CN208179590U - A kind of both arms personification arm - Google Patents
A kind of both arms personification arm Download PDFInfo
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- CN208179590U CN208179590U CN201820516965.XU CN201820516965U CN208179590U CN 208179590 U CN208179590 U CN 208179590U CN 201820516965 U CN201820516965 U CN 201820516965U CN 208179590 U CN208179590 U CN 208179590U
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Abstract
The utility model discloses a kind of both arms personification arms, it is characterized by comprising shoulder joint mechanism, elbow joint mechanism, wrist joint mechanisms, the shoulder joint mechanism is connected with fuselage, and shoulder joint mechanism is connected with upper arm arm body, and upper arm arm body can be rotated by shoulder joint mechanism relative to fuselage；The elbow joint mechanism is connected with upper arm arm body, and the elbow joint mechanism other end is connected with forearm arm body, and the wrist joint mechanism is connected with forearm arm body, is connected with wrist body in the wrist joint mechanism, is connected with palm body by wrist body connecting shaft on wrist body；One end of wrist cross connecting shafts is connected by forearm belt with the forearm pulley shaft being set on forearm arm body, and the forearm belt pulley to match with forearm belt is equipped on one end of wrist cross connecting shafts and forearm pulley shaft.The utility model clever structure, more life-like apery arm shape have 7 redundant degree of freedom similar with robot arm, and belt wheel transmission is combined with motor direct-drive, realize multivariant fusion.
Description
Technical field
The utility model relates to a kind of both arms personification arms.
Background technique
With the development of artificial intelligence, more and more robots occur in people's daily life, anthropomorphous machine's arm
It is one of them.But existing personification arm mostly realizes apery movement or shape and true robot arm to be less than 7 freedom degrees
Gap is larger.
Utility model content
It is simple that a kind of structure is provided the purpose of the utility model is to overcome above-mentioned shortcoming in the prior art, is tied
Structure is ingenious, the both arms personification arm with 7 freedom degrees.
The utility model is realized in the following way:
A kind of both arms personification arm, it is characterised in that: including shoulder joint mechanism, elbow joint mechanism, wrist joint mechanism, the shoulder
Articulation mechanism includes ball hinge, and one end of the ball hinge is formed with the connecting rod being connected with fuselage, is connected in the ball hinge
It is connected to spherical pair, the flexural pivot bar of the spherical pair is connected with upper arm arm body by fixed plate, and flexural pivot bar can 360 relative to ball hinge
Degree rotation；It is connected with semicircular limit film in the ball hinge, limiting slot, the flexural pivot of spherical pair are offered in the limit film
Bar, which is passed through, to be connected in limiting slot with upper arm arm body, and flexural pivot bar is movable within the scope of the flute length of limiting slot；Upper arm arm body passes through shoulder
Articulation mechanism can be rotated relative to fuselage；
The elbow joint mechanism includes ancon connecting shaft, and the ancon connecting shaft is in cross, and left and right ends are connected to
On upper arm arm body, and ancon connecting shaft can be rotated relative to upper arm arm body；One end is equipped in the middle part of the ancon connecting shaft to set
There is the torsion shaft of limited block, the other end of the torsion shaft is connected with forearm arm body, and forearm arm body is using torsion shaft as fulcrum, relatively
It is rotatable in ancon connecting shaft；One end of the ancon connecting shaft passes through upper arm belt and the upper arm belt wheel on upper arm arm body
Axis is connected, and the upper arm belt to match with upper arm belt is equipped on one end of the ancon connecting shaft and upper arm pulley shaft
Wheel；
The wrist joint mechanism includes the first wrist U-shaped link block, the second wrist U-shaped link block, the first wrist U-shaped
It is connected between link block and the second wrist U-shaped link block by wrist cross connecting shafts；The first wrist U-shaped link block
Bottom is connected with the wrist fixed plate mutually fixed with forearm arm body, the wrist cross connecting shafts and the first wrist U-shaped link block
The connecting rod being connected is arranged on forearm arm body, and wrist cross connecting shafts can be rotated relative to forearm arm body；Second wrist
It is connected with wrist body on portion's U-shaped link block, palm body is connected with by wrist body connecting shaft on wrist body；The one of the wrist cross connecting shafts
End is connected by forearm belt with the forearm pulley shaft being set on forearm arm body, and one end of the wrist cross connecting shafts is with before
The forearm belt pulley to match with forearm belt is equipped on armband wheel shaft.
Further, the both ends of the limit film are connected by straight pin with ball hinge, and limit film is relative to flexural pivot
Seat is swingable.
Further, limit sleeve is arranged on the flexural pivot bar, the limit sleeve is located at the inside of limit film, and limit is applied
In preventing upper arm arm body from bending limit film.
The utility model has the beneficial effects that: being made of shoulder joint, elbow joint, these three joints of wrist joint, have respectively
There are three, two, two freedom degrees, it can be achieved that redundancy similar with robot arm moves, between joint and joint or joint and hand
Between arm, the flexible motion of entire arm is realized using transmission devices such as belt transmission, motor drivens, before there is preferable market
Scape can be promoted widely.
Detailed description of the invention
It, below will be to required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
The attached drawing used is briefly described, it should be understood that the following drawings illustrates only some embodiments of the utility model, therefore not
It should be considered as the restriction to range, for those of ordinary skill in the art, without creative efforts,
It can also be obtained according to these attached drawings other relevant attached drawings.
Fig. 1 the utility model structure diagram；
Fig. 2 the utility model shoulder joint mechanism structure schematic diagram；
Fig. 3 the utility model elbow joint mechanism structure schematic diagram；
Fig. 4 the utility model wrist joint mechanism structure schematic diagram；
Fig. 5 the utility model slaps body structural schematic diagram；
Fig. 6 the utility model installation condition schematic diagram；
Icon: 1- fuselage；2- ball hinge；3- spherical pair；4- fixed plate；5- upper arm arm body；6- limit film；7- straight pin；
8- limit sleeve；9- ancon connecting shaft；10- torsion shaft；11- forearm arm body；12- upper arm belt；13- upper arm pulley shaft；14- upper arm
Belt pulley；15- the first wrist U-shaped link block；16- the second wrist U-shaped link block；17- wrist cross connecting shafts；18- wrist is solid
Fixed board；19- wrist body；20- slaps body；21- connecting rod；22- wrist body connecting shaft；23- forearm pulley shaft；24- forearm belt；Before 25-
Arm belt pulley；31- flexural pivot bar；61- limiting slot；91-U shape ancon limited block；The first limited block of 101-.
Specific embodiment
It is practical below in conjunction with this to keep the purposes, technical schemes and advantages of the utility model embodiment clearer
The technical solution in the utility model embodiment is clearly and completely described in attached drawing in novel embodiment, shows
So, described embodiment is a part of embodiment of the utility model, rather than whole embodiments.It is practical based on this
Embodiment in novel, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment is fallen within the protection scope of the utility model.Therefore, the implementation to the utility model provided in the accompanying drawings below
The detailed description of mode is not intended to limit the range of claimed invention, but is merely representative of the utility model
Selected embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not making creative labor
Every other embodiment obtained under the premise of dynamic, fall within the protection scope of the utility model.
Embodiment 1:
A kind of both arms personification arm, shown in as shown in Figure 1, Figure 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, including shoulder joint mechanism, elbow joint machine
Structure, wrist joint mechanism, the shoulder joint mechanism include ball hinge 2, and one end of the ball hinge 2 is formed with to be connected with fuselage 1
Connecting rod 21, spherical pair 3 is connected in the ball hinge 2, the flexural pivot bar 31 of the spherical pair 3 is connected with by fixed plate 4
Upper arm arm body 5, flexural pivot bar 31 can 360 degree of rotations relative to ball hinge 2；Semicircular limit film is connected in the ball hinge 2
6, limiting slot 61 is offered in the limit film 6, the flexural pivot bar 31 of spherical pair 3, which is passed through, to be connected in limiting slot 61 with upper arm arm body 5
It connects, flexural pivot bar 31 is movable within the scope of the flute length of limiting slot 61；Upper arm arm body 5 can be turned by shoulder joint mechanism relative to fuselage 1
It is dynamic；
The elbow joint mechanism includes ancon connecting shaft 9, and the ancon connecting shaft 9 is in cross, left and right ends connection
In on upper arm arm body 5, and ancon connecting shaft 9 can be rotated relative to upper arm arm body 5；The middle part of the ancon connecting shaft 9 is equipped with
One end is equipped with the torsion shaft 10 of limited block 101, and the other end of the torsion shaft 10 is connected with forearm arm body 11, forearm arm body 11 with
Torsion shaft 10 is fulcrum, rotatable relative to ancon connecting shaft 9；One end of the ancon connecting shaft 9 by upper arm belt 12 with
Upper arm pulley shaft 13 on upper arm arm body 5 is connected, and is all provided on one end of the ancon connecting shaft 9 and upper arm pulley shaft 13
There is a upper arm belt pulley 14 to match with upper arm belt 12, when practical operation, upper arm pulley shaft 13 is attached with driving motor, with reality
Existing power output；Be connected with U-shaped ancon limited block 91 in the ancon connecting shaft 9, the both ends of ancon connecting shaft 9 be each passed through in
U-shaped ancon limited block is connected behind 91 both ends with upper arm arm body 5；The other end of the torsion shaft 10 passes through U-shaped ancon limited block
91 relief hole, it is convenient to be connected with forearm arm body 11；
The wrist joint mechanism includes the first wrist U-shaped link block 15, the second wrist U-shaped link block 16, first wrist
It is connected between portion's U-shaped link block 15 and the second wrist U-shaped link block 16 by wrist cross connecting shafts 17；First wrist
The bottom of U-shaped link block 15 is connected with the wrist fixed plate 18 fixed with 11 phase of forearm arm body, the wrist cross connecting shafts 17
The connecting rod being connected with the first wrist U-shaped link block 15 is arranged on forearm arm body 11, and wrist cross connecting shafts 17 relative to
Forearm arm body 11 can be rotated；It is connected with wrist body 19 on the second wrist U-shaped link block 16, passes through wrist body connecting shaft on wrist body 19
22 are connected with palm body 20, slap five fingers on body 20, and the first joint of each finger uses cross axle to drive corresponding joint
Realize inside and outside rotation；One end of the wrist cross connecting shafts 17 passes through forearm belt 24 and the forearm on forearm arm body 11
Pulley shaft 23 is connected, and is equipped on one end of the wrist cross connecting shafts 17 and forearm pulley shaft 23 and 24 phase of forearm belt
Matched forearm belt pulley 25；When operation, forearm pulley shaft 23 is attached with driving motor, to realize power output.
In the present embodiment, the both ends of the limit film 6 are connected by straight pin 7 with ball hinge 2, and limit film 6 is opposite
It is swingable in ball hinge 2.
In the present embodiment, limit sleeve 8 is arranged on the flexural pivot bar 31, the limit sleeve 8 is located at the inside of limit film 6,
Limit sleeve 8 is for preventing upper arm arm body 5 from bending limit film 6.
In the present embodiment, as shown in Figure 1 and Figure 2, shoulder joint mechanism is equivalent to cup-and-ball joint in the position of human body,
It is the important revolute joint of arm, intensity, rigidity and vibratility are very big to the positioning accuracy and stability influence of mechanical arm；
Shoulder joint is connected with fuselage 1, to complete anterior flexion and rear stretching, outreach adduction, preceding supination three kinds of motion modes of rotation, realize three rotations certainly
It by spending, to realize three degree of freedom at the beginning and will recognize that using ball-and-socket hinge device and realize, but simple spherical hinge structure is used in shoulder
Joint can not carry out it and directly drive, and it can not bear pulling force；For this purpose, being carried out to general ball-and-socket hinge device
It improves；Eventually by the discovery of the sphere parallel mechanism of study shoulders of human body and three degree of freedom, Three Degree Of Freedom ball can use
Parallel institution fusion ball-and-socket hinge device in face is improved；It can be by the flexural pivot passive constraint of three-degree-of-freedom spherical parallel mechanism, it
It is designed into the geometric center of parallel institution, side is subject to stabilized structure again, and just can solve general ball-and-socket hinge device cannot bear to draw
The shortcomings that power.
In the present embodiment, as shown in Fig. 2, the motion range of shoulder joint mechanism is the important kinematic parameter of mechanical arm, setting
During counting configuration, a theoretical value theoretically had for the range of shoulder joint kinesitherapy, but the design of actual structure with
During analogue simulation, the contour structures of shoulder joint can cause to interfere to the movement of shoulder joint, inevitably to entire machinery
Arm has an impact；Since shoulder joint is the starting point in entire mechanical arm, its slewing area just will affect entire mechanical arm
The working space that can be reached.According to the three of shoulder joint motion modes, the motion range of shoulder joint is around 360 degree of X-axis, around Y
Axis 180 degree, about the z axis 180 degree.
In the present embodiment, as shown in Fig. 2, the Modeling and Design at shoulder joint will not only consider the freedom of motion of shoulder joint section structure
Degree, will also design the connection type of it and fuselage 1 and upper arm arm body 5；The design of fuselage 1 will consider the weight of entire mechanical arm
Amount, the size stability that there are also as base itself；Upper arm arm body 5 is the rod piece that shoulder joint is directly connected to, while being also that elbow closes
The fixation bracket for saving driving mechanism, so its intensity, rigidity and shock resistance will be designed；The modeling of shoulder joint is according to machinery zero
The mechanism of part is designed to the form of hollow out, such light weight, but mechanical property is good；Overall shoulder joint connection are as follows: in shoulder joint
With the installation place of fuselage 1, need to be driven the rotation of entire shoulder joint mechanism by a motor, and shoulder joint mechanism and upper arm arm
The connection of body 5 is consolidation, it can be connected by spherical pair 3 and flexural pivot bar 31, in the operating of motor driven shoulder joint, upper arm arm
Body 5 will drive the movement of whole arm with the rotation of flexural pivot bar 31, and fixed plate can be also designed in final assembling process
4, so that the connection of upper arm arm body 5 is stronger reliable.When using motor driven at shoulder joint, it is contemplated that motor is defeated
Torque is small out, the big problem of revolving speed, in actual application process, it is desirable to export big torque to drive mechanical arm, simultaneously
It also needs to carry out certain deceleration, otherwise impact is strong, can have an impact mechanical arm；It at this time just needs using retarder,
But in order to be further simplified the weight of mechanical arm, just there is very big requirement to retarder, for example to have higher precision, it is good
Stability, weight are light-duty, driving torque is big etc., generally in the mechanical arm of lightness, to directly drive and subtract usually using harmonic wave
Fast device or planetary reducer.
In the present embodiment, as shown in Figure 1, Figure 3, the structure design and motion range of elbow joint mechanism: divide from biologically
Analysis, the upper Qu Xiashen of elbow joint are based on humeroulnar joint, although elbow joint is also a cup-and-ball joint, since upper arm ruler closes
The influence of section, movement will be restricted, so the elbow joint of human body may only be bent and stretched, rotary motion, according to this movement
Mode should then realize two freedom degrees when designing elbow joint；The structure of final elbow joint drives lower arm using cross axle, makes to close
The rotation of two overturning, pitching freedom degrees is realized in energy conservation by driving lower arm；The motion range of elbow joint also will receive structure and set
The influence of meter generates borders and lever interference, so on the basis of certain joint connects, outside reasonable design elbow joint
Shape structure can effectively expand the motion range of elbow joint；Only when elbow joint carries out significantly pitching, just meeting and upper arm
The following platform of shell generates collision, the motion range of elbow joint are as follows: 120 degree of pitching, turn over 360 deg.
In the present embodiment, as shown in figure 3, elbow joint uses the connection of criss-cross ancon connecting shaft 9, realizes pitching and turn over
Turn the rotation of two freedom degrees；Elbow joint driving drives forearm to realize pitching by the transmission of upper arm belt 12 of upper arm arm body 5,
Servo motor driving upper arm belt pulley 14 is installed to rotate i.e. in upper arm arm body 5, then indirect driving is driven by upper arm belt 12
Forearm arm body 11 then needs to directly drive in preceding arm support by motor and retarder as the flip-flop movement of forearm.
In the present embodiment, as shown in figure 3, the structure design and motion range of wrist joint mechanism: the wrist joint of human hand
Movement micro in horizontal a deflection and an axial direction is generated by ulna and radius；Wrist closes in the structure designed herein
Section is connect with lower arm and palm, to realize two freedom degrees, is completed dorsiflexion palmar flexion, the inclined two kinds of motion modes of the inclined ruler of oar, in this way may be used
Carpal deflection and pitching are realized using Hooke's hinge structure.The structure of Hooke's hinge is that two axis are mutually perpendicular to and what is intersected turns
Dynamic pair, so being able to achieve the rotation of both direction, but two motion parts of Hooke's hinge have certain restricting relation；Pass through difference
Size design, the space that it can be allowed to rotate reaches the space of human hand as far as possible；About carpal motion range,
It is dependent on the restricting relation of Hooke's hinge structure, and the constraint of Hooke's hinge structure is exactly during deflection and pitching by that
This first wrist U-shaped link block 15, the second wrist U-shaped link block 16 restricts, since Hooke's hinge structure itself is specifically interfered
Feature, wrist joints sporting range are 60 degree, 70 degree of pitching of deflection.
In the present embodiment, as shown in Figure 1, Figure 4, Figure 5, the connection type and driving of wrist joint mechanism: wrist joint is connection
Forearm arm body 11 and end effector, that is, slap the important node of body 20, the forearm arm body 11 of mechanical arm and palm body 20 are to pass through
What the Hooke's hinge structure in wrist joint connected, carpal kinematic dexterity also will have a direct impact on the execution of end effector
Effect.The tool of body 20 is slapped there are five finger, first joint of each finger is in realizing using cross axle drive corresponding joint
Outer rotation, remaining joint are then that corresponding joint is driven to realize flexion and extension；Carpal driving is similar with the driving of elbow joint,
Its pitching movement is equally the corresponding forearm belt pulley 25 of motor driven by being mounted in forearm, then passes through forearm belt 25
What transmission was realized, its yaw motion needs to directly drive the first wrist U-shaped link block 15, the second wrist by motor and retarder
U-shaped link block 16 is realized.
Above description is merely a prefered embodiment of the utility model, is not intended to limit the utility model, for
For those skilled in the art, various modifications and changes may be made to the present invention.All spirit and original in the utility model
Within then, any modification, equivalent replacement, improvement and so on be should be included within the scope of protection of this utility model.
Claims (3)
1. a kind of both arms personification arm, it is characterised in that: including shoulder joint mechanism, elbow joint mechanism, wrist joint mechanism, the shoulder joint
Saving mechanism includes ball hinge, and one end of the ball hinge is formed with the connecting rod being connected with fuselage, connects in the ball hinge
There is spherical pair, the flexural pivot bar of the spherical pair is connected with upper arm arm body by fixed plate, and flexural pivot bar can be 360 degree relative to ball hinge
Rotation；It is connected with semicircular limit film in the ball hinge, limiting slot, the flexural pivot bar of spherical pair are offered in the limit film
It is connected across in limiting slot with upper arm arm body, flexural pivot bar is movable within the scope of the flute length of limiting slot；Upper arm arm body passes through shoulder joint
Save mechanism can be rotated relative to fuselage；
The elbow joint mechanism includes ancon connecting shaft, and the ancon connecting shaft is in cross, and left and right ends are connected to upper arm
On arm body, and ancon connecting shaft can be rotated relative to upper arm arm body；It is equipped with one end in the middle part of the ancon connecting shaft and is equipped with limit
The torsion shaft of position block, the other end of the torsion shaft are connected with forearm arm body, and forearm arm body is using torsion shaft as fulcrum, relative to elbow
Portion's connecting shaft is rotatable；One end of the ancon connecting shaft passes through upper arm belt and the upper arm pulley shaft phase on upper arm arm body
It connects, is equipped with the upper arm belt pulley to match with upper arm belt on one end of the ancon connecting shaft and upper arm pulley shaft；
The wrist joint mechanism includes the first wrist U-shaped link block, the second wrist U-shaped link block, the first wrist U-shaped connection
It is connected between block and the second wrist U-shaped link block by wrist cross connecting shafts；The bottom of the first wrist U-shaped link block
It is connected with the wrist fixed plate mutually fixed with forearm arm body, the wrist cross connecting shafts is connected with the first wrist U-shaped link block
The connecting rod connect is arranged on forearm arm body, and wrist cross connecting shafts can be rotated relative to forearm arm body；The second wrist U-shaped
It is connected with wrist body on link block, palm body is connected with by wrist body connecting shaft on wrist body；One end of the wrist cross connecting shafts is logical
It crosses forearm belt and is connected with the forearm pulley shaft being set on forearm arm body, one end of the wrist cross connecting shafts and forearm strap
The forearm belt pulley to match with forearm belt is equipped on wheel shaft.
2. a kind of both arms personification arm according to claim 1, it is characterised in that: the both ends of the limit film pass through straight pin
It is connected with ball hinge, and limit film is swingable relative to ball hinge.
3. a kind of both arms personification arm according to claim 1, it is characterised in that: it is arranged with limit sleeve on the flexural pivot bar,
The limit sleeve is located at the inside of limit film, and limit sleeve is for preventing upper arm arm body from bending limit film.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820516965.XU CN208179590U (en) | 2018-04-12 | 2018-04-12 | A kind of both arms personification arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820516965.XU CN208179590U (en) | 2018-04-12 | 2018-04-12 | A kind of both arms personification arm |
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| Publication Number | Publication Date |
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| CN208179590U true CN208179590U (en) | 2018-12-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820516965.XU Expired - Fee Related CN208179590U (en) | 2018-04-12 | 2018-04-12 | A kind of both arms personification arm |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648600A (en) * | 2019-01-13 | 2019-04-19 | 浙江大学 | A kind of double freedom hydraulic machinery shoulder joint with independent driving capability |
| CN109806117A (en) * | 2019-04-04 | 2019-05-28 | 深圳铭锐医疗自动化有限公司 | A kind of robot arm configuration and robot |
| CN109822555A (en) * | 2019-04-04 | 2019-05-31 | 广东铭凯医疗机器人有限公司 | A kind of wrist joint bio-mechanism and robot arm configuration |
| CN109893398A (en) * | 2019-04-04 | 2019-06-18 | 广东铭凯医疗机器人有限公司 | A kind of bionical healing robot |
| CN111376307A (en) * | 2018-12-30 | 2020-07-07 | 中国科学院沈阳自动化研究所 | Two-degree-of-freedom variable-rigidity ball-and-socket joint of robot |
| WO2021073001A1 (en) * | 2019-10-14 | 2021-04-22 | 河北工业大学 | Robot double-arm structure |
| CN113043240A (en) * | 2019-12-26 | 2021-06-29 | 中国科学院沈阳自动化研究所 | Light high-compatibility shoulder rehabilitation exoskeleton |
| CN114571500A (en) * | 2022-03-14 | 2022-06-03 | 中国人民解放军国防科技大学 | Centralized driving type rigid humanoid mechanical arm |
-
2018
- 2018-04-12 CN CN201820516965.XU patent/CN208179590U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111376307A (en) * | 2018-12-30 | 2020-07-07 | 中国科学院沈阳自动化研究所 | Two-degree-of-freedom variable-rigidity ball-and-socket joint of robot |
| CN111376307B (en) * | 2018-12-30 | 2022-11-08 | 中国科学院沈阳自动化研究所 | Two-degree-of-freedom variable-rigidity ball-and-socket joint of robot |
| CN109648600A (en) * | 2019-01-13 | 2019-04-19 | 浙江大学 | A kind of double freedom hydraulic machinery shoulder joint with independent driving capability |
| CN109806117A (en) * | 2019-04-04 | 2019-05-28 | 深圳铭锐医疗自动化有限公司 | A kind of robot arm configuration and robot |
| CN109822555A (en) * | 2019-04-04 | 2019-05-31 | 广东铭凯医疗机器人有限公司 | A kind of wrist joint bio-mechanism and robot arm configuration |
| CN109893398A (en) * | 2019-04-04 | 2019-06-18 | 广东铭凯医疗机器人有限公司 | A kind of bionical healing robot |
| WO2021073001A1 (en) * | 2019-10-14 | 2021-04-22 | 河北工业大学 | Robot double-arm structure |
| CN113043240A (en) * | 2019-12-26 | 2021-06-29 | 中国科学院沈阳自动化研究所 | Light high-compatibility shoulder rehabilitation exoskeleton |
| CN113043240B (en) * | 2019-12-26 | 2024-03-12 | 中国科学院沈阳自动化研究所 | Light high-compatibility shoulder rehabilitation exoskeleton |
| CN114571500A (en) * | 2022-03-14 | 2022-06-03 | 中国人民解放军国防科技大学 | Centralized driving type rigid humanoid mechanical arm |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20181204 |