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 PDF

Info

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.)
Active
Application number
CN201610348638.3A
Other languages
Chinese (zh)
Other versions
CN105835050A (en
Inventor
金小琳
杜敬利
段学超
丁宇
崔传贞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xidian Univ
Original Assignee
Xidian Univ
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Xidian Univ filed Critical Xidian Univ
Priority to CN201610348638.3A priority Critical patent/CN105835050B/en
Publication of CN105835050A publication Critical patent/CN105835050A/en
Application granted granted Critical
Publication of CN105835050B publication Critical patent/CN105835050B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126Rotary 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

A kind of Three Degree Of Freedom rope drives serial manipulator device
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.
CN201610348638.3A 2016-05-23 2016-05-23 A kind of Three Degree Of Freedom rope drives serial manipulator device Active CN105835050B (en)

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 Active CN105835050B (en) 2016-05-23 2016-05-23 A kind of Three Degree Of Freedom rope drives serial manipulator device

Country Status (1)

Country Link
CN (1) CN105835050B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110788831B (en) * 2019-10-11 2020-12-29 东南大学 Rail-moving type large-arm exhibition robot

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3308475A1 (en) * 1983-03-10 1984-09-13 Norbert 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

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3308475A1 (en) * 1983-03-10 1984-09-13 Norbert 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

Also Published As

Publication number Publication date
CN105835050A (en) 2016-08-10

Similar Documents

Publication Publication Date Title
CN104972460B (en) A kind of multi-joint omnidirectional type Pipe-out Robot
US8516920B2 (en) Robot arm assembly
US8607659B2 (en) Robotic arm assembly
CN101670622B (en) Angle-free stone automatic cutting machine
CN104552286B (en) A kind of multi-joint mechanical arm device continuously
KR101270031B1 (en) Weight compensation mechanism and robot arm using the same
US8960042B2 (en) Robot arm assembly
CN204658445U (en) A kind of Industrial robots Mechanical mechanism of six degree of freedom
CN201800045U (en) Clamping mechanism for multiple-degree-of-freedom robot
CN104647363B (en) The control method of industrial robot, industrial robot and the indicating means of industrial robot
US20120048047A1 (en) Robot arm system
CN102528804B (en) Control system of five-freedom-degree mechanical arm
US20150167798A1 (en) Motion transmitting device with epicyclic reduction gearing, epicyclic reduction gearing and manipulating arm
CN105666519B (en) A kind of manipulator and a kind of implementation method of snakelike robotic arm system and device
US10246276B2 (en) Cable-strut combination driven parallel robotic palletizer
US20130090194A1 (en) Reducing device having a high reduction ratio, robot and haptic interface comprising at least one such reducing device
US20110314950A1 (en) Robot
US20110126661A1 (en) Industrial robot
TW201313419A (en) Robot
EP0143853A1 (en) Articulated arm type of industrial robot
KR20160018672A (en) Robot, and joint mechanism for robot
US20150059511A1 (en) Robot joint structure
CN201275770Y (en) Numerical control special-shaped sponge cutting machine
US4369958A (en) Rotating table positioning device with minimum backlash
CN105437205B (en) A kind of cylindrical objects handling manipulator

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
GR01 Patent grant