CN214238287U - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
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- CN214238287U CN214238287U CN202023342604.4U CN202023342604U CN214238287U CN 214238287 U CN214238287 U CN 214238287U CN 202023342604 U CN202023342604 U CN 202023342604U CN 214238287 U CN214238287 U CN 214238287U
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- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 38
- 210000000707 wrist Anatomy 0.000 claims abstract description 21
- 210000002310 elbow joint Anatomy 0.000 claims description 42
- 210000003857 wrist joint Anatomy 0.000 claims description 42
- 230000033001 locomotion Effects 0.000 claims description 29
- 239000011295 pitch Substances 0.000 claims 3
- 239000003921 oil Substances 0.000 description 11
- 239000010727 cylinder oil Substances 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 9
- 239000007788 liquid Substances 0.000 description 9
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009347 mechanical transmission Effects 0.000 description 2
- 239000010705 motor oil Substances 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005520 electrodynamics Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
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Abstract
The application provides a manipulator, which comprises a base, a large arm, a first small arm, a second small arm, a wrist and a clamping part, wherein a rotating shoulder joint and a pitching shoulder joint are arranged between the base and the large arm and used for the large arm to rotate and pitch relative to the base; wherein, each joint is provided with an electric system and a hydraulic system. The technical scheme of this application is used for solving the problem that manipulator energy efficiency is low, control performance is poor.
Description
Technical Field
The application relates to the technical field of automation, in particular to a manipulator.
Background
The manipulator can imitate some action functions of human hand and arm, and can be used for grabbing, carrying article or operating automatic operation device of tool according to fixed program. It can replace the heavy labor of people to realize the mechanization and automation of production, and can be operated under harmful environment to protect the personal safety, thus being widely applied to the departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like. The existing underwater multi-degree-of-freedom mechanical arm has two driving modes: electric and hydraulic.
The electric manipulator mainly realizes corresponding actions through a motor driving mechanism joint. The transmission parts are all structural parts, and when large force needs to be output, the size of the motor and the size of the transmission parts are increased, so that the size and the weight of the manipulator are large. In addition, the electrodynamic type manipulator adopts the power supply, when output power is big, requires the power higher.
The hydraulic manipulator adopts hydraulic transmission to replace mechanical transmission, and has the advantages of large output force, compact structure and light weight. The existing hydraulic manipulator adopts a flow regulating valve to control the flow of input liquid of a hydraulic actuating mechanism, so that the output force of each joint is controlled, and the problems of throttling loss and high control difficulty exist.
The applicant considers that the defects can be improved, and then, the applicant conducts an intensive study by reasonably applying scientific principles, and finally proposes the invention which is reasonably designed and effectively improves the defects.
SUMMERY OF THE UTILITY MODEL
The application aims at providing the manipulator, and solves the problems of low energy efficiency and poor control performance of the manipulator.
According to an aspect of the present application, there is provided a robot arm including: a base, a big arm, a first small arm, a second small arm, a wrist and a clamp part, wherein a rotary shoulder joint and a pitching shoulder joint are arranged between the base and the big arm, the big arm rotates and tilts relative to the base, a tilting elbow joint is arranged between the big arm and the second small arm, the second small arm performs pitching motion relative to the big arm, a rotary elbow joint is arranged between the first small arm and the second small arm, the first small arm performs rotary motion relative to the second small arm, a pitching wrist joint is arranged between the first small arm and the wrist part, the wrist part performs pitching motion relative to the first small arm, a rotary wrist joint is arranged between the wrist part and the forceps part, the clamp part rotates relative to the wrist part, and a clamp joint is arranged in the clamp part and used for grabbing a target object; the rotary shoulder joint, the pitching elbow joint, the rotary elbow joint, the pitching wrist joint, the rotary wrist joint and the forceps joint are all provided with an electric system and a hydraulic system.
According to some embodiments, the rotary shoulder joint, the pitch elbow joint, the rotary elbow joint, the pitch wrist joint, the rotary wrist joint and the jaw joint are each mounted with an angle sensor.
According to some embodiments, the rotary shoulder joint, the pitch elbow joint, the rotary elbow joint, the pitch wrist joint, the rotary wrist joint, and the jaw joint are each mounted with a force sensor.
According to some embodiments, the manipulator further comprises a solenoid directional valve for controlling the direction of movement of the hydraulic system.
According to some embodiments, the electric system comprises an electric motor for providing power to the hydraulic system.
According to some embodiments, the electric powered system includes a motor drive plate connected to the motor.
According to some embodiments, the hydraulic system includes a hydraulic pump connected to the electric motor.
According to some embodiments, the hydraulic system comprises a hydraulic cylinder connected to the electromagnetic directional valve.
According to some embodiments, the hydraulic system comprises a hydraulic motor connected to the electromagnetic directional valve.
According to some embodiments, the jaw is provided with a non-slip mat.
Based on the manipulator, the multi-degree-of-freedom manipulator is controlled by an electric system and a hydraulic system in a mixed mode. Utilize hydraulic transmission technique, solve the problem that the same size electricity drives the manipulator and is less than hydraulic press manipulator strength, simultaneously through the output pressure of adjusting electric system's moment of torsion and rotational speed control hydraulic system, solve hydraulic press manipulator energy inefficiency, the poor problem of control characteristic.
For a better understanding of the nature and technical content of the present application, reference should be made to the following detailed description and accompanying drawings, which are provided to illustrate the present application and are not intended to limit the scope of the present application in any way.
Drawings
Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. The accompanying drawings, which are incorporated herein and constitute part of this disclosure, serve to provide a further understanding of the disclosure. The exemplary embodiments of the present disclosure and their description are provided to explain the present disclosure and not to limit the present disclosure. In the drawings:
fig. 1 illustrates a schematic structural diagram of a robot according to an exemplary embodiment of the present application.
Fig. 2 shows a schematic structural diagram of a robot according to an exemplary embodiment of the present application.
Fig. 3 is a schematic structural diagram illustrating an operation principle of a robot according to an exemplary embodiment of the present application.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals denote the same or similar parts in the drawings, and thus, a repetitive description thereof will be omitted.
The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the embodiments of the disclosure can be practiced without one or more of the specific details, or with other means, components, materials, devices, or the like. In such cases, well-known structures, methods, devices, implementations, materials, or operations are not shown or described in detail.
The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
The terms "first," "second," and the like in the description and claims of the present application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Currently, one type of manipulator is a hydraulic manipulator, and a direct power source for the motion of the hydraulic manipulator is generated and controlled by hydraulic pressure. For example, the mechanical operation is driven by hydraulic pumps, hydraulic control valves, and hydraulic cylinders. Such a driving process. The pneumatic manipulator is a direct power source for the action of the manipulator, which is generated and controlled by gas pressure. For example, the mechanical action is driven one by an air compressor, a pneumatic control valve and a pneumatic cylinder. The hydraulic manipulator is characterized in that a direct power source for the action of the manipulator is generated and controlled by liquid pressure. For example, the mechanical operation is driven by hydraulic pumps, hydraulic control valves, and hydraulic cylinders. Such a driving process.
The hydraulic transmission can be widely applied because it has the following main characteristics: since the hydraulic transmission is oil pipe connection, the transmission mechanism can be conveniently and flexibly arranged by virtue of the oil pipe connection, which is a place superior to mechanical transmission. For example, pumps that pump oil downhole may be driven using hydraulic transmissions to overcome the inefficiency of long drive shafts.
The other manipulator is an electric manipulator, and the electric manipulator has the advantages of high accuracy, energy conservation, precise control, improvement on the environment protection level, noise reduction and cost saving. Meanwhile, the speed-regulating device has the defects of small mechanical characteristic hardness, poor stability, small transmission power and suitability for occasions with low speed-regulating mode requirements.
The application provides a multi-degree-of-freedom manipulator with hybrid underwater electric and hydraulic functions. The hydraulic manipulator has the advantages of the electric manipulator and the hydraulic manipulator.
The applicant considers that the invention can be improved, and the invention is researched by reasonably applying scientific principles, and finally provides an invention with reasonable design and effective improvement.
A manipulator according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.
Fig. 1 illustrates a schematic structural diagram of a robot according to an exemplary embodiment of the present application. Fig. 2 shows a schematic structural diagram of a robot according to an exemplary embodiment of the present application.
As shown in fig. 1-2, according to an exemplary embodiment of the present disclosure, a manipulator includes a base 16, a large arm 15, a second small arm 14, a first small arm 13, a wrist portion 12, and a jaw portion 11.
A rotary shoulder joint 27 and a pitching shoulder joint 26 are arranged between the base 16 and the large arm 15, and are used for the large arm 15 to rotate and pitch relative to the base 16, a pitching elbow joint 25 is arranged between the large arm 15 and the second small arm 14, and is used for the second small arm 14 to pitch relative to the large arm 15, a rotary elbow joint 24 is arranged between the second small arm 14 and the first small arm 13, and is used for the first small arm 13 to rotate relative to the second small arm 14, a pitching wrist joint 23 is arranged between the first small arm 13 and the wrist 12, and is used for the wrist 12 to pitch relative to the first small arm 13, a rotary wrist joint 22 is arranged between the wrist 12 and the clamp 11, and is used for the clamp 11 to rotate relative to the wrist 12, and a clamp joint 21 is arranged in the clamp 11, and is used for the clamp 11 to grasp an object.
Wherein, the rotary shoulder joint 27, the pitching shoulder joint 26, the pitching elbow joint 25, the rotary elbow joint 24, the pitching wrist joint 23, the rotary wrist joint 22 and the clamp joint 21 are all provided with an electric system and a hydraulic system.
The manipulator clamp joint 21, the rotary wrist joint 22, the pitching wrist joint 23, the rotary elbow joint 24, the pitching elbow joint 25, the pitching shoulder joint 26 and the rotary shoulder joint 27 are all provided with angle sensors and force sensors. The device is used for acquiring the rotation angle and the stress condition of each joint.
Fig. 3 is a schematic structural diagram illustrating an operation principle of a robot according to an exemplary embodiment of the present application.
As shown in fig. 3, the hydraulic system of the robot includes a hydraulic system of a clamp joint 21, a hydraulic system of a rotary wrist joint 22, a hydraulic system of a pitch wrist joint 23, a hydraulic system of a rotary elbow joint 24, a hydraulic system of a pitch elbow joint 25, a hydraulic system of a pitch shoulder joint 26, and a hydraulic system of a rotary shoulder joint 27.
The hydraulic system of the tong joint 21 comprises an oil cylinder 71, a tong joint motor 61, a tong joint hydraulic pump 51, a tong joint electromagnetic directional valve 41, a tong joint hydraulic cylinder 31 and an oil inlet pipe and an oil outlet pipe of the tong joint hydraulic cylinder 31, wherein a tong joint motor driving plate is arranged in the tong joint motor 61. An angle sensor arranged in the clamp joint 21 and an electromagnetic reversing valve in a hydraulic circuit are connected with a motor driving plate of the clamp joint 21, and the value of the angle sensor is input to the motor driving plate as a position feedback signal of the motor driving plate. The motor driving board inputs the calculated rotating speed and torque value to the hydraulic pump through an internal algorithm, the motor driving board automatically switches the electromagnetic directional valve to realize the switching of the hydraulic pipeline, and liquid is input into a sealed volume of the hydraulic cylinder or the hydraulic motor at a certain flow rate and speed to realize the reciprocating motion of the hydraulic cylinder or the rotating motion of the hydraulic motor. The jaw 11 is provided with a non-slip pad.
The hydraulic system of the rotary wrist joint 22 comprises an oil cylinder 71, a wrist joint rotary motor 62, a wrist joint rotary hydraulic pump 52, a wrist joint rotary electromagnetic directional valve 42, a wrist joint rotary hydraulic motor 32, a hydraulic motor oil inlet pipe and a hydraulic motor oil outlet pipe, wherein a wrist joint motor drive plate is arranged in the wrist joint rotary motor 62. An angle sensor installed in the rotary wrist joint 22 and an electromagnetic directional valve in a hydraulic circuit are connected with a motor drive plate, and the value of the angle sensor is input to the motor drive plate as a position feedback signal of the motor drive plate. The motor driving board inputs the calculated rotating speed and torque value to the hydraulic pump through an internal algorithm, the motor driving board automatically switches the electromagnetic directional valve to realize the switching of the hydraulic pipeline, and liquid is input into a sealed volume of the hydraulic cylinder or the hydraulic motor at a certain flow rate and speed to realize the reciprocating motion of the hydraulic cylinder or the rotating motion of the hydraulic motor.
The wrist joint pitching 23 hydraulic system comprises an oil cylinder 71, a wrist joint pitching motor 63, a wrist joint pitching hydraulic pump 53, a wrist joint pitching electromagnetic directional valve 43, a wrist joint pitching hydraulic cylinder 33, a hydraulic cylinder oil inlet pipe and a hydraulic cylinder oil outlet pipe, wherein a wrist joint pitching motor driving plate is arranged in the wrist joint pitching motor 63. An angle sensor arranged in the pitching wrist joint 23 and an electromagnetic directional valve in a hydraulic loop are connected with a motor drive plate, and the value of the angle sensor is input to the motor drive plate as a position feedback signal of the motor drive plate. The motor driving board inputs the calculated rotating speed and torque value to the hydraulic pump through an internal algorithm, the motor driving board automatically switches the electromagnetic directional valve to realize the switching of the hydraulic pipeline, and liquid is input into a sealed volume of the hydraulic cylinder or the hydraulic motor at a certain flow rate and speed to realize the reciprocating motion of the hydraulic cylinder or the rotating motion of the hydraulic motor.
The hydraulic system of the rotary elbow joint 24 comprises an oil cylinder 71, an elbow joint rotary motor 64, an elbow joint rotary hydraulic pump 54, an elbow joint rotary electromagnetic directional valve 44, an elbow joint rotary hydraulic cylinder 34, a hydraulic cylinder oil inlet pipe and a hydraulic cylinder oil outlet pipe, wherein an elbow joint rotary motor driving plate is arranged in the elbow joint rotary motor 64. An angle sensor installed in the rotary elbow joint 24 and an electromagnetic directional valve in a hydraulic circuit are connected with a motor drive plate, and the value of the angle sensor is input to the motor drive plate as a position feedback signal of the motor drive plate. The motor driving board inputs the calculated rotating speed and torque value to the hydraulic pump through an internal algorithm, the motor driving board automatically switches the electromagnetic directional valve to realize the switching of the hydraulic pipeline, and liquid is input into a sealed volume of the hydraulic cylinder or the hydraulic motor at a certain flow rate and speed to realize the reciprocating motion of the hydraulic cylinder or the rotating motion of the hydraulic motor.
The hydraulic system for pitching the elbow joint 25 comprises an oil cylinder 71, an elbow joint pitching motor 65, an elbow joint pitching hydraulic pump 55, an elbow joint pitching electromagnetic directional valve 45, an elbow joint pitching hydraulic cylinder 35, a hydraulic cylinder oil inlet pipe and a hydraulic cylinder oil outlet pipe, wherein an elbow joint pitching motor driving plate is arranged in the elbow joint pitching motor 65. An angle sensor arranged in the pitching elbow joint 25 and an electromagnetic directional valve in a hydraulic loop are connected with a motor drive plate, and the value of the angle sensor is input to the motor drive plate as a position feedback signal of the motor drive plate. The motor driving board inputs the calculated rotating speed and torque value to the hydraulic pump through an internal algorithm, the motor driving board automatically switches the electromagnetic directional valve to realize the switching of the hydraulic pipeline, and liquid is input into a sealed volume of the hydraulic cylinder or the hydraulic motor at a certain flow rate and speed to realize the reciprocating motion of the hydraulic cylinder or the rotating motion of the hydraulic motor.
The hydraulic system for pitching the shoulder joint 26 comprises a hydraulic cylinder 71, a shoulder joint pitching motor 66, a shoulder joint pitching hydraulic pump 56, a shoulder joint pitching electromagnetic directional valve 46, a shoulder joint pitching hydraulic cylinder 36, a hydraulic cylinder oil inlet pipe and a hydraulic cylinder oil outlet pipe, wherein a shoulder joint pitching motor driving plate is arranged in the shoulder joint pitching motor 66. An angle sensor arranged in the pitching shoulder joint 26 and an electromagnetic reversing valve in a hydraulic circuit are connected with the motor driving plate, and the value of the angle sensor is input to the motor driving plate as a position feedback signal of the motor driving plate. The motor driving board inputs the calculated rotating speed and torque value to the hydraulic pump through an internal algorithm, the motor driving board automatically switches the electromagnetic directional valve to realize the switching of the hydraulic pipeline, and liquid is input into a sealed volume of the hydraulic cylinder or the hydraulic motor at a certain flow rate and speed to realize the reciprocating motion of the hydraulic cylinder or the rotating motion of the hydraulic motor.
The hydraulic system of the rotary shoulder joint 27 comprises an oil cylinder 71, a shoulder joint rotating motor 67, a shoulder joint rotary hydraulic pump 57, a shoulder joint rotary electromagnetic directional valve 47, a shoulder joint rotary hydraulic cylinder 37, a hydraulic cylinder oil inlet pipe and a hydraulic cylinder oil outlet pipe, wherein a shoulder joint rotating motor driving plate is arranged in the shoulder joint rotating motor 67. An angle sensor installed in the rotary shoulder joint 27 and an electromagnetic directional valve in a hydraulic circuit are connected with a motor drive plate, and the value of the angle sensor is input to the motor drive plate as a position feedback signal of the motor drive plate. The motor driving board inputs the calculated rotating speed and torque value to the hydraulic pump through an internal algorithm, the motor driving board automatically switches the electromagnetic directional valve to realize the switching of the hydraulic pipeline, and liquid is input into a sealed volume of the hydraulic cylinder or the hydraulic motor at a certain flow rate and speed to realize the reciprocating motion of the hydraulic cylinder or the rotating motion of the hydraulic motor.
The mechanical hand-clamp joint hydraulic cylinder 31 is connected with the clamp joint 21 and drives the clamp part 11 to open or close. The wrist rotating hydraulic motor 32 is connected with the rotating wrist joint 22, drives the jaw part 11 to do rotating motion relative to the wrist 12, the wrist pitching hydraulic cylinder 33 is connected with the pitching wrist joint 23 and drives the pitching motion of the wrist 12, the elbow rotating hydraulic cylinder 34 is connected with the rotating elbow joint and drives the rotating motion of the first small arm 13, the elbow pitching hydraulic cylinder 35 is connected with the pitching elbow joint 25 and drives the pitching motion of the second small arm 14, the shoulder pitching hydraulic cylinder 36 is connected with the pitching shoulder joint 26 and drives the pitching motion of the big arm 15, and the shoulder rotating hydraulic cylinder 37 is connected with the rotating shoulder joint 27 and drives the big arm 15 to do rotating motion relative to the base.
The manipulator base 16 is internally provided with a communication forwarding control board, each motor drive board is connected with the communication forwarding control board, and the state information collected by each motor drive board is sent to the upper computer monitoring platform.
The manipulator is characterized in that angle sensors are mounted on all joints of the manipulator, a control switch is set in a clamp part 11, a rotary switch is set in a wrist part 12, a main control panel is arranged in the manipulator and connected with the main control panel, the main control panel is connected with a communication forwarding panel, the main control panel collects values of all the joint angle sensors and sends the values to the communication forwarding control panel, the communication forwarding control panel sends the given angle of collected information to all hydraulic pump motor drive plates, and drive control of all hydraulic cylinders and hydraulic motors is achieved.
Finally, it should be noted that: although the present disclosure has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the disclosure. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (10)
1. A manipulator, characterized by comprising:
a base, a big arm, a first small arm, a second small arm, a wrist and a clamp part, wherein,
a rotary shoulder joint and a pitching shoulder joint are arranged between the base and the large arm, the large arm rotates and pitches relative to the base,
a pitching elbow joint is arranged between the big arm and the second small arm, the second small arm performs pitching motion relative to the big arm,
a rotary elbow joint is arranged between the first small arm and the second small arm, the first small arm performs rotary motion relative to the second small arm,
a pitching wrist joint is arranged between the first small arm and the wrist part, the wrist part performs pitching motion relative to the first small arm,
a rotary wrist joint is arranged between the wrist part and the forceps part, the forceps part rotates relative to the wrist part,
a clamp joint is arranged in the clamp part and used for grabbing a target object;
the rotary shoulder joint, the pitching elbow joint, the rotary elbow joint, the pitching wrist joint, the rotary wrist joint and the forceps joint are all provided with an electric system and a hydraulic system.
2. The robot hand according to claim 1, wherein the rotary shoulder joint, the pitching elbow joint, the rotary elbow joint, the pitching wrist joint, the rotary wrist joint, and the forceps joint are each mounted with an angle sensor.
3. The robot hand of claim 1, wherein the rotational shoulder joint, the pitch elbow joint, the rotational elbow joint, the pitch wrist joint, the rotational wrist joint, and the jaw joint are each mounted with a force sensor.
4. The robot hand of claim 1, further comprising a solenoid directional valve for controlling a direction of movement of the hydraulic system.
5. The manipulator according to claim 1, wherein the motorized system includes a motor for providing power to a hydraulic system.
6. The robot of claim 5, wherein said motorized system includes a motor drive plate connected to said motor.
7. The manipulator of claim 5, wherein the hydraulic system comprises a hydraulic pump connected to the motor.
8. The robot of claim 4, wherein said hydraulic system includes a hydraulic cylinder connected to said solenoid directional valve.
9. The robot of claim 4, wherein said hydraulic system includes a hydraulic motor connected to said solenoid directional valve.
10. The manipulator according to claim 1, wherein the jaw is provided with a non-slip pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023342604.4U CN214238287U (en) | 2020-12-31 | 2020-12-31 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023342604.4U CN214238287U (en) | 2020-12-31 | 2020-12-31 | Mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN214238287U true CN214238287U (en) | 2021-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023342604.4U Active CN214238287U (en) | 2020-12-31 | 2020-12-31 | Mechanical arm |
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| Country | Link |
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| CN (1) | CN214238287U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114795461A (en) * | 2022-05-24 | 2022-07-29 | 河北工业大学 | Semi-automatic mechanical arm for adjusting pose of blood vessel interventional robot |
-
2020
- 2020-12-31 CN CN202023342604.4U patent/CN214238287U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114795461A (en) * | 2022-05-24 | 2022-07-29 | 河北工业大学 | Semi-automatic mechanical arm for adjusting pose of blood vessel interventional robot |
| CN114795461B (en) * | 2022-05-24 | 2024-04-09 | 河北工业大学 | Semi-automatic mechanical arm for adjusting pose of vascular intervention robot and assisting blood vessel intervention robot |
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