CN203726501U - Foldable light type mechanical arm capable of following and monitoring target - Google Patents
Foldable light type mechanical arm capable of following and monitoring target Download PDFInfo
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- CN203726501U CN203726501U CN201420093784.2U CN201420093784U CN203726501U CN 203726501 U CN203726501 U CN 203726501U CN 201420093784 U CN201420093784 U CN 201420093784U CN 203726501 U CN203726501 U CN 203726501U
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Abstract
Disclosed is a foldable light type mechanical arm capable of following and monitoring a target. Seven rotary joints connected with each other sequentially are arranged on a base, an output end of the sixth rotary joint is connected with an end unidirection gripper, and an output end of the seventh rotary joint is connected with a camera pan-tilt with a built-in high-definition camera. The first rotary joint is respectively perpendicular to the base and the second rotary joint. The second rotary joint, the third rotary joint and the fifth rotary joint are parallel with each other and perpendicular to the forth rotary joint, the sixth rotary joint and the seventh rotary joint which are parallel with each other. The seventh rotary joint is opposite to the sixth rotary joint. All axes of the forth rotary joint, the fifth rotary joint and the sixth rotary joint are intersected in one point. All axes of the fifth rotary joint, the sixth rotary joint and the seventh rotary joint are in the same plane. The foldable light type mechanical arm can closely follow and monitor an end effector and the target, and adjust shooting angle of imagines.
Description
Technical field
The utility model relates to a kind of mechanical arm, particularly relates to a kind of Foldable lightweight mechanical arm that target is followed function for monitoring that has.
Background technology
Explore in the wild, scouting, dangerous material dispose or the special dimension such as medical procedures, because operating environment exists the danger that may endanger operating personnel's life and health, thereby complete some job task in the urgent need to the use robot especially replacement personnel of motion arm robot.The at present application more widely load capacity of industrial operation arm robot is generally all larger, there is the problems such as volume is large, quality heavy, control system is complicated, inconvenient operation, the job tasks such as packing, piling, material handling and vehicle spray painting that are mainly used in indoor production workshop, are difficult to be arranged on mobile robot platform or vehicle for tasks such as field explorations.For special operation environmental demands such as field exploration or dangerous material disposal, because mobile robot platform bearing space is limited, thereby the feature such as the motion arm that needs to install has that volume is little, compact conformation, quality are light, but too small physical dimension has limited working space and the job area of motion arm robot, thereby this motion arm preferably has the technical characterstics such as collapsible.Because wild environment has uncertainty, the disposing technique of dangerous material also varies again, thereby requires motion arm to have good flexibility.Particularly during accurate operation, can to operated target, carry out condition monitoring in real time, make to be entered by information such as the position of Action Target, shapes operator's visual line of sight, avoid vision dead zone, particularly important to improving processing safety, reliability etc., thereby need especially a kind ofly can and by Action Target, closely be followed the light-duty flexible mechanical arm of function for monitoring to end effector.But how to guarantee that motion arm is when having space six degree of freedom and having good end movement flexibility, also there is target closely and follow function for monitoring, avoid monitoring that blind area is problem to be solved in the utility model.
Summary of the invention
Technical problem to be solved in the utility model is to provide a kind of and can regulate to avoid monitoring to the angle of image taking the Foldable lightweight mechanical arm that target is followed function for monitoring that has of blind area.
The technical scheme that the utility model adopts is: a kind of have a Foldable lightweight mechanical arm that target is followed function for monitoring, include pedestal, on described pedestal, be provided with the first rotary joint connecting successively, the second rotary joint, large arm connecting rod, the 3rd rotary joint, the 4th rotary joint, the 5th rotary joint and the 6th rotary joint, the output of described the 6th rotary joint connects end single-degree-of-freedom paw, wherein, between the 4th described rotary joint and the 5th described rotary joint, be by focus, to locate corner fittings to interconnect, the axis of the first described rotary joint and pedestal concentric, and the axis perpendicular to the second rotary joint, the axis of the second described rotary joint is parallel to the axis of the 3rd rotary joint, the axis of the 3rd described rotary joint is perpendicular to the axis of the 4th rotary joint, the axis of the 4th described rotary joint is perpendicular to the axis of the 5th rotary joint, the axis of the 5th described rotary joint is perpendicular to the axis of the 6th rotary joint, the axis of the 4th described rotary joint, the axis of the axis of the 5th rotary joint and the 6th rotary joint intersects at space a bit, the 5th described rotary joint also connects the 7th rotary joint, the axis of the 7th described rotary joint and opposite direction parallel with the axis of the 6th rotary joint, and the axis of the 5th rotary joint, the axis of the axis of the 6th rotary joint and the 7th rotary joint at grade, the output of described the 7th rotary joint connects the camera The Cloud Terrace that is built-in with high-definition camera.
Distance between the axis of the 6th described rotary joint and the axis of the 7th rotary joint is the overall diameter in 1.2 times of the 6th joints.
The first described rotary joint, the second rotary joint, the 3rd rotary joint, the 4th rotary joint, the 6th rotary joint is identical with the 7th rotation joint structure, be provided with interconnective arthrodesis pedestal and joint output sleeve, the 5th described rotary joint is provided with the 5th arthrodesis pedestal connecting successively, the 5th joint output sleeve and the 5th servo-actuated axle sleeve in joint, wherein, the joint output sleeve of the first described rotary joint connects the arthrodesis pedestal of the second rotary joint, the joint output sleeve of the second rotary joint connects one end of large arm connecting rod, the other end of large arm connecting rod connects the arthrodesis pedestal of the 3rd rotary joint, the joint output sleeve of the 3rd rotary joint connects the arthrodesis pedestal of the 4th rotary joint, the joint output sleeve of the 4th rotary joint connects one end of focus location corner fittings, the other end of focus location corner fittings connects the 5th arthrodesis pedestal, the 5th described joint output sleeve connects the arthrodesis pedestal of the 6th rotary joint, the 5th described servo-actuated axle sleeve in joint connects the arthrodesis pedestal of the 7th rotary joint, the joint output sleeve of the 6th described rotary joint connects end single-degree-of-freedom paw, the arthrodesis pedestal of the first described rotary joint is vertically fixed on described pedestal, the joint output sleeve of described the 7th rotary joint connects camera The Cloud Terrace by The Cloud Terrace corner fittings.
The diameter of the first described rotary joint is greater than the diameter of the second rotary joint, the diameter of the second rotary joint is greater than the diameter of the 3rd rotary joint, the equal diameters of the 3rd rotary joint, the 4th rotary joint, the 5th rotary joint, the 6th rotary joint and the 7th rotary joint.
Described camera The Cloud Terrace is provided with LED illuminating lamp being provided with in the one side of high-definition camera.
Described The Cloud Terrace corner fittings is the hollow bent pipe structure at 90 °, bending angle, thereby it is perpendicular to make to be provided with on the axis of the 7th rotary joint and camera The Cloud Terrace the one side of high-definition camera.
When the second described rotary joint, the 3rd rotary joint and the 5th rotary joint are the deployed condition being parallel to each other, the ratio of distances constant between the distance between the axis of axis to the three rotary joints of the second described rotary joint and the axis of axis to the five rotary joints of the 3rd rotary joint is 1.4.
The distance of axis of subpoint to the five rotary joints in the plane that the central point of described camera The Cloud Terrace forms at the axis of the 5th rotary joint and the axis of the 7th rotary joint and the ratio of distances constant between the axis of axis to the five rotary joints of the 3rd rotary joint are 0.8.
Of the present utility model have a Foldable lightweight mechanical arm that target is followed function for monitoring, , in conjunction with under wild environment, biological pollution occurs, the job task demands such as the medical rescue under the particular surroundings such as chemical contamination or nuclear pollution and disposal, provide a kind of and can and by Action Target, closely be followed the light-duty flexible mechanical arm of function for monitoring to end effector, can regulate to avoid monitoring blind area to the angle of image taking, and can when mechanical arm folded state, with the minimum attitude that takes up room, draw in, thereby reach, reduce the complete machine volume that takes up room, realize the object that operating space/volume ratio that takes up room is large, and there is small volume, lighter weight, collapsible, end movement is flexible, the technical characterstics such as mode of operation real time monitoring, be applicable to being arranged on mobile robot platform or wheeled motor vehicle.
Accompanying drawing explanation
Fig. 1 is the complete deployed condition front view of the utility model;
Fig. 2 is the complete deployed condition lateral side view of the utility model;
Fig. 3 is the complete deployed condition top view of the utility model;
Fig. 4 is the structural representation of the utility model folded state;
Fig. 5 is the utility model camera follow-up connecting rod structure top view;
Fig. 6 is that the utility model rotary joint parts form explosive view;
Fig. 7 is the structural representation of the utility model camera The Cloud Terrace 8 parts;
Fig. 8 is the front view of coaxial positioning flange arrangement in the utility model;
Fig. 9 is the side view of coaxial positioning flange arrangement in the utility model.
In figure
2: the second rotary joints of 1: the first rotary joint
4: the four rotary joints of 3: the three rotary joints
6: the six rotary joints of 5: the five rotary joints
7: the seven rotary joints 8: camera The Cloud Terrace
9: large arm connecting rod 10: end single-degree-of-freedom paw
11: The Cloud Terrace corner fittings 12; Focus location corner fittings
20: pedestal 33: decelerator concentric shafts
34: decelerator adpting flange 35: axle sleeve adpting flange
36: axle sleeve concentric shafts 81: high-definition camera
82:LED illuminating lamp 121: connecting rod
122: lower connection end 123: upper connection end
502: the five joint output sleeves of 501: the five arthrodesis pedestals
503: the five servo-actuated axle sleeves in joint
101,201,301,401,601,701: arthrodesis pedestal
102,202,302,402,602,702: joint output sleeve
The specific embodiment
Below in conjunction with embodiment and accompanying drawing, to of the present utility model, there is target and follow the Foldable lightweight mechanical arm of function for monitoring and be described in detail.
Of the present utility model have a Foldable lightweight mechanical arm that target is followed function for monitoring, in conjunction with the medical rescue under the particular surroundings such as biological pollution, chemical contamination or nuclear pollution occurring under wild environment and disposing the mission requirements such as operation, provide a kind of and can and by Action Target, closely be followed the light-duty flexible mechanical arm of function for monitoring to end effector, have small volume, lighter weight, collapsible, end movement flexibly, the technical characterstic such as mode of operation real time monitoring, be applicable to being arranged on mobile robot platform or wheeled motor vehicle.
As shown in Fig. 1～Fig. 5, of the present utility model have a Foldable lightweight mechanical arm that target is followed function for monitoring, include pedestal 20, on described pedestal 20, be provided with the first rotary joint 1 connecting successively, the second rotary joint 2, large arm connecting rod 9, the 3rd rotary joint 3, the 4th rotary joint 4, the 5th rotary joint 5, the 6th rotary joint 6, the output of described the 6th rotary joint 6 connects end single-degree-of-freedom paw 10, wherein, between the 4th described rotary joint 4 and the 5th described rotary joint 5, be by focus, to locate corner fittings 12 to interconnect, the axis of the first described rotary joint 1 and pedestal 20 concentrics, and the axis perpendicular to the second rotary joint 2, the axis of the second described rotary joint 2 is parallel to the axis of the 3rd rotary joint 3, the axis of the 3rd described rotary joint 3 is perpendicular to the axis of the 4th rotary joint 4, the axis of the 4th described rotary joint 4 is perpendicular to the axis of the 5th rotary joint 5, the axis of the 5th described rotary joint 5 is perpendicular to the axis of the 6th rotary joint 6, the axis of the 4th described rotary joint 4, the axis of the axis of the 5th rotary joint 5 and the 6th rotary joint 6 intersects at space a bit, the 5th described rotary joint 5 also connects the 7th rotary joint 7, the axis of the 7th described rotary joint 7 is and opposite direction parallel with the axis of the 6th rotary joint 6 all the time, and the axis of the 5th rotary joint 5, the axis of the axis of the 6th rotary joint 6 and the 7th rotary joint 7 at grade, the output of described the 7th rotary joint 7 connects the camera The Cloud Terrace 8 that is built-in with high-definition camera, as shown in Figure 7, described camera The Cloud Terrace 8 is provided with LED illuminating lamp 82 in the one side that is provided with high-definition camera 81.Distance between the axis of the 6th described rotary joint 6 and the axis of the 7th rotary joint 7 is the overall diameter in 1.2 times of the 6th joints.
As shown in Figure 5, described focus location corner fittings 12 includes connecting rod 121, be fixed on described connecting rod 121 lower end one sides for connecting the lower connection end 122 of the 4th described rotary joint 4, and be fixed on described connecting rod 121 upper end one sides for connecting the upper connection end 123 of the 5th described rotary joint 5, wherein, described lower connection end 122 and described upper connection end 123 all with the described perpendicular setting of connecting rod 121, and opposite direction.The length of connecting rod 121 can make to descend the axis of connection end 122 and the axis of the 6th rotary joint 6 on same straight line in Fig. 5.The structure of focus location corner fittings 12 and axis, the axis of the 5th rotary joint 5 and the axis of the 6th rotary joint 6 that size design makes the 4th rotary joint 4 intersect at space a bit.
As shown in Figure 2, the first rotary joint 1 described in the utility model, the second rotary joint 2, the 3rd rotary joint 3, the 4th rotary joint 4, the 6th rotary joint 6 is identical with the 7th rotary joint 7 structures, be provided with interconnective arthrodesis pedestal 101/201/301/401/601/701 and joint output sleeve 102/202/302/402/602/702, the 5th described rotary joint 5 is provided with the 5th arthrodesis pedestal 501 connecting successively, the servo-actuated axle sleeve 503 of the 5th joint output sleeve 502 and the 5th joint, wherein, the joint output sleeve 102 of the first described rotary joint 1 connects the arthrodesis pedestal 201 of the second rotary joint 2, the joint output sleeve 202 of the second rotary joint 2 connects one end of large arm connecting rod 9, the other end of large arm connecting rod 9 connects the arthrodesis pedestal 301 of the 3rd rotary joint 3, the joint output sleeve 302 of the 3rd rotary joint 3 connects the arthrodesis pedestal 401 of the 4th rotary joint 4, the joint output sleeve 402 of the 4th rotary joint 4 connects one end of focus location corner fittings 12, the other end of focus location corner fittings 12 connects the 5th arthrodesis pedestal 501, one end of the 5th described joint output sleeve 502 connects the arthrodesis pedestal 601 of the 6th rotary joint 6, the other end connects the 5th servo-actuated axle sleeve 503 in joint, the other end of the 5th described servo-actuated axle sleeve 503 in joint connects the arthrodesis pedestal 701 of the 7th rotary joint 7, the joint output sleeve 602 of the 6th described rotary joint 6 connects end single-degree-of-freedom paw 10, the arthrodesis pedestal 101 of the first described rotary joint 1 is vertically fixed on described pedestal 20, the joint output sleeve 702 of described the 7th rotary joint 7 connects camera The Cloud Terrace 8 by The Cloud Terrace corner fittings 11.The hollow bent pipe structure that described The Cloud Terrace corner fittings 11 is 90 °, bending angle, makes the 7th joints axes vertical with the one side that is provided with high-definition camera 81 on camera The Cloud Terrace 8.
As shown in Figure 6, the first described rotary joint 1, the second rotary joint 2, the 3rd rotary joint 3, the 4th rotary joint 4, the 5th rotary joint 5, it is identical that the 6th rotary joint 6 and the arthrodesis pedestal 101/201/301/401/501/601/701 of the 7th rotary joint 7 and the inside of joint output sleeve 102/202/302/402/502/602/702 arrange structure, include: be arranged in described arthrodesis pedestal 101/201/301/401/501/601/701 and connected photoelectric encoder 26 successively, servomotor 25 and harmonic speed reducer 24, the outer peripheral face of described harmonic speed reducer 24 is fixedly connected with described arthrodesis pedestal 101/201/301/401/501/601/701, the rotation output of described harmonic speed reducer 24 connects joint output sleeve 102/202/302/402/502/602/702 by coaxial positioning flange 23, joint output sleeve 102/202/302/402/502/602/702 is enclosed within described arthrodesis pedestal 101/201/301/401/501/601/701 upper port, the top of described joint output sleeve 102/202/302/402/502/602 is provided with joint end cover 21.The joint output sleeve 502 of the 5th rotary joint 5 wherein is directly connected with the 5th servo-actuated axle sleeve 503 in joint, at the arranged outside joint end cover 21 of the 5th servo-actuated axle sleeve 503 in joint.
As Fig. 8, shown in Fig. 9, described coaxial positioning flange 23 includes and is integrally formed successively and coaxial: for inserting the axle sleeve concentric shafts 36 of the locating hole of described joint output sleeve 102/202/302/402/502/602/702 inner flange, the axle sleeve adpting flange 35 being fixedly connected with for the flange in the joint output sleeve 102/202/302/402/502/602/702 with described, the decelerator adpting flange 34 that the flange that rotates outputs for the harmonic speed reducer 24 with described is fixedly connected with, and for inserting the decelerator concentric shafts 33 in the flange locating hole of described harmonic speed reducer 24 rotation outputs.The diameter of described axle sleeve adpting flange 35 is greater than the diameter of axle sleeve concentric shafts 36, and the diameter of described axle sleeve concentric shafts 36 is greater than the diameter of decelerator adpting flange 34, and the diameter of decelerator adpting flange 34 is greater than again the diameter of decelerator concentric shafts 33.
The diameter of the first described rotary joint 1 is greater than the diameter of the second rotary joint 2, the diameter of the second rotary joint 2 is greater than the diameter of the 3rd rotary joint 3, the equal diameters of the 3rd rotary joint 3, the 4th rotary joint 4, the 5th rotary joint 5, the 6th rotary joint 6 and the 7th rotary joint 7.
As shown in Figure 1, when the second described rotary joint 2, the 3rd rotary joint 3 and the 5th rotary joint 5 are the deployed condition being parallel to each other, the ratio of distances constant between the distance between the axis of axis to the three rotary joints 3 of the second rotary joint 2 and the axis of axis to the five rotary joints 5 of the 3rd rotary joint 3 is 1.4.
The distance of axis of subpoint to the five rotary joints 5 in the plane that the central point of camera The Cloud Terrace 8 forms at the axis of the 5th rotary joint 5 and the axis of the 7th rotary joint 7 and the ratio of distances constant between the axis of axis to the five rotary joints 5 of the 3rd rotary joint 3 are 0.8.
Of the present utility model have a Foldable lightweight mechanical arm that target is followed function for monitoring, comprise the 7th rotary joint 7 and be built-in with the camera The Cloud Terrace 8 of a high-definition camera 81, one group of LED illuminating lamp 82, Main Function is when the end effector of mechanical arm operates target object, high-definition camera 81 can be followed always and be aimed at by operation object, it is carried out to high definition filming image, simultaneously during or night time operation weak at light, LED illuminating lamp 82 can illuminate the target visual field, for blur-free imaging provides additional illumination.The motor of the 7th rotary joint 7 and reducer arrangement can make camera The Cloud Terrace 8 carry out the rotation within the scope of a week around the axis of the 7th rotary joint 7, thereby can regulate the angle of image taking, and can when mechanical arm folded state, with the minimum attitude that takes up room, draw in, the volume thereby minimizing complete machine takes up room, reaches the object that operating space/volume ratio that takes up room is large.
Claims (8)
1. one kind has the Foldable lightweight mechanical arm that target is followed function for monitoring, include pedestal (20), on described pedestal (20), be provided with the first rotary joint (1) connecting successively, the second rotary joint (2), large arm connecting rod (9), the 3rd rotary joint (3), the 4th rotary joint (4), the 5th rotary joint (5) and the 6th rotary joint (6), the output of described the 6th rotary joint (6) connects end single-degree-of-freedom paw (10), wherein, between the 4th described rotary joint (4) and the 5th described rotary joint (5), be by focus, to locate corner fittings (12) to interconnect, the axis of described the first rotary joint (1) and pedestal (20) concentric, and the axis perpendicular to the second rotary joint (2), the axis of described the second rotary joint (2) is parallel to the axis of the 3rd rotary joint (3), the axis of the 3rd described rotary joint (3) is perpendicular to the axis of the 4th rotary joint (4), the axis of the 4th described rotary joint (4) is perpendicular to the axis of the 5th rotary joint (5), the axis of the 5th described rotary joint (5) is perpendicular to the axis of the 6th rotary joint (6), the axis of the 4th described rotary joint (4), the axis of the axis of the 5th rotary joint (5) and the 6th rotary joint (6) intersects at space a bit, it is characterized in that, the 5th described rotary joint (5) also connects the 7th rotary joint (7), the axis of the 7th described rotary joint (7) and opposite direction parallel with the axis of the 6th rotary joint (6), and the axis of the 5th rotary joint (5), the axis of the axis of the 6th rotary joint (6) and the 7th rotary joint (7) at grade, the output of described the 7th rotary joint (7) connects the camera The Cloud Terrace (8) that is built-in with high-definition camera.
2. according to claim 1 have a Foldable lightweight mechanical arm that target is followed function for monitoring, it is characterized in that, the distance between the axis of the 6th described rotary joint (6) and the axis of the 7th rotary joint (7) is the overall diameter in 1.2 times of the 6th joints.
3. according to claim 1 have a Foldable lightweight mechanical arm that target is followed function for monitoring, it is characterized in that, described the first rotary joint (1), the second rotary joint (2), the 3rd rotary joint (3), the 4th rotary joint (4), the 6th rotary joint (6) is identical with the 7th rotary joint (7) structure, be provided with interconnective arthrodesis pedestal (101/201/301/401/601/701) and joint output sleeve (102/202/302/402/602/702), the 5th described rotary joint (5) is provided with the 5th arthrodesis pedestal (501) connecting successively, the 5th joint output sleeve (502) and the 5th servo-actuated axle sleeve in joint (503), wherein, the joint output sleeve (102) of described the first rotary joint (1) connects the arthrodesis pedestal (201) of the second rotary joint (2), the joint output sleeve (202) of the second rotary joint (2) connects one end of large arm connecting rod (9), the other end of large arm connecting rod (9) connects the arthrodesis pedestal (301) of the 3rd rotary joint (3), the joint output sleeve (302) of the 3rd rotary joint (3) connects the arthrodesis pedestal (401) of the 4th rotary joint (4), the joint output sleeve (402) of the 4th rotary joint (4) connects one end of focus location corner fittings (12), the other end of focus location corner fittings (12) connects the 5th arthrodesis pedestal (501), the 5th described joint output sleeve (502) connects the arthrodesis pedestal (601) of the 6th rotary joint (6), the 5th described servo-actuated axle sleeve in joint (503) connects the arthrodesis pedestal (701) of the 7th rotary joint (7), the joint output sleeve (602) of the 6th described rotary joint (6) connects end single-degree-of-freedom paw (10), the arthrodesis pedestal (101) of described the first rotary joint (1) is vertically fixed on described pedestal (20), the joint output sleeve (702) of described the 7th rotary joint (7) connects camera The Cloud Terrace (8) by The Cloud Terrace corner fittings (11).
4. according to claim 1 have a Foldable lightweight mechanical arm that target is followed function for monitoring, it is characterized in that, the diameter of described the first rotary joint (1) is greater than the diameter of the second rotary joint (2), the diameter of the second rotary joint (2) is greater than the diameter of the 3rd rotary joint (3), the equal diameters of the 3rd rotary joint (3), the 4th rotary joint (4), the 5th rotary joint (5), the 6th rotary joint (6) and the 7th rotary joint (7).
5. according to claim 1 have a Foldable lightweight mechanical arm that target is followed function for monitoring, it is characterized in that, described camera The Cloud Terrace (8) is provided with LED illuminating lamp (82) in the one side that is provided with high-definition camera (81).
6. according to claim 3 have a Foldable lightweight mechanical arm that target is followed function for monitoring, it is characterized in that, the hollow bent pipe structure that described The Cloud Terrace corner fittings (11) is 90 °, bending angle, thus it is perpendicular to make to be provided with on the axis of the 7th rotary joint (7) and camera The Cloud Terrace (8) one side of high-definition camera (81).
7. according to claim 1 have a Foldable lightweight mechanical arm that target is followed function for monitoring, it is characterized in that, when described the second rotary joint (2), the 3rd rotary joint (3) and the 5th rotary joint (5) are the deployed condition being parallel to each other, the ratio of distances constant between the axis of axis to the five rotary joints (5) of the distance between the axis of axis to the three rotary joints (3) of described the second rotary joint (2) and the 3rd rotary joint (3) is 1.4.
8. according to claim 1 have a Foldable lightweight mechanical arm that target is followed function for monitoring, it is characterized in that, the distance of axis of subpoint to the five rotary joints (5) in the plane that the central point of described camera The Cloud Terrace (8) forms at the axis of the 5th rotary joint (5) and the axis of the 7th rotary joint (7) and the ratio of distances constant between the axis of axis to the five rotary joints (5) of the 3rd rotary joint (3) are 0.8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420093784.2U CN203726501U (en) | 2014-03-04 | 2014-03-04 | Foldable light type mechanical arm capable of following and monitoring target |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420093784.2U CN203726501U (en) | 2014-03-04 | 2014-03-04 | Foldable light type mechanical arm capable of following and monitoring target |
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| CN203726501U true CN203726501U (en) | 2014-07-23 |
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| CN201420093784.2U Withdrawn - After Issue CN203726501U (en) | 2014-03-04 | 2014-03-04 | Foldable light type mechanical arm capable of following and monitoring target |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103802132A (en) * | 2014-03-04 | 2014-05-21 | 中国人民解放军军事医学科学院卫生装备研究所 | Folding lightweight mechanical arm with target following and monitoring function |
| CN105870814A (en) * | 2016-03-31 | 2016-08-17 | 广东电网有限责任公司中山供电局 | Emergency breaking operation device suitable for 10kV switch |
| CN107454931A (en) * | 2016-06-24 | 2017-12-08 | 深圳市大疆灵眸科技有限公司 | Head assembly and hand-held head |
| WO2018023550A1 (en) * | 2016-08-04 | 2018-02-08 | 深圳市大疆灵眸科技有限公司 | Handheld tripod and handheld structure thereof |
| CN108372499A (en) * | 2018-05-15 | 2018-08-07 | 哈尔滨理工大学 | Spatial cell robot via Self-reconfiguration cradle head module |
| CN108381540A (en) * | 2018-05-15 | 2018-08-10 | 哈尔滨理工大学 | A kind of space self-reorganization robot elbow turns cell |
| CN111268183A (en) * | 2020-03-01 | 2020-06-12 | 中国科学院微小卫星创新研究院 | Space-borne space manipulator |
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- 2014-03-04 CN CN201420093784.2U patent/CN203726501U/en not_active Withdrawn - After Issue
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103802132A (en) * | 2014-03-04 | 2014-05-21 | 中国人民解放军军事医学科学院卫生装备研究所 | Folding lightweight mechanical arm with target following and monitoring function |
| CN103802132B (en) * | 2014-03-04 | 2016-07-06 | 中国人民解放军军事医学科学院卫生装备研究所 | There is target and follow the foldable lightweight mechanical arm of function for monitoring |
| CN105870814A (en) * | 2016-03-31 | 2016-08-17 | 广东电网有限责任公司中山供电局 | Emergency breaking operation device suitable for 10kV switch |
| CN107454931A (en) * | 2016-06-24 | 2017-12-08 | 深圳市大疆灵眸科技有限公司 | Head assembly and hand-held head |
| WO2017219349A1 (en) * | 2016-06-24 | 2017-12-28 | 深圳市大疆灵眸科技有限公司 | Gimbal assembly and handheld gimbal |
| CN107454931B (en) * | 2016-06-24 | 2019-06-11 | 深圳市大疆灵眸科技有限公司 | Head assembly and hand-held holder |
| WO2018023550A1 (en) * | 2016-08-04 | 2018-02-08 | 深圳市大疆灵眸科技有限公司 | Handheld tripod and handheld structure thereof |
| US11085574B2 (en) | 2016-08-04 | 2021-08-10 | Sz Dji Osmo Technology Co., Ltd. | Handheld gimbal and handheld structure |
| CN108372499A (en) * | 2018-05-15 | 2018-08-07 | 哈尔滨理工大学 | Spatial cell robot via Self-reconfiguration cradle head module |
| CN108381540A (en) * | 2018-05-15 | 2018-08-10 | 哈尔滨理工大学 | A kind of space self-reorganization robot elbow turns cell |
| CN108372499B (en) * | 2018-05-15 | 2024-02-27 | 哈尔滨理工大学 | Space cell robot self-reconstruction rotary joint module |
| CN111268183A (en) * | 2020-03-01 | 2020-06-12 | 中国科学院微小卫星创新研究院 | Space-borne space manipulator |
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