CN105835050B - A kind of Three Degree Of Freedom rope drives serial manipulator device - Google Patents
A kind of Three Degree Of Freedom rope drives serial manipulator device Download PDFInfo
- Publication number
- CN105835050B CN105835050B CN201610348638.3A CN201610348638A CN105835050B CN 105835050 B CN105835050 B CN 105835050B CN 201610348638 A CN201610348638 A CN 201610348638A CN 105835050 B CN105835050 B CN 105835050B
- Authority
- CN
- China
- Prior art keywords
- rope
- level
- mechanical arm
- winding disc
- rope winding
- 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.)
- Expired - Fee Related
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The invention discloses a kind of Three Degree Of Freedom rope to drive serial manipulator device, including robot base, and it is located at three motors on robot base, three pairs of connecting strands are attached separately on the capstan winch of motor, three-level mechanical arm is provided between three motors, three-level mechanical arm is fixed on robot base by support, and the third level mechanical arm for being used as rotary joint outside face connected by connecting the two-stage mechanical arm for being used as face internal rotation joint of axis connection with by rotary joint connector is sequentially provided with support；Fixation rope winding disc around connecting strand is housed on mechanical arms at different levels；Three pairs of connecting strands are connected respectively in rope winding disc from capstan winch, are rotated by motor and are driven connecting strand to be driven, so as to drive corresponding mechanical arm to rotate.Its motor is fixedly mounted on robot base, using the rope kind of drive, drives manipulator motion, this significantly reduces the weight of mechanical arm so that basic machine is more light and handy, reduces required driving power.
Description
Technical field
The present invention relates to robot transmission technical field, particularly a kind of Three Degree Of Freedom rope driving serial manipulator dress
Put.
Background technology
Robot is the automatic installations for performing work, and it can be operated according to the program edited in advance.Wherein
What is be most widely used is industrial robot.Industrial robot refer to apply in the industry it is a kind of can carry out self-contr ol,
Repeatable programming, multi-functional, multivariant multipurpose operation machine, materials hauling, workpiece and instrument can be managed, to complete
Into various operations.This robot can be fixed on a place, can also be placed in above reciprocating dolly.
Design of Transmission System occupies critical role in Robot Design.Instantly robot frequently with the kind of drive have：
Line transmission, Chain conveyer, toothed belt transmission, ball-screw-transmission, the kind of drive such as rack pinion, Worm Wheel System.One
As, for the ease of driving, the driver of robot is usually placed in the joint position of adjacent two mechanical arm, but this can produce one
A little adverse effects, the weight of driver are relatively large so that the load increase of mechanical arm, own wt are excessive, and whole system shows
Obtain very heavy.In some specific occasions, this mechanical arm is designed and not applied to.
The content of the invention
It is an object of the invention to provide a kind of Three Degree Of Freedom rope to drive serial manipulator device, and its motor fixes peace
On machine people's base, using the rope kind of drive, manipulator motion is driven, this significantly reduces the weight of mechanical arm so that machine
Tool body is more light and handy, reduces required driving power.
In order to realize above-mentioned requirements, the specific solution proposed has the present invention：
A kind of Three Degree Of Freedom rope drives serial manipulator device, including robot base, and is located on robot base
Three motors, three pairs of connecting strands are attached separately on the capstan winch of motor, and three-level is provided between three motors
Mechanical arm, three-level mechanical arm are fixed on robot base by support, and the work by connecting axis connection is sequentially provided with support
Two-stage mechanical arm for face internal rotation joint and be used as rotary joint outside face the by rotating that joint connector connects outside face
Three-level mechanical arm；Rope winding disc around connecting strand is housed on mechanical arms at different levels；Three pairs of connecting strands are connected respectively to rope winding from capstan winch
On disk, rotated by motor and drive connecting strand to be driven, so as to drive corresponding mechanical arm to rotate.
Further, the connecting strand of three motors connection includes first order rope, second level rope and third level rope；Institute
State first order rope and second level rope is connected to side by side on the capstan winch of the motor of Relative distribution, for connecting axis connection as face
The two-stage mechanical arm in internal rotation joint；The third level rope is connected to the capstan winch of the motor of the opposite side relative to three-level mechanical arm
On, for connecting through the third level mechanical arm as rotary joint outside face of rotary joint connector connection.
Further, the two-stage mechanical arm as face internal rotation joint includes first order mechanical arm and second level mechanical arm, and two
Level mechanical arm connects axis connection by the second level, and first order mechanical arm is connected by first order connecting shaft with support.
Further, the third level mechanical arm as rotary joint outside face passes through rotary joint connector and second level mechanical arm
It is connected.
Further, the rope winding disc being equipped with mechanical arms at different levels around connecting strand includes fixed rope winding disc and rotates rope winding disc；
Fixed rope winding disc is respectively equipped with first order connecting shaft and second level connecting shaft and rotates rope winding disc, second level connecting shaft both sides point
Not She You a rotation rope winding disc, one rotates and is connected with and consolidates with what second level mechanical arm was fixedly connected on the outside of rope winding disc wherein
Determine rope winding disc；First order connecting shaft is provided with four rotation rope winding discs, and the side of its axis is provided with three rotation rope winding discs, axle it is another
Side is provided with one and rotates rope winding disc and be connected with the fixation rope winding disc being fixedly connected with first order mechanical arm.
Further, the third level rope both ends being wound on the capstan winch of motor are connected respectively to two of first order connecting shaft
Rotate in rope winding disc, and be connected to by the rotation rope winding disc of second level connecting shaft in the fixation rope winding disc of third level mechanical arm.
Further, the fixation rope winding disc on third level mechanical arm thereunder, and in rotary joint connector, is revolved
Turn joint connector two side built with the fixed pulley around third level rope.
Further, the second level rope both ends being wound on the capstan winch of motor, pass through the rotation rope winding of first order connecting shaft
Disk is connected in the fixation rope winding disc being fixedly connected with second level mechanical arm in the connecting shaft of the second level.
Further, the first order rope both ends being wound on the capstan winch of motor, be connected in first order connecting shaft with
In the fixation rope winding disc that one-level mechanical arm is fixedly connected.
The present invention has following advantage compared with prior art：
1. motor etc. is placed on robot base, the weight reduction of mechanical arm can be caused using rope driving,
Whole basic machine is more light and handy, only needs smaller power to drive robot motion.
2. there is very high economy using Suo Chuandong, it is cost-effective.And it is more convenient for changing after rope abrasion.
3. reduce the design of robot interior transmission system.The rope drive scheme transmission process of use is simple, is easy to tie up
Shield.
Brief description of the drawings
Fig. 1 is the overall assembling structural representation of rope driving serial manipulator；
Fig. 2 (a)-(c) is rope driving each joint assembling structure schematic diagram of serial manipulator；Fig. 2 (a) is third level joint
Place's assembling and third level rope connected mode schematic diagram；Fig. 2 (b) is second level joint assembling and second and third grade of rope connected mode
Schematic diagram；Fig. 2 (c) is the assembling of first order joint and first, second and third grade of rope connected mode schematic diagram；
Fig. 3 (a)-(e) is the principle schematic of the rope driving of rope driving each rope of serial manipulator；Fig. 3 (a) is third level rope
Connected mode schematic diagram；Fig. 3 (b) is the connected mode schematic diagram of second level rope；Fig. 3 (c) is the connected mode of first order rope
Schematic diagram；Fig. 3 (d) is the connected mode schematic diagram between ropes and motor at different levels；Fig. 3 (e) is that total connected mode of three-level rope is shown
It is intended to.
In figure：1, robot base；2, motor；3, capstan winch (is fixedly connected on motor)；4, the first cascade
Spindle；5, first order mechanical arm；6, second level connecting shaft；7, second level mechanical arm；8, rotary joint connector；9, third level machine
Tool arm；10, third level rope；11, fixed pulley；12, fixed rope winding disc；13, rotate rope winding disc；14, second level rope；15, the first order
Rope.
Embodiment
The invention will be described in further detail with reference to the accompanying drawings and examples, but is not intended as doing any limit to invention
The foundation of system.
As shown in figure 1, this Three Degree Of Freedom rope drives serial manipulator device, including robot base 1, and it is located at machine
The motor 2 being distributed on people's base 1 with Atria summit, three pairs of connecting strands are attached separately to the capstan winch 3 of motor 2
On, three-level mechanical arm is provided between three motors 2, three-level mechanical arm is fixed on robot base 1 by support, branch
The first order mechanical arm 5 connected by first order connecting shaft 4, connected by second level connecting shaft 6 second are sequentially provided with frame
Level mechanical arm 7 and the third level mechanical arm 9 connected by rotary joint connector 8；Turn in connecting shafts at different levels equipped with connecting strand
Dynamic rope winding disc 13, three-level mechanical arm is each to be above equipped with a fixed rope winding disc 12；Three pairs of connecting strands are connected respectively to capstan winch 3 and fixed
In rope winding disc 12, rotated by motor 2 and drive connecting strand to be driven, so as to drive corresponding mechanical arm to rotate.
The connecting strand that three motors 2 connect includes first order rope 15, second level rope 14 and third level rope 10.The first order
Rope 15 and second level rope 14 are connected on the capstan winch 3 of the motor 2 of Relative distribution side by side, for connecting axis connection as in face
The two-stage mechanical arm of rotary joint；Third level rope 10 is connected to the capstan winch 3 of the motor 2 relative to the opposite side of three-level mechanical arm
On, for connecting through the third level mechanical arm 9 as rotary joint outside face of the connection of rotary joint connector 8.
As shown in Fig. 2 (b) and Fig. 2 (c), the rotation rope winding disc 13 in first order connecting shaft 4 and second level connecting shaft 6 is distinguished
Provided with four and two, the both ends being respectively located on the inside of first order mechanical arm 5 and second level mechanical arm 7.It is located at second level connecting shaft 6
On two rotate rope winding discs be respectively provided at axle both ends, the fixation rope winding disc 12 being fixedly connected on second level mechanical arm 7 is located at
One rotates the outside of rope winding disc 13.The rope winding disc being located in first order connecting shaft 4 has four, and its axis side is provided with three rotations
Rope winding disc 13, axle opposite side are provided with one and rotate rope winding disc 13 and the fixation rope winding disc being fixedly connected on first order mechanical arm 5
12。
The both ends for the third level rope 10 being wound on the capstan winch 3 of motor 2 are connected respectively to two of first order connecting shaft 4
Rotate in rope winding disc 13, and the fixation rope winding of third level mechanical arm 9 is connected to by the rotation rope winding disc 13 of second level connecting shaft 6
On disk 12.As shown in Fig. 2 (a), the fixed top of rope winding disc 12 is fixedly connected with third level mechanical arm 9, the lower section of third level mechanical arm 9
Equipped with rotary joint connector 8, in rotary joint connector 8, fixed pulley 11 connects third level mechanical arm 9 mounted in rotary joint
In the two side of part 8.It is wound on rotation rope winding of the both ends of second level rope 14 on the capstan winch 3 of motor 2 by first order connecting shaft 4
Disk 13 is connected in the fixation rope winding disc 12 being fixedly connected with second level mechanical arm 7 in second level connecting shaft 6.It is wound on driving electricity
Both ends of first order rope 15 on the capstan winch 3 of machine 2 are connected to being fixedly connected with first order mechanical arm 5 in first order connecting shaft 4
In fixed rope winding disc 12.
It can be clearly seen that by Fig. 1 general assembly drawing, Three Degree Of Freedom rope proposed by the present invention drives serial manipulator
Structure is：Three mechanical arms are connected in series by three rotary joints, are ultimately connected on robot base 1.
As shown in Fig. 3 (d), this kind of Three Degree Of Freedom rope driving serial manipulator of the invention applies three pairs of ropes altogether, often
A pair of ropes are made up of two bar ropes.Every a pair of ropes have one to be connected in the rope winding disc of mechanical arm, and other end is then fastened on drive
On the capstan winch that dynamic motor is connected.Also, a pair of ropes are on the fixation rope winding disc 12 of mechanical arm, capstan winch 3, the winding side of two ropes
It is opposite to corresponding to.When motor rotates, the length of this two ropes changes simultaneously.An if also, wherein rope
Length be increase, then the length of another rope must be shorten；That is, two Suo Changdu change corresponding to this every a pair
Change amount is equal.This is to ensure that when a motor transmits motion to mechanical arm by rope, rope is to maintain tensioning
State, and rotating and reverse for motor can be accurately transmitted motion on corresponding mechanical arm.Thus protect
The accuracy of robot motion has been demonstrate,proved, and has moved the safe and efficient of transmission.
As shown in Fig. 3 (b), (c), the second level, the canoe of first order rope corresponding to the second level, first order rotary joint
And operation principle is identical.And the canoe of third level rope corresponding to the third level rotary joint shown in Fig. 3 (a) and
The canoe of rope corresponding to one-level, second level joint is less identical.Therefore with second level joint and third level joint
Illustrated exemplified by connected mode.
As shown in Fig. 3 (b), second level rope connected mode is：Second level mechanical arm 7 passes through in face with mechanical 5 arms of the first order
The mode of rotary joint is connected by second level connecting shaft 6, and two mechanical arms can relatively rotate in generating surface.Second level rope 14, which is fixed, to be connected
It is connected in the fixation rope winding disc 12 of second level mechanical arm；Rope passes through the inside of first order mechanical arm 5 afterwards, and being wrapped in can be first
In the rotation rope winding disc 13 that level connecting shaft 4 freely rotates；Last rope stretches out and the capstan winch 3 on motor 2 inside mechanical arm
It is fixedly connected.
As shown in Fig. 3 (e), third level joint is：Third level mechanical arm 9 is with second level mechnisiam arm by rotating pass outside face
The mode of section is connected by rotating joint connector 8 outside face, and two mechanical arms can relatively rotate outside generating surface.Third level rope 10, which is fixed, to be connected
It is connected in the fixation rope winding disc 12 of third level mechanical arm, rope is by rotating fixed pulley group fixed on joint connector afterwards outside face
11 are carried out turning to length direction of the direction for making rope along second level mechanical arm, and rope is passed through from the inside of second level mechanical arm 7, twined
It is wound on the rotation rope winding disc 13 that can be freely rotated in second level connecting shaft 6, rope passes through the interior of first order mechanical arm 5 afterwards
Portion, be wound in the rotation rope winding disc 13 that can be freely rotated in first order connecting shaft 4, last rope stretch out inside the mechanical arm with
Capstan winch 3 on motor 2 is fixedly connected.
Rope among mechanical arm inner chamber is ensured that by this winding mode, it is each below its corresponding mechanical arm
The length of the rope passed through among the mechanical arm inner chamber of level is to maintain constant.When the length of rope corresponding to mechanical arm changes
When, this root rope place can be only influenceed when the motion of the mechanical arm of level, that is, causes the rotation of the mechanical arm corresponding to rope, so as to reach
Pass through the long purpose rotated and then control machinery arm of control cord.Just because of rope below corresponding mechanical arm mechanical arms at different levels
The length of rope among inner chamber, no matter how the pose of corresponding mechanical arm changes all without being affected, with regard to that can reach each driving
Accurate control of the motor for corresponding each mechanical arm.
It is to ensure that third level mechanical arm 9 can be second using a rotary joint connector 8 in third level mechanical arm 9
Stable rotation on level mechanical arm 7.Third level mechanical arm 9 is enclosed on to the long part of extension bar of rotary joint connector 8, afterwards,
Rotary joint connector 8 is fixedly connected on above second level mechanical arm 7, ensures that third level mechanical arm 9 is complete in vertical direction
Constraint.
In the present invention：Second level mechanical arm 7 is fixedly connected with rotary joint outside face 8 by way of welding, the third level
Mechanical arm 9 is that loose fit is connected with rotating joint connector outside face；Rotate rope winding disc 13 and first order connecting shaft 4 and the second level
Loose fit connects in connecting shaft 6 so that and it can freely be rotated in each connecting shaft, and between each rotation rope winding disc 13 mutually
Independently, it is independent of each other；It is tight fit between capstan winch 3 and motor 2.
Because there is independent motor in each joint, therefore the motion between different joints is separate, can control
Linked between the different parts of rope processed driving serial manipulator or the compound movement such as self-movement.
It should be noted that described above is only the preferred embodiment of the present invention, it is noted that for the general of this area
Logical technical staff, under the premise of not departing from the present invention, some improvement that the present invention can also be made and supplement, these improvement
And supplement, it also should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of Three Degree Of Freedom rope drives serial manipulator device, it is characterised in that：Including robot base (1), and it is located at
Three motors (2) on robot base (1), three pairs of connecting strands are attached separately on the capstan winch (3) of motor (2),
Three-level mechanical arm is provided between three motors (2), three-level mechanical arm is fixed on robot base (1) by support, branch
The two-stage mechanical arm for being used as face internal rotation joint by connecting axis connection is sequentially provided with frame and by rotary joint connector
(8) third level mechanical arm (9) as rotary joint outside face of connection；Rope winding around connecting strand is housed on mechanical arms at different levels
Disk；Three pairs of connecting strands are connected respectively in rope winding disc from capstan winch (3), are rotated by motor (2) and are driven connecting strand to be driven, from
And corresponding mechanical arm is driven to rotate；
The rope winding disc being equipped with mechanical arms at different levels around connecting strand includes fixed rope winding disc (12) and rotates rope winding disc (13)；First
Fixed rope winding disc (12) is respectively equipped with level connecting shaft (4) and second level connecting shaft (6) and rotates rope winding disc (13), the second cascade
Spindle (6) both sides are respectively equipped with one and rotate rope winding disc (13), and one rotates and is connected with the outside of rope winding disc (13) and the wherein
The fixation rope winding disc (12) that secondary mechanical arm (7) is fixedly connected；First order connecting shaft (4) is provided with four rope winding discs, wherein first
The side of level connecting shaft (4) is provided with three and rotates rope winding discs (13), the opposite side of first order connecting shaft (4) be provided with one rotate around
Rope disk (13) is simultaneously connected with the fixation rope winding disc (12) being fixedly connected with first order mechanical arm (5).
2. Three Degree Of Freedom rope according to claim 1 drives serial manipulator device, it is characterised in that：Three drivings
The connecting strand of motor (2) connection includes first order rope (15), second level rope (14) and third level rope (10)；The first order rope
(15) it is connected on the capstan winch (3) of the motor (2) of Relative distribution side by side with second level rope (14), makees for connecting axis connection
For the two-stage mechanical arm in face internal rotation joint；The third level rope (10) is connected to the electricity of the opposite side relative to three-level mechanical arm
On the capstan winch (3) of machine (2), for connecting through the third level as rotary joint outside face of rotary joint connector (8) connection
Mechanical arm (9).
3. Three Degree Of Freedom rope according to claim 1 drives serial manipulator device, it is characterised in that：As face internal rotation
The two-stage mechanical arm in joint includes first order mechanical arm (5) and second level mechanical arm (7), two-stage mechanical arm are connected by the second level
Axle (6) is connected, and first order mechanical arm (5) is connected by first order connecting shaft (4) with support.
4. Three Degree Of Freedom rope according to claim 1 drives serial manipulator device, it is characterised in that：Rotated as outside face
The third level mechanical arm (9) in joint is connected by rotating joint connector (8) outside face with second level mechanical arm (7).
5. Three Degree Of Freedom rope according to claim 1 drives serial manipulator device, it is characterised in that：It is wound on motor
(2) third level rope (10) both ends on capstan winch (3) are connected respectively to two rotation rope winding discs (13) of first order connecting shaft (4)
On, and it is connected to by the rotation rope winding disc (13) of second level connecting shaft (6) the fixation rope winding disc (12) of third level mechanical arm (9)
On.
6. Three Degree Of Freedom rope according to claim 1 drives serial manipulator device, it is characterised in that：Mounted in third level machine
Fixation rope winding disc (12) on tool arm (9) thereunder, and in the rotary joint connector (8), rotary joint connector (8) two
Side wall is built with the fixed pulley (11) around third level rope (10).
7. Three Degree Of Freedom rope according to claim 1 drives serial manipulator device, it is characterised in that：It is wound on motor
(2) both ends of the second level rope (14) on capstan winch (3), are connected to by the rotation rope winding disc (13) of first order connecting shaft (4)
In the fixation rope winding disc (12) being fixedly connected with second level mechanical arm (7) in second level connecting shaft (6).
8. Three Degree Of Freedom rope according to claim 1 drives serial manipulator device, it is characterised in that：It is wound on motor
(2) first order rope (15) both ends on capstan winch (3), it is connected to solid with first order mechanical arm (5) in first order connecting shaft (4)
Surely in the fixation rope winding disc (12) connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610348638.3A CN105835050B (en) | 2016-05-23 | 2016-05-23 | A kind of Three Degree Of Freedom rope drives serial manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610348638.3A CN105835050B (en) | 2016-05-23 | 2016-05-23 | A kind of Three Degree Of Freedom rope drives serial manipulator device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105835050A CN105835050A (en) | 2016-08-10 |
| CN105835050B true CN105835050B (en) | 2017-11-10 |
Family
ID=56593168
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610348638.3A Expired - Fee Related CN105835050B (en) | 2016-05-23 | 2016-05-23 | A kind of Three Degree Of Freedom rope drives serial manipulator device |
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| Country | Link |
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| CN (1) | CN105835050B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110547093A (en) * | 2019-08-28 | 2019-12-10 | 贵州航天智慧农业有限公司 | Arm is picked to lightweight agricultural |
| CN110788831B (en) * | 2019-10-11 | 2020-12-29 | 东南大学 | Rail-moving type large-arm exhibition robot |
| CN111546304B (en) * | 2020-04-22 | 2022-07-12 | 天津大学 | Single-motor input three-freedom-degree rotating mechanism |
| CN114536315B (en) * | 2022-03-03 | 2023-06-23 | 哈尔滨工业大学（深圳） | Continuous dobby robot facing on-orbit service |
| CN114851239B (en) * | 2022-03-04 | 2024-03-12 | 深圳鹏行智能研究有限公司 | Front end joint, middle joint, bendable mechanical part of line drive machine and robot |
| CN114619434A (en) * | 2022-04-24 | 2022-06-14 | 上海大学 | Mechanical arm |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3308475A1 (en) * | 1983-03-10 | 1984-09-13 | Norbert 1000 Berlin Schlimm | Robot arm with multiple joints - has second and third parts of arm actuated by motors mounted in stationary base |
| US4784010A (en) * | 1987-04-27 | 1988-11-15 | Graco Robotics Inc. | Electric robotic work unit |
| WO2001085404A1 (en) * | 2000-05-11 | 2001-11-15 | Abb Ab | Supplying energy to the end tool, with an endless band, to an industrial robot |
| CN101733743A (en) * | 2010-01-02 | 2010-06-16 | 华南理工大学 | Drawing wire type serial mechanical arm |
| CN104440904A (en) * | 2014-12-29 | 2015-03-25 | 淮海工学院 | Steel wire rope transmission mechanical hand |
-
2016
- 2016-05-23 CN CN201610348638.3A patent/CN105835050B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3308475A1 (en) * | 1983-03-10 | 1984-09-13 | Norbert 1000 Berlin Schlimm | Robot arm with multiple joints - has second and third parts of arm actuated by motors mounted in stationary base |
| US4784010A (en) * | 1987-04-27 | 1988-11-15 | Graco Robotics Inc. | Electric robotic work unit |
| WO2001085404A1 (en) * | 2000-05-11 | 2001-11-15 | Abb Ab | Supplying energy to the end tool, with an endless band, to an industrial robot |
| CN101733743A (en) * | 2010-01-02 | 2010-06-16 | 华南理工大学 | Drawing wire type serial mechanical arm |
| CN104440904A (en) * | 2014-12-29 | 2015-03-25 | 淮海工学院 | Steel wire rope transmission mechanical hand |
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| CN105835050A (en) | 2016-08-10 |
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Granted publication date: 20171110 |