodiment, the first travelling gear 1-23 of present embodiment are illustrated with reference to Fig. 2, Fig. 4
It is 1 with the second travelling gear 1-25 gear ratios:2, so design causes structure more reasonable.Other compositions and annexation and tool
Body embodiment two is identical.
Specific embodiment four：With reference to Fig. 5, Fig. 6 illustrate present embodiment, third hand tap gear 2-6 of present embodiment with
4th bevel gear 2-7 gear ratios are 1:2, so design causes structure more reasonable.Other compositions and annexation and concrete reality
Apply mode three identical.
Specific embodiment five：Present embodiment, the 3rd travelling gear 2-16 of present embodiment are illustrated with reference to Fig. 5, Fig. 7
It is 1 with the 4th travelling gear 2-18 gear ratios:2, so design causes structure more reasonable.Other compositions and annexation and tool
Body embodiment four is identical.
Created based on identical utility model, this utility model also proposed a kind of imitative human upper limb robot, including upper
The apery mechanical arm stated；
Shaft joint in the apery mechanical arm adopts positive coupling, to prevent drive disk assembly from transshipping, improves device whole
The safety of body；Shell and connecting plate etc., using aluminum material, to reduce the main screw lift of robot, improve robot
Dexterity of action.
It should be noted that above-mentioned embodiment illustrates rather than to this utility model and this utility model is limited
System, and those skilled in the art can design replacement embodiment without departing from the scope of the appended claims.
In the claims, any reference markss between bracket should not be configured to limitations on claims.Word " bag
Containing " do not exclude the presence of element not listed in the claims or step.Word "a" or "an" before element is not arranged
Except there are multiple such elements.This utility model can be by means of the hardware for including some different elements and by means of suitable
Realize when the computer of programming.If in the unit claim for listing equipment for drying, several in these devices can be with
It is embodying by same hardware branch.The use of word first, second, and third does not indicate that any order.Can
These words are construed to into title.
Although being described in conjunction with the accompanying embodiment of the present utility model, those skilled in the art can without departing from
Various modifications and variations are made in the case of spirit and scope of the present utility model, such modification and modification are each fallen within by appended
Within claim limited range.
Claims (8)
1. a kind of six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror, it is characterised in that include：Shoulder joint, elbow joint, wrist are closed
Section, large arm shell and forearm shell；
The shoulder joint includes：First motor, first planet decelerator, the first rotary encoder, the first motor contact, first
Axle sleeve, clutch shaft bearing lid, the first shaft joint, the first input shaft, first bevel gear, second bevel gear, the first output shaft, the first depth
Ditch ball bearing, the first thrust ball bearing, the first angular contact bearing, second bearing lid, two the first output connecting plates, the second outputs
Connecting plate, two the first hubcap pieces, and the second motor, the second planetary reduction gear, the second rotary encoder, the first motor company
Fishplate bar, the second shaft joint, the first travelling gear, two the second deep groove ball bearings, the second travelling gear, two the 3rd deep-groove ball axles
Hold, the first sleeve, second sleeve, the 4th deep groove ball bearing, the second angular contact bearing, the first straight-tooth wheel decelerator protecgulum, first
Straight-tooth wheel decelerator body, the second straight-tooth wheel decelerator bonnet, the first connecting plate, two the second connecting plates, the first housing, two
One magnetic coder fixed block, two the first L-type trunk connecting plates；
First motor, the first planet decelerator and first rotary encoder are sequentially connected with, and pass sequentially through
One motor contact, the first axle sleeve, clutch shaft bearing lid are fixed with the first straight-tooth wheel decelerator protecgulum；First planet decelerator it is defeated
Shaft is connected with the first input shaft by the first shaft joint；First input shaft is connected with first bevel gear, first bevel gear and the
Two bevel gears engage；Second bevel gear, the first deep groove ball bearing, the first thrust ball bearing and the first angular contact bearing are solid
It is scheduled on the first output shaft, described two first output connecting plates are separately mounted to the two ends of first output shaft, and pass through
Two the first hubcap pieces fix described two first output connecting plates respectively；Second output connecting plate is defeated with described two first
Go out connecting plate to be fixedly connected；Second motor, the second planetary reduction gear, the second rotary encoder are sequentially connected with, and electric by first
Machine connecting plate is fixed with the first straight-tooth wheel decelerator protecgulum；The output shaft of the second planetary reduction gear passes through the second shaft joint and first
Travelling gear is connected；Described two second deep groove ball bearings are separately mounted to the first travelling gear both sides, and described two
Three deep groove ball bearings are separately mounted to the second travelling gear both sides, first travelling gear and second travelling gear
Engagement, and second travelling gear is on the first sleeve；First sleeve and first connecting plate, described second
Sleeve is fastened, and the 4th deep groove ball bearing and second angular contact bearing are installed in the second sleeve with described first
Between input shaft；First connecting plate is fixed with first housing by described two second connecting plates；Described two
One magnetic coder fixed block, in the first shell body；The first straight-tooth wheel decelerator protecgulum and first straight-tooth
Wheel decelerator body, the second straight-tooth wheel decelerator bonnet are fixedly connected with first connecting plate；Described two first L-type bodies
Involvement fishplate bar is separately fixed at the first straight-tooth wheel decelerator body both sides；
The elbow joint includes：3rd motor, third planet decelerator, the 3rd rotary encoder, the 3rd shaft joint, the second input
Axle, third hand tap gear, the 4th bevel gear, the second output shaft, two the third angle contact bearings, the second shaft end cover plate, two the 3rd
Output connecting plate, the 4th output connecting plate, and the 4th motor, fourth planet decelerator, the 4th rotary encoder, the 3rd transmission
Gear, the first graphite self-lubricating bearing, the 4th travelling gear, two the 5th deep groove ball bearings, the second housing, two the second magnetic are compiled
Code device fixed block, the first cap, the second cap, the first motor connecting base, the 3rd housing；
3rd motor, the third planet decelerator and the 3rd rotary encoder are sequentially connected, and described the third line
The output shaft of star decelerator is connected by the 3rd shaft joint with second input shaft, and the second input shaft end is equipped with
Third hand tap gear, third hand tap gear are engaged with the 4th bevel gear；4th bevel gear is fixed on second output shaft, institute
State two the second output shaft two ends and be attached separately to the third angle contact bearing both sides, second shaft end cover plate is arranged on described
Side of the third angle contact bearing away from the 4th bevel gear；It is defeated that described two 3rd output connecting plates are separately mounted to described second
Shaft both sides, and be connected with the described 4th output connecting plate；
4th motor, the fourth planet decelerator and the 4th rotary encoder are sequentially connected, the fourth planet
The output shaft of decelerator is connected with one end of the 3rd travelling gear；The first graphite self-lubricating bearing is arranged on described the
The other end of three travelling gears；3rd travelling gear is engaged with the 4th travelling gear, the 4th driving cog wheel case
It is located on the 3rd shaft joint, described two 5th deep groove ball bearings and the second bearing lid are set in the 4th biography
On moving gear；Second shaft end cover plate is fixedly connected with second housing, and second output shaft passes through the second shell
Body, described two second magnetic coder fixed blocks are arranged in the second enclosure interior；First cap and second cap
It is arranged at second hull outside；3rd travelling gear is equipped with the first motor with the outside of the 4th travelling gear
Connecting seat, is equipped with the 3rd housing, the 3rd housing and first motor connection on the outside of described two 5th deep groove ball bearings
Seat fastening；
The carpal joint includes：5th motor, fifth line star decelerator, the 5th rotary encoder, the first connecting cylinder, two the 6th
Deep groove ball bearing, the second motor connecting base, clutch shaft bearing cylinder, the 3rd magnetic coder fixed block, the 4th magnetic coder fixed block,
One steering wheel connector, two the second steering wheel connectors, two the 3rd steering wheel connectors, the first high-power steering wheel, front wrist fixed plates；
5th motor, the fifth line star decelerator and the 5th rotary encoder are sequentially connected, the fifth line star
The output shaft of decelerator is fastened by jackscrew with first connecting cylinder；Described two 6th deep groove ball bearings are set in described
The outside of the first connecting cylinder, second motor connecting base are fixedly connected with first connecting cylinder；Described two 6th zanjons
Ball bearing is set on the clutch shaft bearing cylinder, and second motor connecting base is fastened with the clutch shaft bearing cylinder；Described
Three magnetic coder fixed blocks are fixed on the clutch shaft bearing cylinder, and the 3rd magnetic coder fixed block is compiled with the 4th magnetic
The fixed block fastening of code device；The clutch shaft bearing cylinder is fastened with the first steering wheel connector, described two second steering wheel connectors
Fasten with the first steering wheel connector both sides respectively, described two 3rd steering wheel connectors are arranged on described two second steering wheels
In the middle of connector, and the first high-power steering wheel is arranged in the middle of described two 3rd steering wheel connectors, and the front wrist is fixed
Plate is arranged on the output shaft of the described first high-power steering wheel；
The large arm shell both sides are fastened with the described second output connecting plate and first motor connecting base respectively, the forearm
Shell both sides are fastened with the described 4th output connecting plate and second motor connecting base respectively.
2. apery mechanical arm according to claim 1, it is characterised in that first travelling gear and the second travelling gear
Gear ratio, the gear ratio of the third hand tap gear and the 4th bevel gear, the 3rd travelling gear and the described 4th are passed
The gear ratio of moving gear is preset value.
3. apery mechanical arm according to claim 1, it is characterised in that the first bevel gear and the second bevel gear
Gear ratio be 1:2.
4. apery mechanical arm according to claim 1, it is characterised in that first travelling gear and the described second transmission
Gear ratio is 1:2.
5. apery mechanical arm according to claim 1, it is characterised in that the third hand tap gear and the 4th bevel gear
Gear ratio is 1:2.
6. apery mechanical arm according to claim 1, it is characterised in that the 3rd travelling gear and the described 4th transmission
Gear ratio is 1:2.
7. apery mechanical arm according to claim 1, it is characterised in that first input shaft and the described first cone tooth
Wheel, first input shaft and the first bevel gear, the output shaft of the fourth planet decelerator and the 3rd driving cog
Wheel, is fastened by jackscrew.
8. a kind of imitative human upper limb robot, it is characterised in that include：Apery machinery as described in any one of claim 1-7
Arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620958578.2U CN206066422U (en) | 2016-08-26 | 2016-08-26 | Six-degree-of-freedom humanoid mechanical arm and robot based on serial-parallel mirror |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620958578.2U CN206066422U (en) | 2016-08-26 | 2016-08-26 | Six-degree-of-freedom humanoid mechanical arm and robot based on serial-parallel mirror |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206066422U true CN206066422U (en) | 2017-04-05 |
Family
ID=58433085
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620958578.2U Withdrawn - After Issue CN206066422U (en) | 2016-08-26 | 2016-08-26 | Six-degree-of-freedom humanoid mechanical arm and robot based on serial-parallel mirror |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206066422U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217357A (en) * | 2016-08-26 | 2016-12-14 | 北京工业大学 | Six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror and robot |
| CN107053140A (en) * | 2017-05-04 | 2017-08-18 | 上海未来伙伴机器人有限公司 | A kind of shoulder transmission device and its robot of application |
| CN107283405A (en) * | 2017-08-24 | 2017-10-24 | 上海岭先机器人科技股份有限公司 | A kind of mechanical arm |
| CN109551469A (en) * | 2018-10-24 | 2019-04-02 | 上海交通大学 | Mechanical arm based on the driving of more motor coupling lines |
| CN113183135A (en) * | 2021-05-10 | 2021-07-30 | 北京化工大学 | Seven-degree-of-freedom humanoid mechanical arm device based on series-parallel connection |
-
2016
- 2016-08-26 CN CN201620958578.2U patent/CN206066422U/en not_active Withdrawn - After Issue
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217357A (en) * | 2016-08-26 | 2016-12-14 | 北京工业大学 | Six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror and robot |
| CN106217357B (en) * | 2016-08-26 | 2018-07-17 | 北京工业大学 | Six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror and robot |
| CN107053140A (en) * | 2017-05-04 | 2017-08-18 | 上海未来伙伴机器人有限公司 | A kind of shoulder transmission device and its robot of application |
| CN107053140B (en) * | 2017-05-04 | 2023-07-14 | 上海未来伙伴机器人有限公司 | Shoulder transmission device and robot using same |
| CN107283405A (en) * | 2017-08-24 | 2017-10-24 | 上海岭先机器人科技股份有限公司 | A kind of mechanical arm |
| CN107283405B (en) * | 2017-08-24 | 2024-01-30 | 上海岭先机器人科技股份有限公司 | Mechanical arm |
| CN109551469A (en) * | 2018-10-24 | 2019-04-02 | 上海交通大学 | Mechanical arm based on the driving of more motor coupling lines |
| CN109551469B (en) * | 2018-10-24 | 2020-07-14 | 上海交通大学 | Mechanical arm based on multi-motor coupling line driving |
| CN113183135A (en) * | 2021-05-10 | 2021-07-30 | 北京化工大学 | Seven-degree-of-freedom humanoid mechanical arm device based on series-parallel connection |
| CN113183135B (en) * | 2021-05-10 | 2023-12-15 | 北京化工大学 | Seven-degree-of-freedom humanoid mechanical arm device based on serial-parallel series-parallel connection |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206066422U (en) | Six-degree-of-freedom humanoid mechanical arm and robot based on serial-parallel mirror | |
| CN106217357B (en) | Six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror and robot | |
| WO2019128361A1 (en) | Seven-degrees-of-freedom humanoid robotic arm | |
| CN104473752B (en) | A kind of exercising apparatus for recovery of upper limb based on grouping couple drive | |
| CN107932551A (en) | A kind of seven freedom cooperation mechanical arm | |
| CN107433597A (en) | A kind of seven freedom compact high effect compares mechanical arm | |
| CN107804384A (en) | The adaptive crawler belt climbing robot of wall four | |
| CN104875214A (en) | Three-degree-of-freedom humanoid wrist device | |
| CN105877972B (en) | A kind of exoskeleton rehabilitation robotic arm rotary joint | |
| CN207710796U (en) | A kind of seven degrees of freedom copy man mechanical arm | |
| CN202568539U (en) | Short electrically-controlled forearm prosthesis with two degrees of freedom | |
| CN201808064U (en) | Single degree of freedom rotating device | |
| CN105292283A (en) | Crawler-type underactuated robot with shape self-adaptation function and transmission method | |
| CN107972064A (en) | A kind of modularized joint of seven freedom cooperation mechanical arm | |
| CN202895222U (en) | Double-arm transferring manipulator | |
| CN207378097U (en) | Harmonic speed reducer | |
| CN2808471Y (en) | Robot walking device | |
| CN205219132U (en) | Polypody flexible duct trash cleaning machine ware people | |
| CN107339402A (en) | Harmonic speed reducer | |
| CN205325674U (en) | Bionical arm of scrambleing and operating | |
| CN209083299U (en) | A kind of shield machine segment conveying device | |
| CN218614053U (en) | Rotating wheel through-wire type electromechanical snake | |
| CN206432838U (en) | A kind of elasticity bolt nut soft axle transmission system | |
| CN205265440U (en) | Intelligence telescopic link | |
| CN104930125B (en) | Magnetic force harmonic gear reducer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170405 Effective date of abandoning: 20180717 |
|
| AV01 | Patent right actively abandoned |