CN105619446A - 多支链耦合机器人腕关节 - Google Patents
多支链耦合机器人腕关节 Download PDFInfo
- Publication number
- CN105619446A CN105619446A CN201610169425.4A CN201610169425A CN105619446A CN 105619446 A CN105619446 A CN 105619446A CN 201610169425 A CN201610169425 A CN 201610169425A CN 105619446 A CN105619446 A CN 105619446A
- Authority
- CN
- China
- Prior art keywords
- slide block
- branched chain
- connecting rod
- guide rail
- rotating
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Bearings For Parts Moving Linearly (AREA)
Abstract
Description
Claims (4)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610169425.4A CN105619446B (zh) | 2016-03-24 | 2016-03-24 | 多支链耦合机器人腕关节 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610169425.4A CN105619446B (zh) | 2016-03-24 | 2016-03-24 | 多支链耦合机器人腕关节 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105619446A true CN105619446A (zh) | 2016-06-01 |
CN105619446B CN105619446B (zh) | 2017-06-23 |
Family
ID=56034981
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610169425.4A Active CN105619446B (zh) | 2016-03-24 | 2016-03-24 | 多支链耦合机器人腕关节 |
Country Status (1)
Country | Link |
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CN (1) | CN105619446B (zh) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107932485A (zh) * | 2017-12-26 | 2018-04-20 | 燕山大学 | 一种齿轮式多级耦合并联机构 |
CN107932486A (zh) * | 2017-12-26 | 2018-04-20 | 燕山大学 | 一种共连杆式多级耦合并联机构 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004261886A (ja) * | 2003-02-18 | 2004-09-24 | Ntn Corp | リンク作動装置 |
CN2762940Y (zh) * | 2005-01-04 | 2006-03-08 | 浙江理工大学 | 球面三自由度并联机构 |
CN103286792A (zh) * | 2013-03-26 | 2013-09-11 | 上海大学 | 具有调心机构的三自由度并联机器人手腕 |
CN103753235A (zh) * | 2014-01-03 | 2014-04-30 | 清华大学 | 一种基于并联模块的多轴联动装置 |
US20150114163A1 (en) * | 2011-11-08 | 2015-04-30 | Ross-Hime Designs, Incorporated | Robotic manipulator with spherical joints |
CN205394589U (zh) * | 2016-03-24 | 2016-07-27 | 褚宏鹏 | 多支链耦合机器人腕关节 |
-
2016
- 2016-03-24 CN CN201610169425.4A patent/CN105619446B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004261886A (ja) * | 2003-02-18 | 2004-09-24 | Ntn Corp | リンク作動装置 |
CN2762940Y (zh) * | 2005-01-04 | 2006-03-08 | 浙江理工大学 | 球面三自由度并联机构 |
US20150114163A1 (en) * | 2011-11-08 | 2015-04-30 | Ross-Hime Designs, Incorporated | Robotic manipulator with spherical joints |
CN103286792A (zh) * | 2013-03-26 | 2013-09-11 | 上海大学 | 具有调心机构的三自由度并联机器人手腕 |
CN103753235A (zh) * | 2014-01-03 | 2014-04-30 | 清华大学 | 一种基于并联模块的多轴联动装置 |
CN205394589U (zh) * | 2016-03-24 | 2016-07-27 | 褚宏鹏 | 多支链耦合机器人腕关节 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107932485A (zh) * | 2017-12-26 | 2018-04-20 | 燕山大学 | 一种齿轮式多级耦合并联机构 |
CN107932486A (zh) * | 2017-12-26 | 2018-04-20 | 燕山大学 | 一种共连杆式多级耦合并联机构 |
Also Published As
Publication number | Publication date |
---|---|
CN105619446B (zh) | 2017-06-23 |
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Legal Events
Date | Code | Title | Description |
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C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information | ||
CB03 | Change of inventor or designer information |
Inventor after: Wang Meng Inventor after: Dong Chong Inventor after: Wu Hao Inventor after: Sun Dahai Inventor after: Tang Xiaohan Inventor after: Zong Xiao Inventor after: Han Zhenfeng Inventor after: Gao Qiang Inventor after: Zou Xinjue Inventor after: Wang Dayong Inventor after: Li Mingyang Inventor after: Wang Qian Inventor before: Chu Hongpeng Inventor before: Sun Tongshuai |
|
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20170516 Address after: 150060 Heilongjiang Province, Harbin Economic Development Zone haping Road District Dalian road and Xingkai road junction Applicant after: HIT SPECIAL ROBOT CO.,LTD. Address before: 312365 Zhejiang Province, Shaoxing city Shangyu District Songxia Town City Station International Plaza building 36 unit room 1-101 Applicant before: ZHEJIANG HONGSHENG TECHNOLOGY TRANSFER SERVICES CO.,LTD. Effective date of registration: 20170516 Address after: 312365 Zhejiang Province, Shaoxing city Shangyu District Songxia Town City Station International Plaza building 36 unit room 1-101 Applicant after: ZHEJIANG HONGSHENG TECHNOLOGY TRANSFER SERVICES CO.,LTD. Address before: Hebei Street West Harbor area, 066004 Hebei city of Qinhuangdao province No. 438 Applicant before: Chu Hongpeng |
|
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20220127 Address after: 243000 307 and 308, third floor, building 9, No. 5, Hongqi South Road, economic and Technological Development Zone, Maanshan City, Anhui Province Patentee after: MAANSHAN Hagong special robot Co.,Ltd. Address before: 150060 intersection of Dalian north road and Xingkai road in Harbin Economic Development Zone, Heilongjiang Province Patentee before: HIT SPECIAL ROBOT CO.,LTD. |