CN104385276B - Single motor three freedom degree manipulator arm mechanism - Google Patents
Single motor three freedom degree manipulator arm mechanism Download PDFInfo
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- CN104385276B CN104385276B CN201410524405.5A CN201410524405A CN104385276B CN 104385276 B CN104385276 B CN 104385276B CN 201410524405 A CN201410524405 A CN 201410524405A CN 104385276 B CN104385276 B CN 104385276B
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- slide block
- crossover sub
- connecting cylinder
- worm screw
- electromagnetism slide
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Abstract
Single motor three freedom degree manipulator arm mechanism, sleeve 9 is fixedly connected with a fixed electromagnet 23, and fore-end is fixedly connected with a limited block 20; Be connected with key block 26 by diaphragm-type shaft coupling 27 in one end of motor shaft 7; Electromagnetism slide block crossover sub 22,25 to be built in sleeve 9 and respectively in the both sides of fixed electromagnet 23; Worm screw connecting cylinder 24 is inserted in the axis hole of electromagnetism slide block crossover sub 22,25 and fixed electromagnet 23 correspondence, and worm screw connecting cylinder catch 21 is connected in the leading section of worm screw connecting cylinder 24; In the corresponding axis hole that worm shaft 16 is arranged on limited block 20 and worm screw connecting cylinder 24, worm screw connecting cylinder catch 21 equilateral triangle through hole in; At the top of electromagnetism slide block crossover sub 22,25 and fixed electromagnet 23, electrode block 33 is installed; Be provided with the bevel gear 5 of 45 degree at the other end of motor shaft 7, the axle 29 of power planetary gear 4 is equipped with the bevel gear 28 that can reset, brake puck 32 is enclosed within the axle of power planetary gear 4, planetary gear 2, planetary gear 2 '.
Description
Technical field
The present invention relates to a kind of robot architecture, particularly relate to a kind of mechanical arm.
Background technology
In the middle of the production work of reality, the working environment of some work is high-risk, carries out, may damage human body under the condition of high pollution, and some work requires higher precision and efficiency, therefore the normal robot that uses replaces human users in this type of work.Mechanical arm is that robot realizes the requisite parts of various operational motion.Existing mechanical arm, no matter be domestic or external, be all that one degree of freedom correspondence installs a motor usually, namely an action on a direction is only responsible for by motor.Therefore conventional mechanical arm is realize more action request often to need multiple motor, just at least need three motors as inscribed shown three freedom degree manipulator arm, this not only causes the structure of mechanical arm too fat to move, bulky, and manufacturing cost is high, fragile and maintenance difficult.In addition, existing mechanical arm is owing to will control multiple electric motors collaborative work simultaneously, and its control overflow is higher, and technical difficulty is comparatively large, thus causes R&D costs to improve, and turnover rate declines.
Summary of the invention
The object of this invention is to provide a kind of single motor three freedom degree manipulator arm mechanism.
The present invention is single motor three freedom degree manipulator arm mechanism, include housing 34, sleeve 9 is arranged on two rolling bearings 8 of housing 34, the outer surface of sleeve 9 is installed with electromagnetic brake 11 and electromagnet electric supply installation 10, the inner surface mid portion of sleeve 9 is fixedly connected with a fixed electromagnet 23, and fore-end is fixedly connected with a limited block 20; Be connected with key block 26 by diaphragm-type shaft coupling 27 in one end of motor shaft 7; First electromagnetism slide block crossover sub 22 and the second electromagnetism slide block crossover sub 25 to be built in sleeve 9 and respectively in the both sides of fixed electromagnet 23; Worm screw connecting cylinder 24 is inserted in the axis hole of the first electromagnetism slide block crossover sub 22, second electromagnetism slide block crossover sub 25 and fixed electromagnet 23 correspondence, and worm screw connecting cylinder catch 21 is connected in the leading section of worm screw connecting cylinder 24; In the corresponding axis hole that worm shaft 16 is arranged on limited block 20 and worm screw connecting cylinder 24, worm screw connecting cylinder catch 21 equilateral triangle through hole in; At the top of the first electromagnetism slide block crossover sub 22, second electromagnetism slide block crossover sub 25 and fixed electromagnet 23, electrode block 33 is installed; Be provided with the bevel gear 5 of 45 degree at the other end of motor shaft 7, the axle 29 of power planetary gear 4 is equipped with the bevel gear 28 that can reset, brake puck 32 is enclosed within the axle of power planetary gear 4, the first row star-wheel 2, second planetary gear 2 '.
Present invention achieves the action only completing three different frees degree with a motor, and routine, existing motor needs three motors just can complete this three actions.Because this reducing number of motors, reducing cost, making the structure of mechanical arm more compact, safeguard more convenient, controlling more simple, reduce the technical difficulty of mechanical arm.
Accompanying drawing explanation
Fig. 1 is the front view of mechanical arm, Fig. 2 be in Fig. 1 A-A to sectional view, Fig. 3 is the top view of mechanical arm, Fig. 4 be in Fig. 2 B-B to sectional view, Fig. 5 is the axonometric drawing of mechanical arm, Reference numeral and corresponding name are called: outer race track wheel 1, the first row star-wheel 2, second planetary gear 2 ', sun gear 3, power planetary gear 4, bevel gear 5, biaxial type stepper motor 6, motor shaft 7, sleeve roller dynamic bearing 8, sleeve 9, brush loop device 10, electromagnetic brake 11, anterior cleft hand support 12, worm gear 13, crank 14, cleft hand 15, worm shaft 16, sleeve end cap 17, distance collar 18, worm shaft rolling bearing 19, limited block 20, worm screw connecting cylinder catch 21, first electromagnetism slide block crossover sub 22, fixed electromagnet 23, worm screw connecting cylinder 24, second electromagnetism slide block crossover sub 25, key block 26, diaphragm-type shaft coupling 27, can be resetted bevel gear 28, power planet wheel spindle 29, electromagnetic brake 30, sun wheel shaft 31, brake puck 32, electrode block 33, housing 34.
Detailed description of the invention
As shown in Figure 1, Figure 2, Figure 5, single motor three freedom degree manipulator arm mechanism of the present invention, include housing 34, sleeve 9 is arranged on two rolling bearings 8 of housing 34, the outer surface of sleeve 9 is installed with electromagnetic brake 11 and electromagnet electric supply installation 10, the inner surface mid portion of sleeve 9 is fixedly connected with a fixed electromagnet 23, and fore-end is fixedly connected with a limited block 20; Be connected with key block 26 by diaphragm-type shaft coupling 27 in one end of motor shaft 7; First electromagnetism slide block crossover sub 22 and the second electromagnetism slide block crossover sub 25 to be built in sleeve 9 and respectively in the both sides of fixed electromagnet 23; Worm screw connecting cylinder 24 is inserted in the axis hole of the first electromagnetism slide block crossover sub 22, second electromagnetism slide block crossover sub 25 and fixed electromagnet 23 correspondence, and worm screw connecting cylinder catch 21 is connected in the leading section of worm screw connecting cylinder 24; In the corresponding axis hole that worm shaft 16 is arranged on limited block 20 and worm screw connecting cylinder 24, worm screw connecting cylinder catch 21 equilateral triangle through hole in; At the top of the first electromagnetism slide block crossover sub 22, second electromagnetism slide block crossover sub 25 and fixed electromagnet 23, electrode block 33 is installed; Be provided with the bevel gear 5 of 45 degree at the other end of motor shaft 7, the axle 29 of power planetary gear 4 is equipped with the bevel gear 28 that can reset, brake puck 32 is enclosed within the axle of power planetary gear 4, the first row star-wheel 2, second planetary gear 2 '.
Operation principle of the present invention is: as shown in Fig. 1 ~ Fig. 5, the two ends of biaxial type stepper motor 6 connect a bevel gear 5 separately and are responsible for the key block 26 of transmission motor power, when biaxial type stepper motor 6 is with dynamic bevel gear 5 to rotate, dependence can reset engaging of bevel gear 28 and bevel gear 5, by the sun train that power transmission is extremely grouped together with the bevel gear 28 that can reset, utilize the revolution of three planetary gears in sun train, the housing 1 of their three axles and mechanical arm is linked together, thus this is converted into the rotation of whole mechanical arm.One end of key block is connected with at motor, utilize the adhesive between the second electromagnetism slide block crossover sub 25 and fixed electromagnet 23 and repel and realize and the disconnection of key block 26 and connection, thus the connection between the sleeve 9 relying on the second electromagnetism slide block crossover sub 25 and responsible arm to rotate up in motor shaft side realizes the spinning movement of arm in electric machine main shaft direction.When needs switching motion, utilize the connecting and disconnecting that the adhesive between the first electromagnetism slide block crossover sub 22 and fixed electromagnet 23 and repulsion realize between worm screw connecting cylinder 24 and key block 26, thus drive worm shaft 16 to rotate, and the rotation of worm shaft 16 drives four turbines 13 rotations to make the double-crank mechanism connected firmly on turbine 13 drive anterior cleft hand 15 to complete opening and closing movement further.Therefore complete the imagination of the action required by an Electric Machine Control three different frees degree according to this invention, and three actions can occur simultaneously, also can occur alone or in combination and be independent of each other.
As shown in Fig. 2, Fig. 5, diaphragm-type shaft coupling 27, key block 26, first electromagnetism slide block crossover sub 22, second electromagnetism slide block crossover sub 25 and fixed electromagnet 23, limited block 20, worm screw connecting cylinder 24, worm shaft 16 are all built in sleeve 9 inside.
As shown in Figure 2, the inner surface of sleeve 9 has the smooth groove that the first electromagnetism slide block crossover sub 22, second electromagnetism slide block crossover sub 25 is reciprocatingly slided, this smooth groove is respectively equipped with left and right two extreme positions, has at the outer surface of sleeve 9 rectangular opening that electrode block 33 connects wire.
As shown in Fig. 2, Fig. 4, Fig. 5, the shape of key block 26 is cross, and seamed edge has the chamfering being beneficial to be switched on or switched off with other devices.
As shown in Fig. 2, Fig. 4, Fig. 5, first electromagnetism slide block crossover sub 22 there is the circular hole that smooth, the diameter of this circular hole is identical with the diameter of worm screw connecting cylinder 24 front portion, and worm screw connecting cylinder 24 inserts among above-mentioned circular hole and is also connected thereon to limit its catch 21 moved left and right.
As shown in Fig. 2, Fig. 4, Fig. 5, the rear portion of worm screw connecting cylinder 24 has rectangular interface, and rear portion diameter is greater than anterior diameter, and whole inside parts has equilateral triangle through hole, and rear portion has the groove for absorbing vibration.
As shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5, the afterbody of worm shaft 16 is triangle, and the triangle through hole of shape size and worm screw connecting cylinder 24 inside matches, and three equal roundings of seamed edge.
As shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5, there is in-built electrical magnet in the first electromagnetism slide block crossover sub 22, second electromagnetism slide block crossover sub 25 and fixed electromagnet 23, it has the electrode block 33 for wiring; Fixed electromagnet 23 has the smooth circular hole that diameter equals worm screw connecting cylinder 24 rear portion diameter, the second electromagnetism slide block crossover sub 25 has the smooth circular hole that diameter is greater than worm screw connecting cylinder 24 rear portion diameter.
As shown in Fig. 2, Fig. 4, Fig. 5, two rolling bearings 19 are equipped with in the inside of limited block 20.
As shown in Fig. 2, Fig. 4, Fig. 5, brake puck 32 has the smooth axis hole of three differences 120 degree, shaft hole diameter is identical with the diameter of axle of planetary gear.
As shown in Fig. 1 ~ Fig. 5, with motor shaft 7 for y-axis, the axle of sun gear 3 is x-axis, and crossing the intersection point of this diaxon the axle perpendicular to them is z-axis, is the fixed coordinate system of this mechanical arm with this coordinate.Biaxial type stepper motor 6 is equipped with the bevel gear 5 of 45 degree along one end of y-axis negative direction, this bevel gear engages with the resetted bevel gear 28 one-tenth 90 scale standard on the axle being contained in power planetary gear 4.Sun gear 3, two planetary gears 2,2 ', power planetary gear 4 and outer race track wheel 1 composition sun train, this sun train can realize the turning effort that decelerating effect can realize again around x-axis.When biaxial type stepper motor 6 rotates, band dynamic bevel gear 5, the bevel gear 28 that can reset rotate, and owing to resetting, bevel gear 28 and the axle of power planetary gear 4 are that key pin is connected, and power planetary gear 4 thus can be driven around the axle rotation of oneself.Axle due to the sun gear 3 in this sun train is connected on additional support arm or pedestal, therefore sun gear 3 is actionless relative to fixed coordinate system, so when power planetary gear 4 time rotational, axle simultaneously around sun gear 3 revolves round the sun by it, namely rotate around x-axis, two other planetary gear 2,2 ' plays passive constraint effect and revolves round the sun around x-axis equally.Because the relative position of three planetary gears when revolving round the sun is constant, therefore three smooth axis holes are respectively opened at the both sides opposite position at the rear portion of housing 34, the axle sleeve of three planetary gears is entered this three axis holes, when two planetary gears 2,2 ' and power planetary gear 4 revolve round the sun time, housing 34 will be driven to rotate around x-axis thereupon.So just, achieve the action required by one degree of freedom, namely around the rotation of x-axis.Need to be switched to next action when the action required by one degree of freedom arrives assigned address.It is charged that the electromagnet apparatus of bevel gear 28 of now can resetting connects external dc power, thus the bevel gear partial adsorbates of the bevel gear 28 that can reset is on electromagnet, and bevel gear part is moved along axle, disconnects its engaging with bevel gear 5.The brake puck 32 be simultaneously enclosed within three planet wheel spindles is locked, thus secures the locus of housing 34 under the effect of electromagnetic brake 30.Now perform the action required by second free degree at the other end of motor shaft, namely around the rotation of y-axis.At the other end of motor shaft, namely along one end of y-axis positive direction, on axle, cover has diaphragm-type shaft coupling 27, and diaphragm-type shaft coupling 27 is connected with key block 26 again.Simultaneously diaphragm-type shaft coupling 27, first electromagnetism slide block crossover sub 22, second electromagnetism slide block crossover sub 25 and fixed electromagnet 23, limited block 20, worm screw connecting cylinder 24, worm shaft 16 are all built in sleeve 9.
As shown in Fig. 1 ~ 5, sleeve 9 inside has the groove that can reciprocatingly slide along fixed coordinate system y-axis.When motor is connected, first go to the place corresponding with the interface of the second electromagnetism slide block crossover sub 25 to complete interface and proofread action, then brush loop device 10 is utilized to connect the external dc power of brush loop device 10, binding post by brush ring connects the first electromagnetism slide block crossover sub 22 with wire, electrode block 33 on second electromagnetism slide block crossover sub 25 and fixed electromagnet 23, allow fixed electromagnet 23, second electromagnetism slide block crossover sub 25 is charged, and institute's galvanization makes their respective electromagnet mutually repel, second electromagnetism slide block crossover sub 25 will move to y-axis negative direction, by repulsive force by the extreme position along y-axis negative direction of the second electromagnetism slide block crossover sub 25 dieback in sleeve 9, now the second electromagnetism slide block crossover sub 25 just and the coupling part secure fit of key block 26.Also allow the first electromagnetism slide block crossover sub 22 charged, the same repulsive force that leans on is pushed to limited block 20 place, the rectangular interface of the worm screw connecting cylinder 24 connected firmly with it and key block 26 is disconnected, avoids allowing when execution second action worm screw rotation simultaneously.Then starter motor, under the drive of shaft coupling 27, key block 26 is rotated thereupon, and then rotates with the second electromagnetism slide block crossover sub 25 of its connection, and then under the effect of groove in sleeve 9, sleeve 9 is also rotated thereupon.
As shown in Fig. 1 ~ Fig. 5, because cleft hand support 12 connects firmly on sleeve 9, therefore whole cleft hand part, comprise anterior cleft hand support 12, worm gear 13, crank 14, cleft hand 15, worm shaft 16 also rotates thereupon.So just achieve the action required by second free degree, namely around the rotation of y-axis.When again carrying out free degree switching, perform the action required by three degree of freedom, namely along the translation of x-axis or z-axis, during the folding of also i.e. anterior cleft hand 15, first connect the power supply of electromagnetic brake 11 being responsible for locking sleeve 9, make it charged thus locking sleeve 9 fixes its locus.Then sense of current in the second electromagnetism slide block crossover sub 25, fixed electromagnet 23 is changed, second electromagnetism slide block crossover sub 25 is attracted with fixed electromagnet 23 phase, second electromagnetism slide block crossover sub 25 moves along y-axis forward, disconnect the connection of the second electromagnetism slide block crossover sub 25 and key block 26, then allow biaxial type stepper motor 6 charged, check and correction position, makes key block 26 align with the rectangular interface of worm screw connecting cylinder 24.Then the sense of current in the first electromagnetism slide block crossover sub 22 is changed, first electromagnetism slide block crossover sub 22 is attracted with fixed electromagnet 23 phase, first electromagnetism slide block crossover sub 22 moves along y-axis negative direction, and the rectangular interface of the worm screw connecting cylinder 24 linked together with the first electromagnetism slide block crossover sub 22 and key block 26 are connected.Now, starter motor, key block 26 is rotated thereupon, and then worm screw connecting cylinder 24 is rotated, rotation is not limited owing to only limiting the movement of left and right when worm screw connecting cylinder 24 is connected with the first electromagnetism slide block crossover sub 22, and the rear portion of worm screw connecting cylinder 24 is triangle through hole, so worm shaft 16 can be driven when worm screw connecting cylinder 24 rotates to rotate, and then drive four worm gears 13 of standard engagement with it to rotate, two worm gears of both sides are fixedly connected with two cranks 14 of double-crank mechanism respectively, the connecting rod of double-crank mechanism is fixedly connected with cleft hand 15.When worm gear 13 rotates, drive crank 14 to rotate, and then drive cleft hand 15 to complete opening and closing movement.Complete the action required by three degree of freedom, i.e. the folding of cleft hand.
In above motion flow, only do an action, motor shaft only connects the part device of certain action responsible at every turn, and remainder relies on electromagnet and motor shaft disconnect and lock.Also can combination of two or simultaneously perform three actions arbitrarily, only need change the sense of current to control connecting and disconnecting.
Claims (10)
1. single motor three freedom degree manipulator arm mechanism, include housing (34), it is characterized in that: sleeve (9) is arranged on two rolling bearings (8) of housing (34), the outer surface of sleeve (9) is installed with electromagnetic brake (11) and electromagnet electric supply installation (10), the inner surface mid portion of sleeve (9) is fixedly connected with a fixed electromagnet (23), and fore-end is fixedly connected with a limited block (20); Be connected with key block (26) by diaphragm-type shaft coupling (27) in one end of motor shaft (7); First electromagnetism slide block crossover sub (22) and the second electromagnetism slide block crossover sub (25) to be built in sleeve (9) and respectively in the both sides of fixed electromagnet (23); Worm screw connecting cylinder (24) is inserted in axis hole corresponding to the first electromagnetism slide block crossover sub (22), the second electromagnetism slide block crossover sub (25) and fixed electromagnet (23), and worm screw connecting cylinder catch (21) is connected in the leading section of worm screw connecting cylinder (24); In the corresponding axis hole that worm shaft (16) is arranged on limited block (20) and worm screw connecting cylinder (24), worm screw connecting cylinder catch (21) equilateral triangle through hole in; At the top of the first electromagnetism slide block crossover sub (22), the second electromagnetism slide block crossover sub (25) and fixed electromagnet (23), electrode block (33) is installed; The bevel gear (5) of 45 degree is installed at the other end of motor shaft (7), the axle (29) of power planetary gear (4) is equipped with the bevel gear (28) that can reset, and brake puck (32) is enclosed within the axle of power planetary gear (4), the first row star-wheel (2), the second planetary gear (2 ').
2. single motor three freedom degree manipulator arm mechanism according to claim 1, is characterized in that diaphragm-type shaft coupling (27), key block (26), the first electromagnetism slide block crossover sub (22), the second electromagnetism slide block crossover sub (25) and fixed electromagnet (23), limited block (20), worm screw connecting cylinder (24), that worm shaft (16) is all built in sleeve (9) is inner.
3. single motor three freedom degree manipulator arm mechanism according to claim 1, it is characterized in that the inner surface of sleeve (9) have make the first electromagnetism slide block crossover sub (22), smooth groove that the second electromagnetism slide block crossover sub (25) reciprocatingly slides, this smooth groove is respectively equipped with left and right two extreme positions, has the rectangular opening of electrode block (33) connection wire at the outer surface of sleeve (9).
4. single motor three freedom degree manipulator arm mechanism according to claim 1, it is characterized in that the shape of key block (26) is cross, and seamed edge has the chamfering being beneficial to be switched on or switched off with other devices.
5. single motor three freedom degree manipulator arm mechanism according to claim 1, it is characterized in that the first electromagnetism slide block crossover sub (22) has the circular hole that smooth, the diameter that the diameter of this circular hole is anterior with worm screw connecting cylinder (24) is identical, and worm screw connecting cylinder (24) inserts among above-mentioned circular hole and is also connected thereon to limit its catch moved left and right (21).
6. single motor three freedom degree manipulator arm mechanism according to claim 1, it is characterized in that the rear portion of worm screw connecting cylinder (24) has rectangular interface, rear portion diameter is greater than anterior diameter, and whole inside parts has equilateral triangle through hole, and rear portion has the groove for absorbing vibration.
7. single motor three freedom degree manipulator arm mechanism according to claim 1, is characterized in that the afterbody of worm shaft (16) is triangle, and the triangle through hole of shape size and worm screw connecting cylinder (24) inside matches, and three equal roundings of seamed edge.
8. single motor three freedom degree manipulator arm mechanism according to claim 1, it is characterized in that there is in-built electrical magnet in the first electromagnetism slide block crossover sub (22), the second electromagnetism slide block crossover sub (25) and fixed electromagnet (23), it has the electrode block (33) for wiring; Fixed electromagnet (23) has the smooth circular hole that diameter equals worm screw connecting cylinder (24) rear portion diameter, the second electromagnetism slide block crossover sub (25) has the smooth circular hole that diameter is greater than worm screw connecting cylinder (24) rear portion diameter.
9. single motor three freedom degree manipulator arm mechanism according to claim 1, is characterized in that two rolling bearings (19) are equipped with in the inside of limited block (20).
10. single motor three freedom degree manipulator arm mechanism according to claim 1, it is characterized in that smooth axis hole brake puck (32) having three differences 120 degree, shaft hole diameter is identical with the diameter of axle of planetary gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410524405.5A CN104385276B (en) | 2014-10-09 | 2014-10-09 | Single motor three freedom degree manipulator arm mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410524405.5A CN104385276B (en) | 2014-10-09 | 2014-10-09 | Single motor three freedom degree manipulator arm mechanism |
Publications (2)
| Publication Number | Publication Date |
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| CN104385276A CN104385276A (en) | 2015-03-04 |
| CN104385276B true CN104385276B (en) | 2015-11-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410524405.5A Expired - Fee Related CN104385276B (en) | 2014-10-09 | 2014-10-09 | Single motor three freedom degree manipulator arm mechanism |
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| CN (1) | CN104385276B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171735B (en) * | 2015-10-23 | 2017-04-12 | 哈尔滨工程大学 | Hydraulic mechanical arm swing joint with brake |
| CN110014417B (en) * | 2019-04-15 | 2023-10-03 | 华北理工大学 | Mechanical handling device based on 3-degree-of-freedom parallel industrial manipulator |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001038669A (en) * | 1999-07-30 | 2001-02-13 | Masanobu Yatsugi | Driving force transmitting mechanism |
| CN101380739A (en) * | 2008-10-14 | 2009-03-11 | 哈尔滨工程大学 | Multi-foot robot bionic elastic driving joint module |
| CN102179820A (en) * | 2011-05-17 | 2011-09-14 | 哈尔滨工程大学 | Swinging joint of small-sized electric manipulator |
| CN102463572A (en) * | 2010-11-08 | 2012-05-23 | 鸿富锦精密工业（深圳）有限公司 | Power switcher |
| CN103170985A (en) * | 2013-02-27 | 2013-06-26 | 北京航空航天大学 | Three-degree of freedom joint driven by electromagnetic force applied to snake-shaped robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102398270B (en) * | 2010-09-16 | 2014-03-26 | 鸿富锦精密工业（深圳）有限公司 | Robot arm part |
-
2014
- 2014-10-09 CN CN201410524405.5A patent/CN104385276B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001038669A (en) * | 1999-07-30 | 2001-02-13 | Masanobu Yatsugi | Driving force transmitting mechanism |
| CN101380739A (en) * | 2008-10-14 | 2009-03-11 | 哈尔滨工程大学 | Multi-foot robot bionic elastic driving joint module |
| CN102463572A (en) * | 2010-11-08 | 2012-05-23 | 鸿富锦精密工业（深圳）有限公司 | Power switcher |
| CN102179820A (en) * | 2011-05-17 | 2011-09-14 | 哈尔滨工程大学 | Swinging joint of small-sized electric manipulator |
| CN103170985A (en) * | 2013-02-27 | 2013-06-26 | 北京航空航天大学 | Three-degree of freedom joint driven by electromagnetic force applied to snake-shaped robot |
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| CN104385276A (en) | 2015-03-04 |
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Granted publication date: 20151104 Termination date: 20171009 |