CN103372860B - A kind of multi-joint dispersion driving machine mechanical arm - Google Patents
A kind of multi-joint dispersion driving machine mechanical arm Download PDFInfo
- Publication number
- CN103372860B CN103372860B CN201210130240.4A CN201210130240A CN103372860B CN 103372860 B CN103372860 B CN 103372860B CN 201210130240 A CN201210130240 A CN 201210130240A CN 103372860 B CN103372860 B CN 103372860B
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- clutch
- bevel gear
- robot assemblies
- belt pulley
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Gear Transmission (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of multi-joint dispersion driving machine mechanical arm, comprise car body pedestal, the mechanical arm turntable be installed on car body pedestal, first to fourth robot assemblies, mechanical gripping assembly, turntable motor and drive motors.First robot assemblies is arranged on mechanical arm turntable, first to fourth robot assemblies connects between two, turntable motor driving machine mechanical arm turntable rotates relative to car body pedestal, the power transmission chain that drive motors is formed via the first robot assemblies, the second robot assemblies, three-mechanical arm assembly, mechanical gripping assembly and the 4th robot assemblies carries out power transmission, and in transmittance process, make above-mentioned robot assemblies cradle head separately perform bending operation.Adopt the present invention, first to fourth robot assemblies connects between two and forms a power transmission chain, thus the power of self-driven motor is passed to each cradle head of mechanical arm respectively in the future.Compared to prior art, this mechanical arm framework has lightweight, large flexibility, multivariant advantage.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of multi-joint dispersion driving machine mechanical arm.
Background technology
Multi-joint flexible mechanical arm is the parts for end effector (as manipulator) provides support, and requires mechanical arm light weight, flexibly thus realize the multi-faceted arrival target location of end effector, makes end effector carry out default operation.In the prior art, multi-joint flexible mechanical arm often adopts multiple motor to drive, and each motor drives alone corresponding joint unit, but this kind of requirement of mode to drive motors and motor reducer is higher, and load capacity is also relatively little.In addition, a fairly large number of drive motors also can increase the design cost of mechanical arm, causes cost performance lower.
Summary of the invention
For the above-mentioned defect that multi-joint flexible mechanical arm of the prior art is existing in use, the invention provides a kind of multi-joint dispersion driving machine mechanical arm.
According to one aspect of the present invention, provide a kind of multi-joint dispersion driving machine mechanical arm, comprise car body pedestal, the mechanical arm turntable be installed on car body pedestal, the first robot assemblies, the second robot assemblies, three-mechanical arm assembly, the 4th robot assemblies, mechanical gripping assembly, a turntable motor and a drive motors.Wherein, first robot assemblies is arranged on mechanical arm turntable, second robot assemblies is connected with the first robot assemblies, three-mechanical arm assembly is connected with the second robot assemblies, 4th robot assemblies is connected with three-mechanical arm assembly, mechanical gripping assembly is connected with three-mechanical arm assembly, turntable motor driving machine mechanical arm turntable rotates relative to car body pedestal, drive motors is via the first robot assemblies, second robot assemblies, three-mechanical arm assembly, the power transmission chain that mechanical gripping assembly and the 4th robot assemblies are formed carries out power transmission, and in power transmission process, make above-mentioned multiple robot assemblies cradle head separately perform bending operation.
Preferably, be also provided with the first worm and gear group below car body pedestal, one end of this first worm and gear group is connected to turntable motor, and the other end is connected with mechanical arm turntable.
Preferably, first robot assemblies comprises the base be fixed on mechanical arm turntable and the first mechanical arm be connected with base, first mechanical arm is provided with the first belt pulley set, second belt pulley set, first bevel gear set, 7th bevel gear set and the 3rd worm and gear group, wherein, drive motors is installed on the first mechanical arm, motor output shaft is connected with the first belt pulley set, first belt pulley set is connected to the first bevel gear set, second belt pulley set and the 7th bevel gear set, first bevel gear set is connected with first clutch and second clutch, first clutch is connected with the second worm and gear group with second clutch, second worm and gear group is connected with the 4th belt pulley set, 4th belt pulley set is connected with mechanical arm turntable, second belt pulley set is connected with the 6th bevel gear set.
First clutch and second clutch alternately power on, and when first clutch powers on and second clutch does not power on, the first mechanical arm bends to first direction; When first clutch does not power on and second clutch powers on, the first mechanical arm bends to second direction, and first direction is relative with second direction.
Preferably, second robot assemblies comprises the second mechanical arm, second mechanical arm is provided with the second bevel gear set, second bevel gear set is connected with the 6th bevel gear set, second mechanical arm is connected with the 5th belt pulley set, 5th belt pulley set is connected with the 3rd worm and gear group, and the 3rd worm and gear group is connected with the 3rd clutch and the 4th clutch, and the 3rd clutch is connected with the 7th bevel gear set with the 4th clutch.
3rd clutch and the 4th clutch alternately power on, and when the 3rd clutch powers on and the 4th clutch does not power on, the second mechanical arm bends to first direction; When the 3rd clutch does not power on and the 4th clutch powers on, the second mechanical arm bends to second direction, and first direction is relative with second direction.
Preferably, three-mechanical arm assembly comprises three-mechanical arm, the 3rd belt pulley set three-mechanical arm is provided with triconodont wheels, being connected with triconodont wheels, triconodont wheels are connected with the second bevel gear set, second bevel gear set is connected with the 6th bevel gear set, second bevel gear set is connected with the 5th clutch and the 6th clutch, 5th clutch is connected with the 6th belt pulley set, 6th belt pulley set is connected with the 4th worm and gear group, and three-mechanical arm is connected with the 4th worm and gear group.
5th clutch and the 6th clutch alternately power on, and when the 5th clutch powers on and the 6th clutch does not power on, three-mechanical arm bends to first direction; When the 5th clutch does not power on and the 6th clutch powers on, three-mechanical arm bends to second direction, and first direction is relative with second direction.
Preferably, 4th robot assemblies comprises the 4th mechanical arm, the 4th bevel gear set 4th mechanical arm is provided with the 5th bevel gear set, being connected with the 3rd belt pulley set, 5th bevel gear set is provided with the 7th clutch and the 8th clutch, 7th clutch and the 8th clutch are connected with the 5th worm and gear group, 5th worm and gear group is connected with the 7th belt pulley set, 7th belt pulley set is connected with three-mechanical arm, and wherein the 7th clutch and the 8th clutch alternately power on thus make the 4th mechanical arm bending to different directions.
Preferably, mechanical gripping assembly comprises the 6th worm and gear group be connected with straight-tooth wheels, the mechanical gripping, the force snesor be arranged in mechanical gripping that are connected with the 6th worm and gear group, wherein, straight-tooth wheels are connected with the 9th clutch and the tenth clutch, 9th clutch is connected with the 4th bevel gear set with the tenth clutch, 4th bevel gear set is connected with the 5th bevel gear set, and the 9th clutch and the tenth clutch alternately power on thus mechanical gripping opened or closes.
Adopt multi-joint dispersion driving machine mechanical arm of the present invention, first robot assemblies, the second robot assemblies, three-mechanical arm assembly and the 4th robot assemblies connect between two and form a power transmission chain, thus the power of self-driven motor is passed to each cradle head of mechanical arm respectively in the future.Compared to prior art, this mechanical arm framework has lightweight, large flexibility, multivariant advantage.In addition, whole framework only uses turntable motor driving machine mechanical arm turntable to rotate relative to car body pedestal, and use single drive motors to carry out outputting power and be passed to each cradle head in mechanical arm, number of motors is few, cost during driving design is lower, improves the cost performance of system.
Accompanying drawing explanation
Reader, after having read the specific embodiment of the present invention with reference to accompanying drawing, will become apparent various aspects of the present invention.Wherein,
Fig. 1 illustrates the structured flowchart of the multi-joint dispersion driving machine mechanical arm according to one embodiment of the present invention;
Fig. 2 illustrates the view of multi-joint dispersion driving machine mechanical arm when static in Fig. 1; And
Fig. 3 illustrates the view of multi-joint dispersion driving machine mechanical arm when moving in Fig. 1.
[primary clustering symbol description]
1 turntable motor
2 first worm and gear groups
3 car body pedestals
4 mechanical arm turntables
5 the 4th belt pulley set
6 second worm and gear groups
7 first mechanical arms
8 first clutches
9 first belt pulley set
10 first bevel gear set
11 second clutches
12 second belt pulley set
13 the 6th bevel gear set
14 second bevel gear set
15 the 6th belt pulley set
16 the 5th clutches
17 the 4th worm and gear groups
18 three-mechanical arms
19 the 8th clutches
20 the 7th belt pulley set
21 the 5th bevel gear set
22 the 7th clutches
23 the 4th mechanical arms
24 the 5th worm and gear groups
25 the 6th worm and gear groups
26 force snesor
27 mechanical gripping
28 straight-tooth wheels
29 the 9th clutches
30 the 4th bevel gear set
31 the 3rd belt pulley set
32 the tenth clutches
33 triconodont wheels
34 second mechanical arms
35 the 6th clutches
36 the 5th belt pulley set
37 the 4th clutches
38 the 7th bevel gear set
39 the 3rd clutches
40 the 3rd worm and gear groups
41 drive motors
Detailed description of the invention
The technology contents disclosed to make the application is more detailed and complete, and can refer to accompanying drawing and following various specific embodiment of the present invention, mark identical in accompanying drawing represents same or analogous assembly.But those of ordinary skill in the art should be appreciated that hereinafter provided embodiment is not used for limiting the scope that contains of the present invention.In addition, accompanying drawing, only for being schematically illustrated, is not drawn according to its life size.
With reference to the accompanying drawings, the detailed description of the invention of various aspects of the present invention is described in further detail.
Fig. 1 illustrates the structured flowchart of the multi-joint dispersion driving machine mechanical arm according to one embodiment of the present invention.Fig. 2 illustrates the view of multi-joint dispersion driving machine mechanical arm when static in Fig. 1.Fig. 3 illustrates the view of multi-joint dispersion driving machine mechanical arm when moving in Fig. 1.
Composition graphs 1, Fig. 2 and Fig. 3, multi-joint dispersion driving machine mechanical arm of the present invention comprises car body pedestal 3, mechanical arm turntable 4, first robot assemblies be installed on car body pedestal 3, the second robot assemblies, three-mechanical arm assembly, the 4th robot assemblies, mechanical gripping assembly, turntable motor 1 and a drive motors 41.More specifically, first robot assemblies is arranged on mechanical arm turntable 4, second robot assemblies is connected with the first robot assemblies, three-mechanical arm assembly is connected with the second robot assemblies, 4th robot assemblies is connected with three-mechanical arm assembly, mechanical gripping assembly is connected with three-mechanical arm assembly, turntable motor 1 driving machine mechanical arm turntable 4 rotates relative to car body pedestal 3, drive motors 41 is via the first robot assemblies, second robot assemblies, three-mechanical arm assembly, the power transmission chain that mechanical gripping assembly and the 4th robot assemblies are formed carries out power transmission, and in power transmission process, make above-mentioned multiple robot assemblies cradle head separately perform bending operation.Such as, the first robot assemblies bends to the respective mechanical arm in the 4th robot assemblies to two contrary directions.Machinery turns after receiving the power transmitted, and carries out opening and the action closed.In addition, be also provided with the first worm and gear group 2 below car body pedestal 3, one end of this first worm and gear group 2 is connected to turntable motor 1, and the other end is connected with mechanical arm turntable 4.
First robot assemblies is as the first link of power chain, and it comprises the base be fixed on mechanical arm turntable 4 and the first mechanical arm 7 be connected with base.First mechanical arm 7 is provided with the first belt pulley set 9, second belt pulley set 12, first bevel gear set 10, the 7th bevel gear set 38 and the 3rd worm and gear group 40.Drive motors 41 is installed on the first mechanical arm 7, and motor output shaft is connected with the first belt pulley set 9, the first belt pulley set 9 is connected to the first bevel gear set 10, second belt pulley set 12 and the 7th bevel gear set 38.First bevel gear set 10 is connected with first clutch 8 and second clutch 11, first clutch 8 is connected with the second worm and gear group 6 with second clutch 11, second worm and gear group 6 is connected with the 4th belt pulley set 5,4th belt pulley set 5 is connected with mechanical arm turntable 4, and the second belt pulley set 12 is connected with the 6th bevel gear set 13.
In one embodiment, first clutch 8 and second clutch 11 alternately power on, and when first clutch 8 powers on and second clutch 11 does not power on, the first mechanical arm 7 bends to first direction.When first clutch 8 does not power on and second clutch 11 powers on, the first mechanical arm 7 bends to second direction, and first direction is relative with second direction.That is, by alternately powering on of first clutch 8 and second clutch 11, the first mechanical arm 7 is bent to two different directions.
Second robot assemblies comprises the second mechanical arm 34.Second mechanical arm 34 is provided with the second bevel gear set 14, second bevel gear set 14 to be connected with the 6th bevel gear set 13.Second mechanical arm 34 is connected with the 5th belt pulley set 36,5th belt pulley set 36 is connected with the 3rd worm and gear group 40,3rd worm and gear group 40 is connected with the 3rd clutch 39 and the 4th clutch the 37, three clutch 39 is connected with the 7th bevel gear set 38 with the 4th clutch 37.In one embodiment, the 3rd clutch 39 and the 4th clutch 37 alternately power on, and when the 3rd clutch 39 powers on and the 4th clutch 37 does not power on, the second mechanical arm 34 bends to first direction; When the 3rd clutch 39 does not power on and the 4th clutch 37 powers on, the second mechanical arm 34 bends to second direction, and first direction is relative with second direction.
Three-mechanical arm assembly comprises three-mechanical arm 18.Three-mechanical arm 18 is provided with triconodont wheels 33, the 3rd belt pulley set 31, the triconodont wheels 33 that are connected with triconodont wheels 33 are connected with the second bevel gear set 14.Second bevel gear set 14 is connected with the 6th bevel gear set 13, the second bevel gear set 14 is connected with the 5th clutch 16 and the 6th clutch the 35, five clutch 16 and is connected with the 6th belt pulley set the 15, six belt pulley set 15 and is connected with the 4th worm and gear group 17.Three-mechanical arm 18 is connected with the 4th worm and gear group 17.5th clutch 16 and the 6th clutch 35 alternately power on, and when the 5th clutch 16 powers on and the 6th clutch 35 does not power on, three-mechanical arm 18 bends to first direction; When the 5th clutch 16 does not power on and the 6th clutch 35 powers on, three-mechanical arm 18 bends to second direction, and first direction is relative with second direction.
4th robot assemblies comprises the 4th mechanical arm 23.The 4th bevel gear set 30 4th mechanical arm 23 is provided with the 5th bevel gear set 21, being connected with the 3rd belt pulley set 31,5th bevel gear set 21 is provided with the 7th clutch 22 and the 8th clutch 19,7th clutch 22 and the 8th clutch 19 are connected with the 5th worm and gear group 24,5th worm and gear group 24 is connected with the 7th belt pulley set 20,7th belt pulley set 20 is connected with three-mechanical arm 18, and wherein the 7th clutch 22 and the 8th clutch 19 alternately power on thus make the 4th mechanical arm 23 bending to different directions.
Mechanical gripping assembly comprises the 6th worm and gear group 25 be connected with straight-tooth wheels 28, the mechanical gripping 27 be connected with the 6th worm and gear group 25, the force snesor 26 be arranged in mechanical gripping 27, wherein, straight-tooth wheels 28 are connected with the 9th clutch 29 and the tenth clutch 32.9th clutch 29 is connected with the 4th bevel gear set 30 with the tenth clutch 32, and the 4th bevel gear set 30 is connected with the 5th bevel gear set 21, and the 9th clutch 29 and the tenth clutch 32 alternately power on thus mechanical gripping 27 opened or closes.
Adopt multi-joint dispersion driving machine mechanical arm of the present invention, first robot assemblies, the second robot assemblies, three-mechanical arm assembly and the 4th robot assemblies connect between two and form a power transmission chain, thus the power of self-driven motor is passed to each cradle head of mechanical arm respectively in the future.Compared to prior art, this mechanical arm framework has lightweight, large flexibility, multivariant advantage.In addition, whole framework only uses turntable motor driving machine mechanical arm turntable to rotate relative to car body pedestal, and use single drive motors to carry out outputting power and be passed to each cradle head in mechanical arm, number of motors is few, cost during driving design is lower, improves the cost performance of system.
Above, the specific embodiment of the present invention is described with reference to the accompanying drawings.But those skilled in the art can understand, when without departing from the spirit and scope of the present invention, various change and replacement can also be done to the specific embodiment of the present invention.These change and replace and all drop in claims of the present invention limited range.
Claims (9)
1. a multi-joint dispersion driving machine mechanical arm, it is characterized in that, described multi-joint dispersion driving machine mechanical arm comprises car body pedestal (3), mechanical arm turntable (4), the first robot assemblies, the second robot assemblies, three-mechanical arm assembly, the 4th robot assemblies, mechanical gripping assembly, a turntable motor (1) and the drive motors (41) be installed on car body pedestal (3)
Wherein, described first robot assemblies is arranged on mechanical arm turntable (4), described second robot assemblies is connected with described first robot assemblies, described three-mechanical arm assembly is connected with described second robot assemblies, described 4th robot assemblies is connected with described three-mechanical arm assembly, described mechanical gripping assembly is connected with described three-mechanical arm assembly, turntable motor (1) driving machine mechanical arm turntable (4) rotates relative to car body pedestal (3), drive motors (41) is via described first robot assemblies, described second robot assemblies, three-mechanical arm assembly, the power transmission chain that mechanical gripping assembly and the 4th robot assemblies are formed carries out power transmission, and in power transmission process, make above-mentioned multiple robot assemblies cradle head separately perform bending operation,
Wherein, described first robot assemblies comprises the base be fixed on mechanical arm turntable (4) and the first mechanical arm (7) be connected with described base, first mechanical arm (7) is provided with the first belt pulley set (9), second belt pulley set (12), first bevel gear set (10), 7th bevel gear set (38) and the 3rd worm and gear group (40), drive motors (41) is installed on the first mechanical arm (7), motor output shaft is connected with the first belt pulley set (9), first belt pulley set (9) is connected to the first bevel gear set (10), second belt pulley set (12) and the 7th bevel gear set (38), first bevel gear set (10) is connected with first clutch (8) and second clutch (11), first clutch (8) is connected with the second worm and gear group (6) with second clutch (11), second worm and gear group (6) is connected with the 4th belt pulley set (5), 4th belt pulley set (5) is connected with mechanical arm turntable (4), second belt pulley set (12) is connected with the 6th bevel gear set (13).
2. multi-joint dispersion driving machine mechanical arm according to claim 1, it is characterized in that, car body pedestal (3) below is also provided with the first worm and gear group (2), one end of this first worm and gear group (2) is connected to turntable motor (1), and the other end is connected with mechanical arm turntable (4).
3. multi-joint dispersion driving machine mechanical arm according to claim 1, it is characterized in that, first clutch (8) and second clutch (11) alternately power on, when first clutch (8) powers on and second clutch (11) does not power on, the first mechanical arm (7) bends to first direction; When first clutch (8) does not power on and second clutch (11) powers on, the first mechanical arm (7) bends to second direction, and described first direction is relative with described second direction.
4. multi-joint dispersion driving machine mechanical arm according to claim 1, it is characterized in that, described second robot assemblies comprises the second mechanical arm (34), second mechanical arm (34) is provided with the second bevel gear set (14), second bevel gear set (14) is connected with the 6th bevel gear set (13), second mechanical arm (34) is connected with the 5th belt pulley set (36), 5th belt pulley set (36) is connected with the 3rd worm and gear group (40), 3rd worm and gear group (40) is connected with the 3rd clutch (39) and the 4th clutch (37), 3rd clutch (39) is connected with the 7th bevel gear set (38) with the 4th clutch (37).
5. multi-joint dispersion driving machine mechanical arm according to claim 4, it is characterized in that, 3rd clutch (39) and the 4th clutch (37) alternately power on, when the 3rd clutch (39) powers on and the 4th clutch (37) does not power on, the second mechanical arm (34) bends to first direction; When the 3rd clutch (39) does not power on and the 4th clutch (37) powers on, the second mechanical arm (34) bends to second direction, and described first direction is relative with described second direction.
6. multi-joint dispersion driving machine mechanical arm according to claim 4, it is characterized in that, described three-mechanical arm assembly comprises three-mechanical arm (18), (18) are provided with triconodont wheels (33) to three-mechanical arm, the 3rd belt pulley set (31) be connected with triconodont wheels (33), triconodont wheels (33) are connected with the second bevel gear set (14), second bevel gear set (14) is connected with the 6th bevel gear set (13), second bevel gear set (14) is connected with the 5th clutch (16) and the 6th clutch (35), 5th clutch (16) is connected with the 6th belt pulley set (15), 6th belt pulley set (15) is connected with the 4th worm and gear group (17), three-mechanical arm (18) is connected with the 4th worm and gear group (17).
7. multi-joint dispersion driving machine mechanical arm according to claim 6, it is characterized in that, 5th clutch (16) and the 6th clutch (35) alternately power on, when the 5th clutch (16) powers on and the 6th clutch (35) does not power on, three-mechanical arm (18) bends to first direction; When the 5th clutch (16) does not power on and the 6th clutch (35) powers on, three-mechanical arm (18) bends to second direction, and described first direction is relative with described second direction.
8. multi-joint dispersion driving machine mechanical arm according to claim 6, it is characterized in that, described 4th robot assemblies comprises the 4th mechanical arm (23), 4th mechanical arm (23) is provided with the 5th bevel gear set (21), the 4th bevel gear set (30) be connected with the 3rd belt pulley set (31), 5th bevel gear set (21) is provided with the 7th clutch (22) and the 8th clutch (19), 7th clutch (22) and the 8th clutch (19) are connected with the 5th worm and gear group (24), 5th worm and gear group (24) is connected with the 7th belt pulley set (20), 7th belt pulley set (20) is connected with three-mechanical arm (18), wherein the 7th clutch (22) and the 8th clutch (19) alternately power on thus make the 4th mechanical arm (23) bending to different directions.
9. multi-joint dispersion driving machine mechanical arm according to claim 8, it is characterized in that, described mechanical gripping assembly comprises the 6th worm and gear group (25) be connected with straight-tooth wheels (28), the mechanical gripping (27) be connected with the 6th worm and gear group (25), the force snesor (26) be arranged in mechanical gripping (27)
Wherein, straight-tooth wheels (28) are connected with the 9th clutch (29) and the tenth clutch (32), 9th clutch (29) is connected with the 4th bevel gear set (30) with the tenth clutch (32), 4th bevel gear set (30) is connected with the 5th bevel gear set (21), and the 9th clutch (29) and the tenth clutch (32) alternately power on thus mechanical gripping (27) opened or closes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210130240.4A CN103372860B (en) | 2012-04-27 | 2012-04-27 | A kind of multi-joint dispersion driving machine mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210130240.4A CN103372860B (en) | 2012-04-27 | 2012-04-27 | A kind of multi-joint dispersion driving machine mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103372860A CN103372860A (en) | 2013-10-30 |
| CN103372860B true CN103372860B (en) | 2015-11-18 |
Family
ID=49459008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210130240.4A Active CN103372860B (en) | 2012-04-27 | 2012-04-27 | A kind of multi-joint dispersion driving machine mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103372860B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723327A (en) * | 2013-12-20 | 2015-06-24 | 广西大学 | Five-degree-of-freedom non-offset vertical multi-joint type electric mechanical arm |
| CN104637388A (en) * | 2015-01-09 | 2015-05-20 | 广西大学 | Five-degree-of-freedom unbiased stepping motor driving teaching manipulator |
| CN110919621B (en) * | 2019-11-12 | 2021-06-04 | 杭州丰奕科技有限公司 | Emergent track robot of intelligence |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1242350A1 (en) * | 1985-01-22 | 1986-07-07 | Предприятие П/Я А-1477 | Mechanical arm |
| SU1537518A1 (en) * | 1988-04-04 | 1990-01-23 | Закавказский Филиал Экспериментального Научно-Исследовательского Института Металлорежущих Станков | Manipulator |
| CN1775489A (en) * | 2005-12-15 | 2006-05-24 | 上海交通大学 | Self-reconstitution robot by full gear transmission driving six rotative surfaces of module |
| CN101077579A (en) * | 2007-06-20 | 2007-11-28 | 华中科技大学 | Multi-joint flexible mechanical arm |
| CN101664933A (en) * | 2009-09-25 | 2010-03-10 | 上海大学 | Iso-curvature bent mechanical arm based on gear drive |
| DE102010040405A1 (en) * | 2010-09-08 | 2012-03-08 | Siemens Aktiengesellschaft | Instrument system for an endoscopic robot |
| CN202592380U (en) * | 2012-04-27 | 2012-12-12 | 顿向明 | Multi-joint discrete drive mechanical arm |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3930325B2 (en) * | 2002-01-15 | 2007-06-13 | 三菱重工業株式会社 | Robot hand |
-
2012
- 2012-04-27 CN CN201210130240.4A patent/CN103372860B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1242350A1 (en) * | 1985-01-22 | 1986-07-07 | Предприятие П/Я А-1477 | Mechanical arm |
| SU1537518A1 (en) * | 1988-04-04 | 1990-01-23 | Закавказский Филиал Экспериментального Научно-Исследовательского Института Металлорежущих Станков | Manipulator |
| CN1775489A (en) * | 2005-12-15 | 2006-05-24 | 上海交通大学 | Self-reconstitution robot by full gear transmission driving six rotative surfaces of module |
| CN101077579A (en) * | 2007-06-20 | 2007-11-28 | 华中科技大学 | Multi-joint flexible mechanical arm |
| CN101664933A (en) * | 2009-09-25 | 2010-03-10 | 上海大学 | Iso-curvature bent mechanical arm based on gear drive |
| DE102010040405A1 (en) * | 2010-09-08 | 2012-03-08 | Siemens Aktiengesellschaft | Instrument system for an endoscopic robot |
| CN202592380U (en) * | 2012-04-27 | 2012-12-12 | 顿向明 | Multi-joint discrete drive mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103372860A (en) | 2013-10-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100586667C (en) | Multi-joint flexible mechanical arm | |
| CN201198136Y (en) | Joint type convey robot | |
| US8234949B2 (en) | Power transmission mechanism and robot arm using the same | |
| US8511197B2 (en) | Robot arm assembly | |
| CN110666833A (en) | Rope-driven seven-degree-of-freedom humanoid mechanical arm based on parallel mechanism | |
| CN106217364A (en) | A kind of six-shaft industrial robot of fast assembling-disassembling | |
| CN102233585A (en) | Arm member of robot | |
| CN103203741B (en) | Three-degree-of-freedom parallel robot mechanism | |
| CN102632502B (en) | High-speed six-degree of freedom parallel manipulator | |
| CN103963069A (en) | Rope-driven continuous robot | |
| CN103372860B (en) | A kind of multi-joint dispersion driving machine mechanical arm | |
| CN107000202B (en) | Multi-joint robot and module thereof | |
| CN105082111A (en) | Completely-decoupling two-movement three-rotation parallel robot mechanism | |
| CN102303313B (en) | Asymmetrical completely-isotropic three-degree-of-freedom parallel connection robot mechanism | |
| CN103240737B (en) | Three-degree-of-freedom hybrid drive winding type flexible cable parallel mechanism | |
| CN103895007A (en) | Two-translational-motion parallel robot | |
| CN104690724A (en) | Three-freedom-degree carrying robot | |
| CN100594102C (en) | Two degrees of freedom high speed translation parallel robot mechanism by rotating subsidiary drive | |
| CN202592380U (en) | Multi-joint discrete drive mechanical arm | |
| CN202878318U (en) | Underwater traction pulley type anthropopathic mechanical arm | |
| CN105058377A (en) | Five-shaft swing arm joint robot | |
| CN102848383A (en) | High-speed moving parallel mechanical arm with six degrees of freedom | |
| CN202241271U (en) | Asymmetric full isotropy three degree-of-freedom space parallel robot mechanism | |
| CN201800047U (en) | Transmission mechanism for hollow wrist of industrial robot | |
| CN111975748A (en) | Vertical rubbing type high-speed parallel robot with decoupled freedom of movement and rotation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |