CN106042006A - 医用机器人减速器抗扭矩结构 - Google Patents
医用机器人减速器抗扭矩结构 Download PDFInfo
- Publication number
- CN106042006A CN106042006A CN201610409723.6A CN201610409723A CN106042006A CN 106042006 A CN106042006 A CN 106042006A CN 201610409723 A CN201610409723 A CN 201610409723A CN 106042006 A CN106042006 A CN 106042006A
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- Prior art keywords
- torsion spring
- decelerator
- arm
- medical robot
- pitching
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- 239000003638 chemical reducing agent Substances 0.000 title abstract description 7
- 239000007787 solid Substances 0.000 claims description 2
- 230000003139 buffering effect Effects 0.000 abstract 1
- 238000012986 modification Methods 0.000 abstract 1
- 230000004048 modification Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 5
- 230000001965 increasing effect Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 208000020442 loss of weight Diseases 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000002917 arthritic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (9)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201610409723.6A CN106042006B (zh) | 2016-06-13 | 2016-06-13 | 医用机器人减速器抗扭矩结构 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CN201610409723.6A CN106042006B (zh) | 2016-06-13 | 2016-06-13 | 医用机器人减速器抗扭矩结构 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106042006A true CN106042006A (zh) | 2016-10-26 |
CN106042006B CN106042006B (zh) | 2018-02-13 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN201610409723.6A Active CN106042006B (zh) | 2016-06-13 | 2016-06-13 | 医用机器人减速器抗扭矩结构 |
Country Status (1)
Country | Link |
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CN (1) | CN106042006B (zh) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106695758A (zh) * | 2016-12-07 | 2017-05-24 | 长沙开山斧智能科技有限公司 | 机械臂扭矩平衡装置 |
CN106737822A (zh) * | 2016-12-28 | 2017-05-31 | 中国科学院长春光学精密机械与物理研究所 | 一种大扭矩紧凑型机械臂关节 |
CN108081310A (zh) * | 2016-11-23 | 2018-05-29 | 克恩-里伯斯(太仓)有限公司 | 一种机械臂的重力平衡装置 |
CN108204795A (zh) * | 2018-04-04 | 2018-06-26 | 广州市精谷智能科技有限公司 | 一种具有自平衡轴的测量臂 |
EP3572027A1 (en) * | 2018-05-21 | 2019-11-27 | Horizon Microport Medical Technology (Beijing) Co., Ltd | Robot having stereotactic function |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120279338A1 (en) * | 2009-09-22 | 2012-11-08 | Gm Global Technology Operations, Inc. | Rotary series elastic actuator |
CN104398366A (zh) * | 2014-11-24 | 2015-03-11 | 江苏大学 | 一种适用于康复机器人的扭簧式柔弹性关节 |
CN104723356A (zh) * | 2015-03-26 | 2015-06-24 | 中国人民解放军装备学院 | 一种基于动静块的软接触关节 |
CN105328711A (zh) * | 2015-11-10 | 2016-02-17 | 哈尔滨工业大学 | 一种模块化变刚度关节 |
CN105345839A (zh) * | 2015-11-10 | 2016-02-24 | 哈尔滨工业大学 | 一种基于扭簧特性的变刚度关节 |
CN205735029U (zh) * | 2016-06-13 | 2016-11-30 | 重庆金山科技(集团)有限公司 | 扭簧式机械臂关节抗扭矩机构 |
-
2016
- 2016-06-13 CN CN201610409723.6A patent/CN106042006B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120279338A1 (en) * | 2009-09-22 | 2012-11-08 | Gm Global Technology Operations, Inc. | Rotary series elastic actuator |
CN104398366A (zh) * | 2014-11-24 | 2015-03-11 | 江苏大学 | 一种适用于康复机器人的扭簧式柔弹性关节 |
CN104723356A (zh) * | 2015-03-26 | 2015-06-24 | 中国人民解放军装备学院 | 一种基于动静块的软接触关节 |
CN105328711A (zh) * | 2015-11-10 | 2016-02-17 | 哈尔滨工业大学 | 一种模块化变刚度关节 |
CN105345839A (zh) * | 2015-11-10 | 2016-02-24 | 哈尔滨工业大学 | 一种基于扭簧特性的变刚度关节 |
CN205735029U (zh) * | 2016-06-13 | 2016-11-30 | 重庆金山科技(集团)有限公司 | 扭簧式机械臂关节抗扭矩机构 |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108081310A (zh) * | 2016-11-23 | 2018-05-29 | 克恩-里伯斯(太仓)有限公司 | 一种机械臂的重力平衡装置 |
CN106695758A (zh) * | 2016-12-07 | 2017-05-24 | 长沙开山斧智能科技有限公司 | 机械臂扭矩平衡装置 |
CN106695758B (zh) * | 2016-12-07 | 2019-07-16 | 长沙开山斧智能科技有限公司 | 机械臂扭矩平衡装置 |
CN106737822A (zh) * | 2016-12-28 | 2017-05-31 | 中国科学院长春光学精密机械与物理研究所 | 一种大扭矩紧凑型机械臂关节 |
CN106737822B (zh) * | 2016-12-28 | 2019-03-22 | 中国科学院长春光学精密机械与物理研究所 | 一种大扭矩紧凑型机械臂关节 |
CN108204795A (zh) * | 2018-04-04 | 2018-06-26 | 广州市精谷智能科技有限公司 | 一种具有自平衡轴的测量臂 |
CN108204795B (zh) * | 2018-04-04 | 2024-01-23 | 广州市精谷智能装备有限公司 | 一种具有自平衡轴的测量臂 |
EP3572027A1 (en) * | 2018-05-21 | 2019-11-27 | Horizon Microport Medical Technology (Beijing) Co., Ltd | Robot having stereotactic function |
RU2722310C2 (ru) * | 2018-05-21 | 2020-05-28 | Хоризон Майкропорт Медикал Текнолоджи (Бейджин) КО., ЛТД | Робот, имеющий стереотаксическую функцию |
Also Published As
Publication number | Publication date |
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CN106042006B (zh) | 2018-02-13 |
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PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Anti torque structure of medical robot reducer Effective date of registration: 20210126 Granted publication date: 20180213 Pledgee: Agricultural Bank of China Limited Chongqing Yubei sub branch Pledgor: CHONGQING JINSHAN SCIENCE & TECHNOLOGY (GROUP) Co.,Ltd. Registration number: Y2021500000004 |
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PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20220214 Granted publication date: 20180213 Pledgee: Agricultural Bank of China Limited Chongqing Yubei sub branch Pledgor: CHONGQING JINSHAN SCIENCE & TECHNOLOGY (GROUP) Co.,Ltd. Registration number: Y2021500000004 |
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PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Anti torque structure of medical robot reducer Effective date of registration: 20220627 Granted publication date: 20180213 Pledgee: Agricultural Bank of China Limited Chongqing Yubei sub branch Pledgor: CHONGQING JINSHAN SCIENCE & TECHNOLOGY (GROUP) Co.,Ltd. Registration number: Y2022500000034 |
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PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20231020 Granted publication date: 20180213 Pledgee: Agricultural Bank of China Limited Chongqing Yubei sub branch Pledgor: Chongqing Jinshan Medical Technology Research Institute Co.,Ltd.|BEIJING ZHONGJIN SILICON VALLEY TECHNOLOGY CO.,LTD.|CHONGQING JINSHAN SCIENCE & TECHNOLOGY (GROUP) Co.,Ltd. Registration number: Y2022500000034 |
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PC01 | Cancellation of the registration of the contract for pledge of patent right |