CN115107006A - Mechanical arm and robot - Google Patents
Mechanical arm and robot Download PDFInfo
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- CN115107006A CN115107006A CN202210449919.3A CN202210449919A CN115107006A CN 115107006 A CN115107006 A CN 115107006A CN 202210449919 A CN202210449919 A CN 202210449919A CN 115107006 A CN115107006 A CN 115107006A
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- drive
- fixed
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- elbow
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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Abstract
The disclosure provides a mechanical arm and a robot, and relates to the technical field of robots. The arm includes: a first mechanical joint, a second mechanical joint and a drive assembly; the first mechanical joint comprises a first fixed piece and a first movable piece which are connected in a rotating way; the second mechanical joint comprises a second fixed piece and a second movable piece which are connected in a rotating way; in a first working mode, the at least two driving sources can drive the second movable piece to rotate relative to the second fixed piece, and the position of the first movable piece relative to the first fixed piece is fixed; in a second working mode, the driving source drives the second movable piece, the second fixed piece and the first movable piece to rotate relative to the first fixed piece, and the position of the second movable piece relative to the second fixed piece is fixed. The mechanical arm disclosed by the invention can realize the coupling driving of at least two driving sources to a plurality of joints, and the utilization rate of the driving sources is improved.
Description
Technical Field
The disclosure relates to the technical field of robots, in particular to a mechanical arm and a robot.
Background
With the development of robotics and the diffusion of applicable fields, robots have become irreplaceable tools in the fields of production, service and the like. The articulated robot is based on the bionic design of human arms, and is widely applied due to the advantages of flexible action, compact structure and the like.
In the related art, the articulated robot usually adopts a rope drive (called Tendon drive) scheme, but each mechanical joint in the drive scheme adopts an independent drive source, so that each mechanical joint of the robot has a complex structure and a large rotational inertia, and the motion performance of the mechanical joint is reduced.
Disclosure of Invention
The utility model provides a mechanical arm and robot can solve each mechanical joint structure complicacy of robot, the great problem of inertia.
The technical scheme is as follows:
in one aspect, a robot arm is provided, the robot arm comprising: a first mechanical joint, a second mechanical joint and a drive assembly;
the first mechanical joint comprises a first fixed part and a first movable part which are rotationally connected; the second mechanical joint comprises a second fixed piece and a second movable piece which are connected in a rotating mode;
the second fixed piece is connected with the first movable piece;
the driving assembly comprises at least two driving sources and at least two driving ropes;
each of the at least two driving sources is connected to the first fixed member, the first movable member, and the second movable member through at least one driving rope;
the at least two driving sources include a first operation mode and a second operation mode;
in the first working mode, the at least two driving sources can drive the second movable piece to rotate relative to the second fixed piece, and the position of the first movable piece relative to the first fixed piece is fixed;
in the second working mode, the at least two driving sources can drive the second movable piece, the second fixed piece and the first movable piece to rotate relative to the first fixed piece, and the second movable piece is fixed relative to the second fixed piece.
In another aspect, a robot is provided, comprising a robotic arm according to the present disclosure.
The beneficial effect that technical scheme that this disclosure provided brought includes at least:
the mechanical arm comprises a first mechanical joint, a second mechanical joint and a driving assembly, wherein the driving assembly comprises at least two driving sources and at least two driving ropes, each driving source in the at least two driving sources is connected with a first movable piece of the first mechanical joint, a second movable piece of the second mechanical joint and a first fixed piece of the first mechanical joint through at least one driving rope, and the at least two driving sources can drive the second movable piece to rotate relative to the second fixed piece under a first working mode and enable the first movable piece to be fixed relative to the first fixed piece; the second movable part, the second fixing part and the first movable part can be driven to rotate relative to the first fixing part in the second working mode, the second movable part is fixed relative to the second fixing part, the coupling driving of the at least two driving sources to the plurality of joints is achieved, the utilization rate of the driving sources is improved, the structural complexity of the mechanical joint is reduced, the rotational inertia of the mechanical joint is reduced, and the movement performance of the mechanical joint is enhanced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a schematic structural view of a robotic arm provided in embodiments of the present disclosure;
FIG. 2 is a schematic view of a robot arm according to another embodiment of the present disclosure;
FIG. 3 is a partial cross-sectional view of the robotic arm of FIG. 2;
FIG. 4 is a partial schematic view of the robotic arm of FIG. 2;
FIG. 5 is another partial schematic view of the robotic arm of FIG. 2;
FIG. 6 is a schematic view of a robot arm provided in accordance with another embodiment of the present disclosure;
figure 7 is a partial schematic view of the robotic arm of figure 5.
The reference numerals in the figures are denoted respectively by:
001. a first axis; 002. a second axis; 003. a third axis; 004. a fourth axis;
10. a first mechanical joint; 20. a second mechanical joint; 30. a drive assembly;
101. a first fixing member; 102. a first movable member; 103. a third fixing member; 104. a second connecting member;
201. a second fixing member; 202. a second movable member; 203. a third movable member;
2021. a first position; 2022. a second position;
2023. a third position; 2024. a fourth position;
204. a first connecting member;
301. a drive source;
3011. a first elbow drive sheave; 3012. a second elbow drive sheave;
302. a drive rope;
3021. a first elbow drive rope; 30211. a first end; 30212. a second end;
3022. a second elbow drive rope; 30221. a third end; 30222. a fourth end;
4. a wrist-elbow connector; 41. a tactile sensor;
5. a rotary encoder;
6. a torque sensor.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the disclosure, as detailed in the appended claims.
Unless otherwise defined, all technical terms used in the embodiments of the present disclosure have the same meaning as commonly understood by one of ordinary skill in the art.
In the related art, the articulated robot usually adopts a closed loop rope drive (Tendon drive, also called line drive) scheme.
However, in the closed-loop rope driving scheme, each degree of freedom is driven by a driving source (such as a motor) in cooperation with two ropes, and the driving source moves in a forward direction and a reverse direction to respectively pull one rope to drive the mechanical joint to move in a corresponding direction.
Each degree of freedom of the mechanical joint corresponds to a drive source. In practical application, most of the degrees of freedom of the mechanical joint generally operate at a low power level, and the utilization rate of the driving source corresponding to the degrees of freedom is low, so that great cost waste is caused.
Each free degree corresponds to a driving source, and the mass of the mechanical joint is increased, so that the rotational inertia of the mechanical joint is increased, and the running performance of the mechanical joint is reduced.
In addition, a redundant rope driving scheme, namely a scheme of driving two degrees of freedom by three motors, is also provided in the prior art, and the scheme is only based on the coordination action of a plurality of driving ropes, so that the mechanical wrist joint moves according to a desired direction, angle or position.
However, in the redundant rope drive scheme, the number of drive sources is larger than that of the closed loop rope drive scheme, so that the mechanical joint has lower operation performance.
Therefore, the present disclosure provides a robot arm, which can drive the second movable member to rotate relative to the second fixed member in the first working mode; the second mechanical joint and the first movable part can be driven to rotate relative to the first fixed part in the second working mode, coupling driving of the at least two driving sources to the plurality of joints is achieved, the utilization rate of the driving sources is improved, the structural complexity of the mechanical joints is reduced, the rotational inertia of the mechanical joints is improved, and the movement performance of the mechanical joints is enhanced.
It should be understood that the mechanical arm provided by the application can be applied to robot scenes in the fields of cloud technology, artificial intelligence, intelligent traffic and the like, and human-computer interaction and service of the scenes of daily life of people are achieved through the robot.
Artificial intelligence is a theory, method, technique and application system that uses a mathematical computer or a machine controlled by a digital computer to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use the knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technique of computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can react in a manner similar to human intelligence. Artificial intelligence is the research of the design principle and the implementation method of various intelligent machines, so that the machines have the functions of perception, reasoning and decision making.
The artificial intelligence is a comprehensive subject, and relates to a wide field, namely a hardware level technology and a software level technology. The basic technologies of artificial intelligence generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, and mechatronics. The artificial intelligence software technology mainly comprises a computer vision technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and the like.
It can be understood that an Intelligent Transportation System (ITS) applied in the field of Intelligent Transportation is also called an Intelligent Transportation System (Intelligent Transportation System), and is a comprehensive Transportation System which effectively and comprehensively applies advanced scientific technologies (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operation research, artificial intelligence and the like) to Transportation, service control and vehicle manufacturing, strengthens the relation among vehicles, roads and users, thereby forming a comprehensive Transportation System which ensures safety, improves efficiency, improves environment and saves energy. To make the objects, technical solutions and advantages of the present disclosure more apparent, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a robot arm provided in an embodiment of the present disclosure.
In one aspect, referring to fig. 1, the present embodiment provides a robot arm, including: a first mechanical joint 10, a second mechanical joint 20 and a drive assembly 30.
The first mechanical joint 10 comprises a first fixed part 101 and a first movable part 102 which are rotatably connected; the second mechanical joint 20 comprises a second fixed part 201 and a second movable part 202 which are rotatably connected; second stationary member 201 is connected to first moveable member 102.
The drive assembly 30 comprises at least two drive sources 301 and at least two drive ropes 302; each of the at least two driving sources 301 is connected to the first fixed member 101, the first movable member 102, and the second movable member 202 by at least one driving rope 302.
The at least two drive sources 301 include a first operating mode and a second operating mode;
in the first working mode, at least two driving sources 301 can drive the second movable element 202 to rotate relative to the second fixed element 201, and the position of the first movable element 102 relative to the first fixed element 101 is fixed;
in the second operation mode, the at least two driving sources 301 can drive the second movable member 202, the second fixed member 201, and the first movable member 102 to rotate relative to the first fixed member 101, and fix the position of the second movable member 202 relative to the second fixed member 201.
The mechanical arm comprises a first mechanical joint 10, a second mechanical joint 20 and a driving assembly 30, wherein the driving assembly 30 comprises at least two driving sources 301 and at least two driving ropes 302, each driving source 301 of the at least two driving sources 301 is connected with a first movable piece 102 of the first mechanical joint 10, a second movable piece 202 of the second mechanical joint 20 and a first fixed piece 101 of the first mechanical joint 10 through at least one driving rope 302, and the at least two driving sources 301 can drive the second movable piece 202 to rotate relative to the second fixed piece 201 in a first working mode and fix the position of the first movable piece 102 relative to the first fixed piece 101; the second movable part 202, the second fixed part 201 and the first movable part 102 can be driven to rotate relative to the first fixed part 101 in the second working mode, the position of the second movable part 202 relative to the second fixed part 201 is fixed, the coupling driving of at least two driving sources 301 to a plurality of joints is realized, the utilization rate of the driving sources 301 is improved, the structural complexity of the mechanical joint is reduced, the rotational inertia of the mechanical joint is improved, and the motion performance of the mechanical joint is enhanced.
In addition, in the embodiment, when the second mechanical joint 20 moves independently (i.e. the second movable part 202 rotates relative to the second fixed part 201, but the position of the first movable part 102 is fixed relative to the first fixed part 101), and when the first mechanical joint 10 drives the second mechanical joint 20 to move in a coupling manner (i.e. the second movable part 202, the second fixed part 201, and the first movable part 102 rotate relative to the first fixed part 101, and the position of the second movable part 202 is fixed relative to the second fixed part 201), the two or more driving sources 301 are driven simultaneously, that is, the joint movement corresponding to any degree of freedom is driven by the power of the two or more driving sources 301, compared with the related art, in which a single degree of freedom is driven by a single driving source 301, the coupling driving of two or more driving sources 301 to a single movable part can be realized, and at least twice of traction driving can be realized, the working performance of the moving part such as the rotating moment, the rotating speed and the like can be improved.
In some possible implementations, the at least two driving sources 301 include a motor and a driving sheave, the motor and the driving sheave are connected by a transmission mechanism, and the driving sheave is driven by the motor to rotate by the transmission mechanism.
The driving rope 302 is wound around the driving sheave, and when the driving sheave rotates, the driving rope 302 can be wound tightly thereon, so that traction is generated on at least one of the first fixed member 101, the first movable member 102 and the second movable member 202 by the driving rope 302.
In some possible implementations, the transmission includes, but is not limited to, a belt transmission, a gear transmission, a worm gear transmission, and the like.
The transmission mechanism is illustratively a belt transmission, and includes, for example, a driving pulley connected to an output shaft of the motor, a driving belt connected to the driving sheave, and a driven pulley connected between the driving pulley and the driven pulley.
Still further exemplary, the drive mechanism is a belt drive, for example, further comprising a tensioning mechanism proximate to the drive belt, the tensioning mechanism being operable to adjust a tension of the drive belt.
In some possible implementations, the first operation mode and the second operation mode may be, for example, different operation modes formed according to different or the same rotation directions of the at least two driving sources 301; different operation modes may also be formed according to the difference or the same of the rotation speeds of the at least two drive sources 301; it is also possible to have different operation modes formed according to the difference or the same of the rotation direction, the rotation speed of the at least two driving sources 301.
In some embodiments, in the first operation mode, the at least two driving sources 301 rotate in the same direction, and in the second operation mode, the at least two driving sources 301 rotate in opposite directions.
Therefore, the mechanical arm of the embodiment can control the second mechanical joint 20 to move independently and the first mechanical joint 10 to drive the second mechanical joint 20 to move in a coupling manner by controlling the rotation directions of the at least two driving sources 301, and has a simple structure and high coupling control efficiency.
In some embodiments, in the first operation mode, the at least two driving sources 301 rotate in opposite directions, and in the second operation mode, the at least two driving sources 301 rotate in the same direction.
Further, for example, in the first operation mode and the second operation mode, the rotation speed and the output torque of at least two driving sources 301 are equal to each other.
Illustratively, the drive assembly 30 includes two motors, two motorsTime output torque is T respectively m1 And T m2 The equivalent drive torque of the joint is tau respectively 1 And τ 2 And the diameters of all the wire wheels are consistent. According to the characteristics of the structure (neglecting the friction force of the driving rope, namely the force of the driving rope is equal everywhere), the relation between the joint torque and the motor torque can be obtained as follows:
further, the driving torque T for each motor m1 And T m2 Assume that its maximum output torque limit is:
max(abs(T m1 ),abs(T m2 ))≤T M (2)
then, according to the above formula (1), the maximum output torque of each joint is 2T M That is, by means of a coupled cable arrangement, the loading capacity of a single degree of freedom in a mechanical joint can be increased by a factor of 2 at most.
As used herein, the terms "plurality", "at least one" mean one or more, and the terms "plurality", "at least two" mean two or more. "and/or" describes the association relationship of the associated object, indicating that there may be three relationships, for example, a and/or B, which may indicate: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
In some embodiments, as shown in conjunction with fig. 1, at least two drive sources 301 are located on a side of the first stationary member 101 facing away from the first moveable member 102, and at least two drive cables 302 are connected to the first moveable member 102 through the first stationary member 101 and to the second moveable member 202 through the second stationary member 201.
Therefore, in the mechanical arm of the embodiment, at least two driving sources 301 are disposed on a side of the first fixed member 101 away from the first movable member 102, the driving rope 302 passes through the first fixed member 101 to be connected with the first movable member 102, and passes through the second fixed member 201 to be connected with the second movable member 202, the mass of the at least two driving sources 301 is concentrated on the side where the first fixed member 101 is located, and the mass of the side where the first movable member 102, the second fixed member 201, and the second movable member 202 are located is relatively small, which is beneficial to improving the rotational inertia of the side structure and improving the operation performance thereof.
In some embodiments, as shown in connection with fig. 2, the first mechanical joint 10 is a mechanical shoulder joint and the second mechanical joint 20 is a mechanical elbow joint; the first fixed part 101 is rotatably connected with the first movable part 102 along a first axis 001; the second stationary member 201 and the second movable member 202 are rotatably coupled along a second axis 002.
In the first operation mode, the at least two driving sources 301 can drive the second movable member 202 to rotate around the second axis 002 relative to the second fixed member 201, and fix the position of the first movable member 102 relative to the first fixed member 101; in the second operation mode, the at least two driving sources 301 can drive the second mechanical joint 20 and the first movable element 102 to rotate around the first axis 001 relative to the first fixed element 101, and fix the position of the second movable element 202 relative to the second fixed element 201.
In the robot arm of the present embodiment, the first robot joint 10 is a shoulder joint, the second joint is a elbow joint, and in the first operation mode, the at least two driving sources 301 can drive the second movable element 202 of the elbow joint to rotate around the second axis 002 with respect to the second fixed element 201 of the elbow joint, and the position of the first movable element 102 of the shoulder joint with respect to the first fixed element 101 of the shoulder joint is fixed, so that the independent motion of the elbow joint is realized.
In the second operating mode, the at least two driving sources 301 can drive the first movable part 102 of the shoulder joint to rotate the entire elbow joint (including the second fixed part 201 and the second movable part 202) around the first axis 001 relative to the first fixed part 101 of the shoulder joint, but the second movable part 202 of the elbow joint is fixed in position relative to the second fixed part 201 of the elbow joint, so that the coupled motion of the elbow joint and the shoulder joint is realized.
The present embodiment uses a set of driving sources 301, and can drive the elbow joint and the shoulder joint separately by controlling the set of driving sources 301 to operate in different operation modes. The degrees of freedom of the mechanical elbow joint and the mechanical shoulder joint can be driven by the at least two driving sources 301 in a traction manner, so that at least twice traction driving is realized, and the improvement of the working performances of the mechanical elbow joint and the mechanical shoulder joint, such as the rotating torque, the rotating speed and the like, is facilitated.
In some possible implementations, the robot arm further includes a wrist joint, the shoulder joint is connected to the elbow joint, and the wrist joint is connected to the elbow joint to form the complete robot arm.
In some possible implementations, at least two drive sources 301 are located within the second movable member 202 and are connected to the second movable member 202 for movement with the second movable member 202.
As shown in connection with fig. 2, in some embodiments, first axis 001 and second axis 002 intersect perpendicularly. Therefore, the first mechanical joint 10 (such as a mechanical shoulder joint) can drive the second mechanical joint 20 (such as a mechanical elbow joint) to rotate, the self-rotating motion of the forearm in the arm of a human body is simulated, and the second mechanical joint 20 can rotate in a large range (such as 0-360 degrees) in the space, so that the motion scenes of the mechanical arm are enriched, and the application range of the mechanical arm is widened.
As shown in fig. 2, in some embodiments, first mechanical joint 10 further includes a third fastener 103; the first fixing member 101 is rotatably connected to the third fixing member 103. Thus, the first mechanical joint 10 includes a third fixed member 103, a first fixed member 101, and a first movable member 102, which are rotatably connected in this order.
In some possible implementations, the first fixing member 101 can simulate the lifting motion of the shoulder joint of the arm of the human body by rotating relative to the second fixing member 201 through the driving of the shoulder driving assembly. The second fixing member 201 is fixedly connected to a trunk of the robot or other supporting structure, and plays a role of fixedly supporting the whole robot arm.
Referring to fig. 2, in some embodiments, the second mechanical joint 20 further includes a first connecting member 203, the second fixing member 201 is rotatably connected to the first connecting member 203, and the first connecting member 203 is rotatably connected to the second movable member 202.
Therefore, in the mechanical arm of the present embodiment, the second fixed member 201 of the second mechanical joint 20 is rotatably connected to the second movable member 202 through the first connection member 203, and the second axis 002 can be disposed at a position far from the second fixed member 201, so that the angle at which the second movable member 202 can rotate relative to the second fixed member 201 is significantly enlarged.
In addition, the mechanical arm of the embodiment reduces the wiring difficulty of the driving rope 302 of the mechanical elbow joint, and is beneficial to reducing the assembly and maintenance difficulty of the mechanical elbow joint.
As shown in connection with fig. 2-5, in some embodiments, the at least two drive sources 301 include a first elbow drive sheave 3011 and a second elbow drive sheave 3012; the first elbow driving rope pulley 3011 and the second elbow driving rope pulley 3012 are connected to the first moving part 102; the at least two drive cables 302 include a first elbow drive cable 3021 and a second elbow drive cable 3022.
The first end 30211 of the first elbow drive rope 3021 is coupled to the first stationary member 101 in a first direction of rotation and the second end 30212 is coupled to the first stationary member 101 in a second direction of rotation after passing around the second movable member 202 at a first position 2021, the first elbow drive sheave 3011 and the second movable member 202 at a second position 2022; the third end 30221 of the second elbow drive rope 3022 is coupled to the first fixed member 101 in the second rotational direction and the fourth end 30222 is coupled to the first fixed member 101 in the first rotational direction after passing around the second movable member 202 at the first position 2021, the second elbow drive sheave 3012 and the second movable member 202 at the second position 2022.
The first position 2021 and the second position 2022 of the second movable element 202 are respectively located on two sides of the second axis 002; the first rotation direction and the second rotation direction are two opposite rotation directions of the first movable member 102 and the first fixed member 101.
In the mechanical arm of the present embodiment, the at least two driving sources 301 include two elbow driving sheaves, the two elbow driving sheaves are installed in the first moving element 102, the two elbow driving sheaves can respectively drive the two elbow driving ropes 302, and the two elbow driving ropes 302 are wound around the two elbow driving sheaves, so that the connection between the driving ropes 302 and the first moving element 102 is also realized.
The at least two drive cables 302 include two elbow drive cables 302, the two elbow drive cables 302 being connected to first stationary member 101, first moveable member 102, second moveable member 202, respectively, and to first position 2021 and second position 2022 of second moveable member 202, respectively, and ultimately to second moveable member 202 in opposite winding directions.
The mechanical arm of the embodiment has the following specific working process analysis:
a first operating mode:
when the first elbow drive sheave 3011 and the second elbow drive sheave 3012 rotate in the same direction, the first elbow drive rope 3021 and the second elbow drive rope 3022 respectively apply traction to the first position 2021 (or the second position 2022) of the second movable member 202 toward the second fixed member 201, so that the second movable member 202 rotates about the second axis 002 to the side of the first position 2021 (or the second position 2022);
at this time, since the first elbow driving rope 3021 and the second elbow driving rope 3022 are connected to the first fixed member 101 in opposite directions, the traction forces of the first elbow driving rope 3021 and the second elbow driving rope 3022 on the first fixed member 101 are cancelled out, that is, the first movable member 102 maintains a state of force balance, and the first movable member 102 and the first fixed member 101 maintain a fixed relative position.
A second working mode:
when the first elbow drive sheave 3011 and the second elbow drive sheave 3012 rotate in opposite directions, the first elbow drive rope 3021 applies traction toward the second fixed element 201 toward the first position 2021 of the second movable element 202, and the second elbow drive rope 3022 applies traction toward the second position 2022 of the second movable element 202 toward the second fixed element 201 (alternatively, the first elbow drive rope 3021 applies traction toward the second position 2022 of the second movable element 202 toward the second fixed element 201, and the second elbow drive rope 3022 applies traction toward the first position 2021 of the second movable element 202 toward the second fixed element 201), the forces on the two sides of the second axis 002 of the second movable element 202 cancel each other out, the second movable element 202 maintains a force balanced state, and the second movable element 202 and the second movable element 201 maintain a fixed position relative to each other.
At this time, since the first elbow driving rope 3021 and the second elbow driving rope 3022 are connected to the first fixing section 101 in the opposite directions, in the case where the first elbow driving rope 3021 and the second elbow driving rope 3022 are moved in the opposite directions, the traction force to the first fixing section 101 is the same on the contrary, and thus, the total force of the traction forces of the first elbow driving rope 3021 and the second elbow driving rope 3022 applied to the first fixing section 101 is equal to the sum of the traction forces of the two. However, since the first fixed part 101 is a fixed end, the first movable part 102 is pushed back to move, so that the first movable part 102 drives the second mechanical joint 20 to move.
In some embodiments, as shown in fig. 6, first mechanical joint 10 is an elbow joint and second mechanical joint 20 is a wrist joint; first fixed part 101 and first movable part 102 are rotatably connected along third axis 003; the second stationary member 201 and the second movable member 202 are rotatably coupled along a fourth axis 004.
In the first operation mode, at least two driving sources 301 can drive the second movable member 202 to rotate around the fourth axis 004 relative to the second fixed member 201, and fix the position of the first movable member 102 relative to the first fixed member 101.
In the second operating mode, the at least two drive sources 301 are capable of driving the second mechanical joint 20 and the first movable element 102 to rotate about the third axis 003 with respect to the first fixed element 101 and to fix the position of the second movable element 202 with respect to the second fixed element 201.
In the robot arm of the present embodiment, the first robot joint 10 is a wrist joint, and in the first operating mode, the at least two driving sources 301 can drive the second movable element 202 of the wrist joint to rotate around the fourth axis 004 relative to the second fixed element 201 of the wrist joint, and the position of the first movable element 102 relative to the first fixed element 101 is fixed, so that the independent motion of the wrist joint is realized.
In a second working mode, the at least two driving sources 301 can drive the first movable part 102 of the wrist joint to drive the whole wrist joint to rotate around the third axis 003 relative to the first fixed part 101 of the wrist joint, and the second movable part 202 is fixed in position relative to the second fixed part 201, so that the coupling motion of the wrist joint and the wrist joint is realized.
The present embodiment uses a set of driving devices (at least two driving sources 301) that can drive the wrist joint and the elbow joint, respectively, by controlling the set of driving source devices to operate in different operation modes. The degrees of freedom of the mechanical wrist joint and the mechanical elbow joint can be driven by the at least two driving sources 301 in a traction mode, at least twice traction driving is achieved, and improvement of working performances such as the rotating torque and the rotating speed of the mechanical wrist joint and the mechanical elbow joint is facilitated.
In some possible implementations, the robot arm further includes a mechanical shoulder joint, the mechanical shoulder joint is connected with the mechanical elbow joint, and the mechanical wrist joint is connected with the mechanical elbow joint to form the complete robot arm.
In some possible implementations, at least two drive sources 301 are located within the mechanical shoulder joint and are connected to the first fixture 101.
As shown in connection with fig. 6, in some embodiments, the third axis 003 and the fourth axis 004 intersect perpendicularly. Therefore, the first mechanical joint 10 (such as a mechanical elbow joint) can drive the second mechanical joint 20 (such as a mechanical wrist joint) to rotate to simulate the motion of the elbow of a human body, the second mechanical joint 20 can rotate in a large range (such as 0-180 degrees) in the space, the motion scenes of the mechanical arm are enriched, and the application range of the mechanical arm is widened.
Referring to fig. 6, in some embodiments, the first mechanical joint 10 further includes a second connecting member 104, the first fixing member 101 is rotatably connected to the second connecting member 104, and the second connecting member 104 is rotatably connected to the first movable member 102.
Therefore, in the robot arm of the present embodiment, the first fixed member 101 in the first robot joint 10 is rotatably connected to the first movable member 102 by the second connection member 104, and the third axis 003 can be disposed at a position distant from the first fixed member 101, so that the angle at which the first movable member 102 can rotate with respect to the first fixed member 101 is significantly enlarged.
As shown in connection with fig. 6, in some embodiments, second mechanical joint 20 further includes a third moveable member 203; the second movable member 202 is rotatably connected to the second movable member 202 and the second fixed member 201, respectively.
Therefore, in the mechanical arm of the present embodiment, the second fixed member 201 in the second mechanical joint 20 is connected to the second movable member 202 through the third movable member 203, and the second movable member 202 can rotate along with the third movable member 203, so as to increase the working direction of the second movable member 202.
In some possible implementations, the second movable member 202 includes a pivot assembly, and at least two driving cables 302 are respectively connected to the pivot assembly, and the second movable member 202 is driven to rotate by driving the pivot assembly.
As shown in connection with fig. 6, in some embodiments, the at least two drive sources 301 include a first elbow drive sheave 3011 and a second elbow drive sheave 3012; the first elbow driving rope pulley 3011 and the second elbow driving rope pulley 3012 are connected to the first fixing member 101; the at least two drive cables 302 include a first elbow drive cable 3021 and a second elbow drive cable 3022.
The first end 30211 of the first elbow drive rope 3021 is coupled to the second movable member 202 in the first rotational direction, and the second end 30212 is coupled to the second movable member 202 in the second rotational direction after passing around the third position 2023 of the first movable member 102, the first elbow drive sheave 3011, and the fourth position 2024 of the first movable member 102; the third end 30221 of the second elbow drive rope 3022 is coupled to the second movable member 202 in the second rotational direction and the fourth end 30222 is coupled to the second movable member 202 in the first rotational direction after passing around the third position 2023 of the second movable member 202, the second elbow drive sheave 3012 and the fourth position 2024 of the first movable member 102.
Wherein, the third position 2023 and the fourth position 2024 of the first movable member 102 are respectively located at two sides of the second axis 002 where the first movable member 102 and the first fixed member 101 are rotatably connected; the first rotation direction and the second rotation direction are two opposite rotation directions of the rotation connection of the second movable member 202 and the second fixed member 201.
The mechanical arm of the embodiment, the at least two driving sources 301 include two elbow driving sheaves, the two elbow driving sheaves are respectively connected with the first fixing element 101, the two elbow driving sheaves can respectively drive the two elbow driving ropes 302, and the two elbow driving ropes 302 are wound on the two elbow driving sheaves to realize the connection between the driving ropes 302 and the first fixing element 101.
At least two drive cables 302 include two elbow drive cables that are connected to first stationary member 101, first moveable member 102, second moveable member 202, respectively, and to third position 2023 and fourth position 2024 of first moveable member 102, respectively, and ultimately to second moveable member 202 in opposite winding directions.
The mechanical arm of the embodiment has the following specific working process analysis:
a first operating mode:
when the first elbow drive sheave 3011 and the second elbow drive sheave 3012 are rotated in the same direction, the first elbow drive rope 3021 and the second elbow drive rope 3022 respectively apply traction to the third position 2023 (or the fourth position 2024) of the first moveable member 102 toward the first stationary member 101, causing the first moveable member 102 to rotate about the third axis 003 to the side of the third position 2023 (or the fourth position 2024).
At this time, since the first elbow drive cable 3021 and the second elbow drive cable 3022 are connected to the second movable member 202 in opposite directions, the traction forces of the first elbow drive cable 3021 and the second elbow drive cable 3022 on the second movable member 202 are cancelled out, that is, the second movable member 202 maintains a state of force balance, and the second movable member 202 and the second fixed member 201 maintain a fixed relative position.
A second working mode:
when the first elbow drive sheave 3011 and the second elbow drive sheave 3012 rotate in opposite directions, the first elbow drive rope 3021 applies traction toward the third position 2023 of the first movable element 102 toward the first fixed element 101, the second elbow drive rope 3022 applies traction toward the fourth position 2024 of the first movable element 102 toward the first fixed element 101 (alternatively, the first elbow drive rope 3021 applies traction toward the fourth position 2024 of the first movable element 102 toward the first fixed element 101, and the second elbow drive rope 3022 applies traction toward the third position 2023 of the first movable element 102 toward the first fixed element 101), the forces on the first movable element 102 on both sides of the third axis 003 cancel each other out, the first movable element 102 remains in a force-balanced state, and the first movable element 102 and the first movable element 101 remain stationary relative to each other.
At this time, since the first elbow drive rope 3021 and the second elbow drive rope 3022 are connected to the second movable member 202 in opposite directions, in the case where the first elbow drive rope 3021 and the second elbow drive rope 3022 are moved in opposite directions, the traction force applied to the second movable member 202 is the same, and thus, the total force of the traction forces applied to the second movable member 202 by the first elbow drive rope 3021 and the second elbow drive rope 3022 is equal to the sum of the traction forces of the two, and the rotational movement of the second movable member 202 with respect to the second fixed member 201 is realized.
As shown in connection with fig. 7, in some embodiments, the robotic arm further comprises a wrist elbow joint 4; one end of the wrist-elbow connecting element 4 is connected with the first movable element 102, and the other end is connected with the second fixed element 201. The wrist-elbow joint 4 in this embodiment can increase the length between the first mechanical joint 10 and the second mechanical joint 20, so as to increase the range of action of the second mechanical joint 20 and improve the application range of the mechanical arm.
As shown in connection with FIG. 7, in some embodiments, the wrist joint 4 includes a tactile sensor 41, the tactile sensor 41 being located on an outer surface of the wrist joint 4, the tactile sensor 41 being configured to detect and feedback whether the wrist joint 4 is in contact with another object. Therefore, the mechanical arm of the embodiment can trigger the safety control of the mechanical arm after the personnel touch the mechanical arm from the outside, and avoids causing human body injury.
Illustratively, the tactile sensor 41 includes, but is not limited to, a contact sensor 41, a force-moment sensor, a pressure sensor, a sliding sensor, and the like, wherein the contact sensor 41 includes, but is not limited to, a micro switch, a conductive rubber, a carbon sponge, a carbon fiber, a pneumatic reset device, and the like.
In some possible implementations, the outer surfaces of the first mechanical joint 10 and the second mechanical joint 20 of the mechanical arm are both provided with a touch sensor 41, and after a person contacts the mechanical arm from the outside, the safety control of the mechanical arm can be triggered to avoid causing human body injury.
As shown in connection with fig. 7, in some embodiments, the robotic arm further comprises: at least one rotary encoder 5; at least one rotary encoder 5 is connected to the first mechanical joint 10 or the second mechanical joint 20, and is used for detecting and feeding back the rotation angle of the first mechanical joint 10 or the second mechanical joint 20.
The rotary encoder 5 can measure the rotation speed of the rotating shaft of the mechanical joint, and can convert mechanical quantities such as angular displacement and angular velocity of the rotating shaft into corresponding electric pulses through photoelectric conversion and output the electric pulses as digital quantities.
Illustratively, the rotary encoder 5 includes, but is not limited to, a voltage output, an open collector output, a push-pull complementary output, a long wire drive output, and the like.
In the mechanical arm of the embodiment, the rotary encoder 5 is arranged at the first mechanical joint 10 or the second mechanical joint 20, so that the rotation angle of the first mechanical joint 10 or the second mechanical joint 20 can be detected and fed back in real time, the first mechanical joint 10 or the second mechanical joint 20 of the mechanical arm can be ensured to accurately and reliably rotate to the target position, and the working accuracy of the mechanical arm is improved.
As shown in connection with fig. 7, in some embodiments, the robotic arm further comprises: at least one torque sensor 6; at least one torque sensor 6 is connected to the first mechanical joint 10 or the second mechanical joint 20 for detecting and feeding back the torque of the first mechanical joint 10 or the second mechanical joint 20.
In the mechanical arm of the embodiment, the torque sensor 6 is arranged at the first mechanical joint 10 or the second mechanical joint 20, so that the working torque of the first mechanical joint 10 or the second mechanical joint 20 can be detected and fed back in real time, the corresponding working torque can be accurately and reliably output by the first mechanical joint 10 or the second mechanical joint 20 of the mechanical arm, and the working safety and reliability of the mechanical arm are improved.
In another aspect, the present embodiments provide a robot including a robotic arm of the present disclosure.
The robot of this embodiment adopts this disclosed arm, has this disclosed arm's whole technological effect.
It is noted that, in the description of the present disclosure, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as either a fixed connection, a removable connection, or an integral connection; may be a mechanical connection; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the present disclosure, "a plurality" means two or more unless specifically limited otherwise.
It is noted that, in the present disclosure, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may comprise the first and second features being in direct contact, or may comprise the first and second features being in contact, not directly, but via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present specification, reference to the description of the terms "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a particular feature, structure, material, or characteristic described in connection with the embodiments or examples is included in at least one embodiment or example of the present disclosure.
The above description is only exemplary of the present disclosure and should not be taken as limiting the disclosure, as any modifications, equivalents, improvements and the like within the spirit of the present disclosure should be included in the scope of the present disclosure.
Claims (15)
1. A robotic arm, comprising: a first mechanical joint (10), a second mechanical joint (20) and a drive assembly (30);
the first mechanical joint (10) comprises a first fixed part (101) and a first movable part (102) which are rotatably connected; the second mechanical joint (20) comprises a second fixed part (201) and a second movable part (202) which are rotatably connected;
the second fixed part (201) is connected with the first movable part (102);
the drive assembly (30) comprises at least two drive sources (301) and at least two drive ropes (302);
each of the at least two drive sources (301) is connected to the first stationary member (101), the first movable member (102), and the second movable member (202) via at least one drive rope (302);
the at least two drive sources (301) comprise a first mode of operation and a second mode of operation;
in the first working mode, the at least two driving sources (301) can drive the second movable element (202) to rotate relative to the second fixed element (201) and fix the position of the first movable element (102) relative to the first fixed element (101);
in the second operating mode, the at least two driving sources (301) can drive the second movable member (202), the second fixed member (201), and the first movable member (102) to rotate relative to the first fixed member (101), and fix the position of the second movable member (202) relative to the second fixed member (201).
2. A robotic arm as claimed in claim 1,
in the first operation mode, the at least two driving sources (301) rotate in the same direction, and in the second operation mode, the at least two driving sources (301) rotate in opposite directions;
alternatively, the first and second electrodes may be,
in the first operation mode, the at least two driving sources (301) rotate in opposite directions, and in the second operation mode, the at least two driving sources (301) rotate in the same direction.
3. A robot arm according to claim 1, characterized in that said at least two drive sources (301) are located on the side of said first fixed element (101) facing away from said first mobile element (102), said at least two drive cables (302) being connected to said first mobile element (102) through said first fixed element (101) and to said second mobile element (202) through said second fixed element (201).
4. A robot arm according to claim 1 or 2, characterized in that the first robot joint (10) is a robot shoulder joint and the second robot joint (20) is a robot elbow joint;
the first fixed part (101) is rotationally connected with the first movable part (102) along a first axis (001);
the second fixed part (201) is rotationally connected with the second movable part (202) along a second axis (002);
in the first operating mode, the at least two driving sources (301) are capable of driving the second movable element (202) to rotate about the second axis (002) relative to the second fixed element (201) and to fix the position of the first movable element (102) relative to the first fixed element (101);
in the second operating mode, the at least two drive sources (301) are able to drive the second mechanical joint (20) and the first mobile element (102) in rotation about the first axis (001) with respect to the first fixed element (101) and to fix the position of the second mobile element (202) with respect to the second fixed element (201).
5. A robot arm according to claim 4, characterized in that the first axis (001) and the second axis (002) intersect perpendicularly.
6. A robot arm according to claim 4, characterized in that the first robot joint (10) further comprises a third mount (103); the first fixing part (101) is rotatably connected with the third fixing part (103);
and/or the presence of a gas in the gas,
the second mechanical joint (20) further comprises a first connecting piece (204), the second fixed piece (201) is rotatably connected with the first connecting piece (204), and the first connecting piece (204) is rotatably connected with the second movable piece (202).
7. A robot arm according to claim 4, characterized in that the at least two drive sources (301) comprise a first elbow drive sheave (3011) and a second elbow drive sheave (3012); the first elbow drive rope pulley (3011) and the second elbow drive rope pulley (3012) are connected to the first moving part (102);
the at least two drive cables (302) include a first elbow drive cable (3021) and a second elbow drive cable (3022);
a first end (30211) of the first elbow drive rope (3021) is connected to the first fixed member (101) in a first rotational direction, and a second end (30212) of the first elbow drive rope is connected to the first fixed member (101) in a second rotational direction after passing around a first position (2021) of the second movable member (202), the first elbow drive rope pulley (3011), and a second position (2022) of the second movable member (202);
a third end (30221) of the second elbow drive rope (3022) is connected to the first fixed element (101) in a second rotational direction, and a fourth end (30222) is connected to the first fixed element (101) in the first rotational direction after passing around the first movable element (202) at a first position (2021), the second elbow drive sheave (3012) and the second movable element (202) at a second position (2022);
wherein the first position (2021) and the second position (2022) of the second movable member (202) are located on either side of the second axis (002);
the first rotating direction and the second rotating direction are two opposite rotating directions in which the first movable piece (102) and the first fixed piece (101) are rotatably connected.
8. A robot arm according to any of claims 1-3, characterized in that the first robot joint (10) is a wrist joint and the second robot joint (20) is a wrist joint;
the first fixed part (101) is rotatably connected with the first movable part (102) along a third axis (003);
the second fixed part (201) is rotatably connected with the second movable part (202) along a fourth axis (004);
in the first operating mode, the at least two driving sources (301) are capable of driving the second mobile element (202) in rotation about the fourth axis (004) with respect to the second fixed element (201) and of fixing the position of the first mobile element (102) with respect to the first fixed element (101);
in the second operating mode, the at least two drive sources (301) are able to drive the second mechanical joint (20) and the first mobile element (102) in rotation about the third axis (003) with respect to the first fixed element (101) and to fix the position of the second mobile element (202) with respect to the second fixed element (201).
9. A robot arm according to claim 8, characterized in that the third axis (003) and the fourth axis (004) intersect perpendicularly.
10. A robot arm according to claim 8, characterized in that the first robot joint (10) further comprises a second link member (104), the first fixed member (101) being pivotally connected to the second link member (104), the second link member (104) being pivotally connected to the first movable member (102);
and/or the presence of a gas in the gas,
the second mechanical joint (20) further comprises a third mobile (203); the second movable piece (203) is respectively connected with the second movable piece (202) and the second fixed piece (201) in a rotating mode.
11. A robot arm according to claim 8, characterized in that the at least two drive sources (301) comprise a first elbow drive sheave (3011) and a second elbow drive sheave (3012); the first elbow driving rope pulley (3011) and the second elbow driving rope pulley (3012) are connected with the first fixing piece (101);
the at least two drive cables (302) include a first elbow drive cable (3021) and a second elbow drive cable (3022);
a first end (30211) of the first elbow drive rope (3021) is coupled to the second movable member (202) in a first rotational direction and a second end of the first elbow drive rope (3021) is coupled to the second movable member (202) in a second rotational direction after passing around the third position (2023) of the first movable member (102), the first elbow drive rope pulley (3011), and the fourth position (2024) of the first movable member (102);
a third end (30221) of the second elbow drive rope (3022) is coupled to the second movable member (202) in the second rotational direction and a fourth end is coupled to the second movable member (202) in the first rotational direction after passing around the third position (2023) of the second movable member (102), the second elbow drive sheave (3012), and the fourth position (2024) of the first movable member (102);
wherein, the third position (2023) and the fourth position (2024) of the first movable part (102) are respectively positioned at two sides of a second axis (002) of the first movable part (102) and the first fixed part (101) which are connected in a rotating way;
the first rotating direction and the second rotating direction are two opposite rotating directions of the rotating connection of the second movable piece (202) and the second fixed piece (201).
12. A robot arm according to any of claims 8-11, characterized in that it further comprises a wrist-elbow joint (4);
one end of the wrist elbow connecting piece (4) is connected with the first movable piece (102), and the other end is connected with the second fixed piece (201).
13. A robotic arm as claimed in claim 12, characterized in that said wrist joint (4) comprises a tactile sensor (41), said tactile sensor (41) being located on an outer surface of said wrist joint (4), said tactile sensor (41) being adapted to detect and feed back whether said wrist joint (4) is in contact with other objects.
14. A robotic arm as claimed in any one of claims 1 to 13, further comprising: at least one rotary encoder (5); the at least one rotary encoder (5) is connected with the first mechanical joint (10) or the second mechanical joint (20) and is used for detecting and feeding back the rotation angle of the first mechanical joint (10) or the second mechanical joint (20);
and/or the presence of a gas in the gas,
the robot arm further includes: at least one torque sensor (6); the at least one torque sensor (6) is connected with the first mechanical joint (10) or the second mechanical joint (20) and is used for detecting and feeding back the torque of the first mechanical joint (10) or the second mechanical joint (20).
15. A robot, characterized in that it comprises a robot arm according to any of claims 1-14.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210449919.3A CN115107006A (en) | 2022-04-26 | 2022-04-26 | Mechanical arm and robot |
| PCT/CN2023/080119 WO2023207344A1 (en) | 2022-04-26 | 2023-03-07 | Mechanical arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210449919.3A CN115107006A (en) | 2022-04-26 | 2022-04-26 | Mechanical arm and robot |
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| Publication Number | Publication Date |
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| CN115107006A true CN115107006A (en) | 2022-09-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210449919.3A Pending CN115107006A (en) | 2022-04-26 | 2022-04-26 | Mechanical arm and robot |
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| Country | Link |
|---|---|
| CN (1) | CN115107006A (en) |
| WO (1) | WO2023207344A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023207344A1 (en) * | 2022-04-26 | 2023-11-02 | 腾讯科技（深圳）有限公司 | Mechanical arm and robot |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB113207A (en) * | 1917-02-26 | 1918-02-14 | William James Wilson | Improvements in the Wrist and Elbow Joints of Artificial Arms. |
| CN108393878A (en) * | 2018-03-05 | 2018-08-14 | 宁波Gqy视讯股份有限公司 | A kind of line traffic control arm and robot |
| CN110202559B (en) * | 2019-06-28 | 2024-04-19 | 华南理工大学 | Bionic light mechanical arm for man-machine cooperation |
| CN213723334U (en) * | 2020-07-17 | 2021-07-20 | 湖北英特搏智能机器有限公司 | Under-actuated shoulder-elbow joint rehabilitation mechanical arm driven by rope |
| CN112476478B (en) * | 2020-11-16 | 2022-03-01 | 中国科学技术大学 | Bionic rope-driven four-degree-of-freedom arm oriented to man-machine cooperation |
| CN113478473B (en) * | 2021-07-21 | 2023-10-27 | 山东大学 | Light hybrid driving bionic mechanical arm |
| CN115107006A (en) * | 2022-04-26 | 2022-09-27 | 腾讯科技（深圳）有限公司 | Mechanical arm and robot |
-
2022
- 2022-04-26 CN CN202210449919.3A patent/CN115107006A/en active Pending
-
2023
- 2023-03-07 WO PCT/CN2023/080119 patent/WO2023207344A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023207344A1 (en) * | 2022-04-26 | 2023-11-02 | 腾讯科技（深圳）有限公司 | Mechanical arm and robot |
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