CN106346464B - The lateral pantographic flexible mechanical arm of hard and soft series-parallel connection - Google Patents
The lateral pantographic flexible mechanical arm of hard and soft series-parallel connection Download PDFInfo
- Publication number
- CN106346464B CN106346464B CN201610987180.6A CN201610987180A CN106346464B CN 106346464 B CN106346464 B CN 106346464B CN 201610987180 A CN201610987180 A CN 201610987180A CN 106346464 B CN106346464 B CN 106346464B
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- driving unit
- rod rack
- pairs
- link
- 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
Links
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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
- B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
-
- 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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
A kind of lateral pantographic flexible mechanical arm of hard and soft series-parallel connection, it includes engine base, end effector and connects their the identical driving unit being sequentially connected in series of multiple structures, and the driving unit is formed by the pneumatic muscle with flexible characteristic and the lightweight connecting bar holder series-parallel connection with rigidity characteristic；Connecting rod rack is driven by mini cylinder, is enough realized scale transformation and connection supporting role, is driven and moved together with three pneumatic muscles that connecting rod rack is connected, to realize the thickness transformation of driving unit；Pneumatic muscle both ends are both connected on connecting rod rack, can realize bending and stretching motion.The present invention can be achieved at the same time stretching motion, thickness transformation and respectively to bending motion, mobility is good, it is safe during being interacted with people, it not only ensure that higher bending softness and good compliance, but also improve the adaptive capacity to environment of flexible mechanical arm.
Description
Technical field
The invention belongs to robot field, more particularly to a kind of mechanical arm.
Background technology
1962, by the First industrial robot Unimate of Unimation companies of U.S. design production in General Motors
Company comes into operation, and indicates the birth of first generation robot.In subsequent decades, with computer technology, manufacturing technology,
The performance of the development of sensor, control technology, robot is increasing substantially, and is deep into the multiple fields of the mankind, in machine from now on
Device people will continue on horizontal and vertical development.In transverse direction, the range of application is more and more wider.From the people that spatially minds the machine just from ground
Towards space, deep-sea, underground extension, from every field, robot will be deep into industry, military affairs, aviation, amusement, service；
On longitudinal direction, the type of robot will be more and more.Microrobot will become the rising star of robot, and it is direct that it can enter human body
Cell, virus are operated.In short, robot will become more intelligent, it is increasing to the contribution of the mankind.
Mechanical arm is one kind of robot, and traditional mechanical arm is rigid link composition, usually there is series, parallel or string
And three kinds of structures of series-parallel connection.The characteristics of this kind of mechanical arm is that have discrete joint and rigid connection, it is also a kind of based on octopus arm, as
The bionical non-individual body mechanical arm of the biologic-organs such as nose.Since non-individual body mechanical arm can generate plastic deformation in any part, so
With very strong avoidance ability, non-structure environment can be preferably adapted to, irregularly shaped object is preferably captured.This kind of mechanical arm was both
Clamping device can be loaded onto in end as tradition machinery arm and capture object, can also roll object using mechanical arm itself.
It is powerful from the structure of this kind of mechanical arm, there is good compliance and adaptability；From the application of this kind of robot
Angle sees that the operation object of these mechanical arms is often some soft, fragile and lived targets, and traditional mechanical arm is then
It is not easily achieved.
Nineteen ninety-five, the KSI tentacle type manipulators that Immega etc. is designed and produced, the manipulator mainly have air bag, servo motor,
6 rope compositions, using soft rope and gas combination drive；2001, Hannan and Walker et al. have developed hyper-redundant as
Nose humanoid robot, the robot are made of 16 U-shaped joints of 2DOF, overall length 82.32cm, can be divided into length not equal 4
Part, wherein each part includes 4 joints.Each joint is mixed realization mixing control by rope with spring；2003,
Peirs et al. has developed a kind of flexible bending joint section for endoscope robot surgical operation.Sequential machine people is by micro-
Electromechanical super-elastic NiTi compo pipe is constituted, and is driven using 4 tendons, has 2 degree of freedom, can be bent 90 in arbitrary negative direction
Degree；2007, Harada et al. had developed a kind of flexible laser operations hand, the manipulator maximum gauge 2.4mm, can to appoint
The bending of meaning direction, maximum bend angle are 90 degree；2011, German Fei Situo companies developed and are designed according to the characteristics of big trunk
Novel bionic machine processing system " bionical operation assistant " out, it can smoothly carry heavy duty, and principle is its
Each section vertebra can be extended and shunk by the compression and inflation of air bag；2014, Chinese patent CN203804991U,
A kind of spring line traffic control flexibility trunk mechanical arm is disclosed, which includes the joint for the multi-stage series being mounted on engine base,
The one end in the first joint is fixed on engine base in wherein concatenated joint, and the other end in the first joint and one end of second joint are solid
Surely it links together, thereafter and so on, it is fixed with elastic support and driving unit on engine base, there is driving bullet on driving unit
Spring, the series connection arthrodesis is on elastic support, and driving spring passes through series connection joint.
These above mentioned class flexible mechanical arms are divided according to type of drive, can be divided into three classes：It is interior driving, outer
Driving and mixed type.Interior driving general use fills fluid-operated mode in bellows, outer driving continuous using lightweight
Body adds the mode of remote boot server, mixed type driving to be the comprehensive hybrid plans for adopting inside and outside two kinds of drivings.Outer driving or mixing
The possibility of lightweight non-individual body in driving scheme is used elastic rod as vertebra or is realized without vertebra with cylindrical spring.Currently, this
A little class flexible mechanical arms can realize bending, have some to may be implemented to stretch, but can realize bending, the variation of flexible and thickness simultaneously
Flexible mechanical arm is seldom, can improve the adaptive capacity to environment of mechanical arm in some application scenario thickness transformation, for example passing through
We need thinner mechanical arm when narrow space, when rolling certain objects using mechanical arm itself, thicker machine appropriate
Tool arm can increase the contact area of mechanical arm and object, to make the stronger volume of mechanical arm live object.
Invention content
The purpose of the present invention is to provide one kind can be achieved at the same time stretching motion, thickness transformation and respectively to bending motion,
The lateral pantographic flexible mechanical arm of the good hard and soft series-parallel connection of mobility.
The present invention includes engine base, end effector and connects their multiple driving units being sequentially connected in series, wherein institute
The one end for stating driving unit is fixed on by the terminal pad on connecting rod rack on engine base, the other end and another driving unit
One end is connected by connecting rod rack；Equally, the other end of another driving unit and one end of third driving unit pass through company
Bar holder connects, and is connect successively with other driving units, until the length needed, the other end of the last one driving unit pass through
Terminal pad on connecting rod rack is connect with end effector, for capturing target object.
The driving unit includes flexible portion and connecting rod rack, and the connecting rod rack includes mainly three upper connecting rods, three
A lower link, mini cylinder, upper pin, lower bearing pin, nut, upper link, lower link, three middle part axis pins, two slide bars,
Two slide cartridges；The upper link is identical with lower connecting frame structure, they are intermediate with circular through hole and along link
Circumference is all provided with the structure type of three pairs of ear mounts, and upper link is fixed on the piston rod of mini cylinder, and lower link is fixed on fan
On your cylinder block；One end of three upper connecting rods is connected by upper pin with three pairs of ear mounts on upper link respectively, constitutes three
A revolute pair, the other end pass through the end and a cunning of one end of middle part axis pin and three lower links and two slide cartridges respectively
The end of bar connects, and constitutes three revolute pairs；The other end of three lower links passes through three on lower bearing pin and lower link respectively
Ear mount is connected, three revolute pairs are constituted；Described two slide cartridges are socketed with two slide bars respectively, form cylindrical pair, above-mentioned two
The end of slide cartridge is equipped with the female sleeve of the band vertical with cylindrical slideway central axes, and the end of said one slide bar is set
There is the female sleeve of the band vertical with the central axes of cylindrical rod.
The flexible portion includes the identical pneumatic muscle of three root architectures, three pneumatic muscles laterally at triangular arrangement,
The both ends of two of which pneumatic muscle are separately fixed at by end thread in the sleeve of the slide cartridge of two adjacent connecting rod racks,
The both ends of another pneumatic muscle three are separately fixed at the sleeve of the slide bar of two adjacent connecting rod racks by end thread
It is interior.
It drives connecting rod rack to collapse by the elongation of the cylinder rod of mini cylinder, makes the sleeve of two slide cartridges and a slide bar
The distance between central axes reduce, to drive three pneumatic muscles inwardly to collapse, realize single driving unit by slightly to
Thin transformation；Equally, it is the transformation of single driving unit from fine to coarse when the cylinder rod of mini cylinder shortens.
The cylinder body of the one end for the connecting rod rack being connect with engine base, mini cylinder is fixed on lower connection disk center, three pairs of ear mounts
Along the circumferential direction be distributed on ring flange, the other end of lower link one, lower link two and lower link three respectively by lower bearing pin with
Three pairs of ear mounts connect and compose three revolute pairs.
The one end for the connecting rod rack being connect with end effector, upper terminal pad are fixed on the piston of mini cylinder by nut
On bar, three pairs of ear mounts are along the circumferential direction distributed on ring flange, and one end of upper connecting rod one, upper connecting rod two and upper connecting rod three leads to respectively
It crosses upper pin and three pairs of ear mounts connects and composes three revolute pairs.
The upper connecting rod, nut, upper link, lower link, lower link, lower terminal pad, upper terminal pad, are aluminium alloy
Material, all axis pin components are steel material.
The present invention has the following advantages that compared with prior art：
It can be achieved at the same time stretching motion, thickness transformation and respectively to bending motion, mobility be good, in the process interacted with people
In it is safe, not only ensure that higher bending softness and good compliance, but also improve the environment of flexible mechanical arm
Adaptability.
Description of the drawings
Fig. 1 is the overall effect figure of the present invention.
Fig. 2 is the most thick and most thin state vs' figure of the present invention.
Fig. 3 is the driving unit schematic diagram (most thick state) of the present invention.
Fig. 4 is the driving unit schematic diagram (most thin state) of the present invention.
Fig. 5 is the connecting rod rack schematic diagram (most thick state) of driving unit of the present invention.
Fig. 6 is the connecting rod rack schematic diagram (most thin state) of driving unit of the present invention.
Fig. 7 is the schematic diagram of the connecting rod rack of present invention connection engine base.
Fig. 8 is the connecting rod rack schematic diagram of present invention connection end effector.
In figure：1- first order driving unit, the second level 2- driving unit, 3- third level driving unit, 4- end effectors,
5- engine bases, 7- pneumatic muscles two, 8- pneumatic muscles three, 9- upper connecting rods one, the mini cylinders of 10-, are sold on 11- at 6- pneumatic muscles one
Axis, 12- nuts, the upper links of 13-, 14- upper connecting rods two, the middle parts 15- axis pin two, 16- lower links two, 17- slide bars two, 18- are slided
Cylinder two, 19- upper connecting rods three, link under axis pin three, 21- lower links three, 22- slide bars one, 23- lower bearing pins, 24- in the middle part of 20-,
Terminal pad, the upper terminal pads of 29- under 25- slide cartridges one, 26- lower links one, the middle parts 27- axis pin one, 28-.
Specific implementation mode
In Fig. 1 and the lateral pantographic flexible mechanical arm schematic diagram of hard and soft series-parallel connection shown in Fig. 2, first order driving unit
1 one end is fixed on by connecting rod rack on engine base 5, and one end of the other end and second level driving unit 2 passes through connecting rod rack
Connection, the other end of second level driving unit are connect with one end of third level driving unit 3 by connecting rod rack, third level driving
The other end of unit is connect by connecting rod rack with end effector 4, for capturing target object.
As shown in Figure 3 and Figure 5, the driving unit includes flexible portion and connecting rod rack, upper in the connecting rod rack
Link 13 is identical with lower 24 structure of link, they are centre with circular through hole and are all provided with three pairs along link circumference
The structure type of ear mount, upper link are fixed on by nut 12 on the piston rod of mini cylinder 10, and lower link is fixed on fan
On the cylinder body of your cylinder；Upper connecting rod 1, upper connecting rod 2 14, upper connecting rod 3 19 one end pass through upper pin 11 and upper connection respectively
Three pairs of ear mounts on frame are connected, and constitute three revolute pairs, the other end of upper connecting rod one and the end of slide cartridge 1 and lower link one
26 one end is connected by middle part axis pin 1, constitutes a revolute pair, the end of the other end and slide cartridge 2 18 of upper connecting rod three
It is connected by middle part axis pin 3 20 with one end of lower link 3 21, constitutes a revolute pair, the other end and slide bar of upper connecting rod two
2 17 end and one end of lower link 2 16 are connected by middle part axis pin 2 15, constitute a revolute pair；Lower link one, lower company
The other end of bar two and lower link three is connect by lower bearing pin 23 with three pairs of ear mounts on lower link respectively, constitutes three rotations
It is secondary；Slide cartridge one and slide cartridge two are socketed with slide bar 1 and slide bar two respectively, form cylindrical pair, two end of above-mentioned slide cartridge one and slide cartridge
End is equipped with the female sleeve of the band vertical with cylindrical slideway central axes, and the end of above-mentioned slide bar two is equipped with and cylinder
The vertical female sleeve of band in the central axes of the body of rod.
Three pneumatic muscles of the flexible portion are laterally at triangular arrangement, wherein pneumatic muscle 1 and pneumatic muscle
27 both ends are separately fixed in the slide cartridge one of two adjacent connecting rod racks and the sleeve of slide cartridge two, and the two of pneumatic muscle 38
In the sleeve for holding the slide bar two for being separately fixed at two adjacent connecting rod racks.
Pneumatic muscle one, pneumatic muscle two and pneumatic muscle three are the pneumatic muscle of one end band radial direction gas interface, pneumatic flesh
The gas of the inflation/deflation process of tendon all passes through this radial gas interface.Three pneumatic muscles can be used as three branches, pneumatic muscle
Itself has flexibility, just can realize that itself is bent without adding other kinematic pairs, and three of three pneumatic muscles composition
Branch can realize stretching motion by the inflation/deflation of itself, and three branches, which intercouple, can realize stretching for driving unit entirety
It contracts and each to bending motion.
As shown in Figure 4 and Figure 6, it drives connecting rod rack to collapse by the elongation of the cylinder rod of mini cylinder, makes slide cartridge one, slides
The distance between central axes of cylinder two and slide bar two reduce, and to drive three pneumatic muscles inwardly to collapse, realize single driving
The transformation from thick to thin of unit；Equally, it is the transformation of single driving unit from fine to coarse when the cylinder rod of mini cylinder shortens.
It is converted by the thickness of each driving unit, to realize the thickness transformation of entire mechanical arm.
As shown in fig. 7, the one end for the connecting rod rack being connect with engine base, the cylinder body of mini cylinder is fixed in lower terminal pad 28
The heart, three pairs of ear mounts are along the circumferential direction distributed on ring flange, and the other end of lower link one, lower link two and lower link three leads to respectively
It crosses lower bearing pin and connects and composes three revolute pairs with ear mount, other components and connection type are identical as connecting rod rack shown in fig. 5.
As shown in figure 8, the one end for the connecting rod rack being connect with end effector, upper terminal pad 29 is fixed on fan by nut
On the piston rod of your cylinder, three pairs of ear mounts are along the circumferential direction distributed on ring flange, upper connecting rod one, upper connecting rod two and upper connecting rod three
One end three revolute pairs, other components and connection type and company shown in fig. 5 are connected and composed by upper pin and ear mount respectively
Bar holder is identical.
Three upper connecting rods, nut, upper link, lower link, three lower links, lower terminal pad, upper terminal pad, two
A slide cartridge and two slide bars are aluminum alloy material, and all axis pins are steel material.
Claims (2)
1. a kind of lateral pantographic flexible mechanical arm of hard and soft series-parallel connection, it includes engine base, end effector and connects theirs
Multiple driving units being sequentially connected in series, wherein one end of the driving unit is fixed on engine base by the terminal pad on connecting rod rack
On, the other end is connect with one end of another driving unit by connecting rod rack；Equally, the other end of another driving unit
It is connect by connecting rod rack with one end of third driving unit；It is connect successively with other driving units, until the length needed,
The other end of the last one driving unit is connect by the terminal pad on connecting rod rack with end effector, for capturing object
Body, it is characterised in that：The driving unit includes flexible portion and connecting rod rack, and the connecting rod rack includes mainly connecting on three
Bar, three lower links, mini cylinder, upper pin, lower bearing pin, nut, upper link, lower link, three middle part axis pins, two
Slide bar, two slide cartridges；The upper link is identical with lower connecting frame structure, they are intermediate with circular through hole and along even
The structure type that frame circumference is all provided with three pairs of ear mounts is connect, upper link is fixed on the piston rod of mini cylinder, and lower link is fixed
On mini cylinder block；One end of three upper connecting rods is connected by upper pin with three pairs of ear mounts on upper link respectively, structure
At three revolute pairs, the one end of the other end of two of which upper connecting rod respectively with the end of two slide cartridges and two lower links passes through
The end of middle pin axis connection, the other end of another upper connecting rod and slide bar and one end of another lower link pass through middle part
Axis pin connects, and constitutes three revolute pairs；The other end of three lower links passes through three pairs of ears on lower bearing pin and lower link respectively
Seat connection, constitutes three revolute pairs；Described two slide cartridges are socketed with two slide bars respectively, form cylindrical pair, above-mentioned two slide cartridge
End be equipped with the female sleeve of the band vertical with cylindrical slideway central axes, the end of said one slide bar be equipped with
The vertical female sleeve of band in the central axes of cylindrical rod；
The flexible portion includes the identical pneumatic muscle of three root architectures, and three pneumatic muscles are lateral at triangular arrangement, wherein
The both ends of two pneumatic muscles are separately fixed at by end thread in the sleeve of the slide cartridge of two adjacent connecting rod racks, in addition
The both ends of one pneumatic muscle three are separately fixed at by end thread in the sleeve of the slide bar of two adjacent connecting rod racks；
The cylinder body of the one end for the connecting rod rack being connect with engine base, mini cylinder is fixed on lower connection disk center, and three pairs of ear mounts are along circle
Circumferential direction is distributed on ring flange, and the other end of three lower links connects and composes three rotations by lower bearing pin and ear mount respectively
It is secondary；
The one end for the connecting rod rack being connect with end effector, upper terminal pad are fixed on the piston rod of mini cylinder by nut
On, three pairs of ear mounts are along the circumferential direction distributed on ring flange, and one end of three upper connecting rods is connect by upper pin with ear mount respectively
Constitute three revolute pairs.
2. the lateral pantographic flexible mechanical arm of hard and soft series-parallel connection according to claim 1, it is characterised in that：The upper company
Bar, nut, upper link, lower link, lower link, lower terminal pad, upper terminal pad, slide cartridge, slide bar, are aluminum alloy material,
All axis pins are steel material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610987180.6A CN106346464B (en) | 2016-11-10 | 2016-11-10 | The lateral pantographic flexible mechanical arm of hard and soft series-parallel connection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610987180.6A CN106346464B (en) | 2016-11-10 | 2016-11-10 | The lateral pantographic flexible mechanical arm of hard and soft series-parallel connection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106346464A CN106346464A (en) | 2017-01-25 |
| CN106346464B true CN106346464B (en) | 2018-09-04 |
Family
ID=57861445
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610987180.6A Active CN106346464B (en) | 2016-11-10 | 2016-11-10 | The lateral pantographic flexible mechanical arm of hard and soft series-parallel connection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106346464B (en) |
Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139170B (en) * | 2017-06-15 | 2023-06-06 | 燕山大学 | Driving device for rope-driven flexible mechanical arm |
| CN107745389B (en) * | 2017-09-08 | 2020-09-11 | 燕山大学 | Finger operating mechanism for rigid-flexible-soft force measuring robot |
| CN107598910B (en) * | 2017-10-17 | 2023-10-13 | 燕山大学 | Tendon-driven variable-scale continuous robot |
| CN109807857B (en) * | 2017-11-20 | 2021-10-19 | 上海交通大学 | Large-deformation-driven three-translation elastic connecting rod parallel mechanism |
| CN107932487A (en) * | 2017-12-26 | 2018-04-20 | 燕山大学 | A kind of multistage coupling parallel institution of slide block type |
| CN107932485A (en) * | 2017-12-26 | 2018-04-20 | 燕山大学 | A kind of gear-type multiple-step couples parallel institution |
| CN107932486A (en) * | 2017-12-26 | 2018-04-20 | 燕山大学 | A kind of multistage coupling parallel institution of link-type altogether |
| CN109223482B (en) * | 2018-10-19 | 2020-01-31 | 燕山大学 | massage robot based on flexible drive |
| CN109623866B (en) * | 2018-11-21 | 2021-05-14 | 北京航空航天大学 | Air bag U-shaped air muscle antisymmetric parallel type robot manual joint |
| CN110861075A (en) * | 2019-12-02 | 2020-03-06 | 电子科技大学 | Small-size pneumatic many joints series-parallel snakelike arm |
| CN111169553B (en) * | 2020-01-14 | 2020-09-18 | 哈尔滨学院 | Bionic snake-shaped peristaltic robot |
| CN111887026B (en) * | 2020-07-03 | 2022-06-21 | 江苏大学 | Rigidity-variable picking manipulator based on rigidity-flexibility combination |
| CN112091940B (en) * | 2020-08-24 | 2023-07-18 | 上海大学 | Under-actuated super-redundant continuum robot driven by flexible board |
| CN113843822B (en) * | 2021-10-12 | 2023-05-23 | 中山大学 | Diameter and length changeable continuum arm |
| CN114098982B (en) * | 2021-11-25 | 2023-07-25 | 燕山大学 | Flexible parallel manipulator control mechanism |
| CN114750203B (en) * | 2022-04-21 | 2023-05-23 | 中山大学 | Rigidity driven diameter continuously adjustable mechanical arm |
| CN116297816B (en) * | 2023-05-17 | 2023-08-01 | 北京蒂川国际能源服务有限公司 | Mini magnetic leakage inner detector |
| CN117565108B (en) * | 2023-12-29 | 2024-04-12 | 昆山广钰德智能装备有限公司 | Six-axis mechanical arm assembly protective sleeve equipment |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE419421B (en) * | 1979-03-16 | 1981-08-03 | Ove Larson | RESIDENTIAL ARM IN SPECIAL ROBOT ARM |
| CN2187524Y (en) * | 1993-09-18 | 1995-01-18 | 中国科学院沈阳自动化研究所 | An artificial trunk flexible mechanism |
| CN102990645A (en) * | 2012-12-04 | 2013-03-27 | 汕头大学 | Bionic proboscis robot |
| CN104875202B (en) * | 2015-06-17 | 2016-08-24 | 燕山大学 | A kind of universal type Pneumatic flexible robot device |
| CN105729458A (en) * | 2016-03-24 | 2016-07-06 | 天津理工大学 | Rigid-flexible coupled trunk-shaped continuous robot |
| CN206200961U (en) * | 2016-11-10 | 2017-05-31 | 燕山大学 | The horizontal pantographic flexible mechanical arm of hard and soft series-parallel connection |
-
2016
- 2016-11-10 CN CN201610987180.6A patent/CN106346464B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106346464A (en) | 2017-01-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106346464B (en) | The lateral pantographic flexible mechanical arm of hard and soft series-parallel connection | |
| CN106313034B (en) | The flexible mechanical arm of Coupled Rigid-flexible | |
| CN106493723B (en) | Air articulated type flexible mechanical arm based on rope driving | |
| CN106514703B (en) | Spoke type flexible mechanical arm based on rope driving | |
| CN206393633U (en) | The air articulated type flexible mechanical arm driven based on rope | |
| CN106313033A (en) | Truss-type flexible manipulator | |
| CN106313037B (en) | Pneumatic concatenated flexible mechanical arm | |
| CN206393667U (en) | The radial flexible mechanical arm driven based on rope | |
| CN104760054B (en) | The orthogonal Three Degree Of Freedom joint that Pneumatic artificial muscle drives | |
| CN107598910B (en) | Tendon-driven variable-scale continuous robot | |
| CN103895012B (en) | A kind of imitative trunk mechanical arm cell arrangement | |
| CN102699925B (en) | Flexible passive catcher with serial bent flexible hinge framework tracked by pneumatic rope | |
| CN101439513B (en) | Combination drive gesture representation robot with multiple kinds of joints | |
| CN1322962C (en) | Robot pneumatic shillful hand | |
| CN206200965U (en) | Truss-like flexible mechanical arm | |
| CN107053220B (en) | Indirect self-adaptive robot finger device with linear flat clamping of connecting rod and rack | |
| CN104889998B (en) | Under-actuated robot finger device with enveloping and clamping functions | |
| CN105082172A (en) | Parallel three-freedom-degree flexible mechanical wrist based on series elastic actuators | |
| CN102189556A (en) | Pneumatic muscle flexible elbow joint device with buffer spring and flexible shaft sleeves | |
| Tiefeng et al. | Fruit harvesting continuum manipulator inspired by elephant trunk | |
| CN202071080U (en) | Pneumatic muscle flexible elbow joint device with buffer spring and flexible shaft sleeve | |
| CN206200961U (en) | The horizontal pantographic flexible mechanical arm of hard and soft series-parallel connection | |
| CN2764573Y (en) | Pneumatic manipulator of robot | |
| CN107414800B (en) | Two-branch parallel surgical robot driven by rotation | |
| CN206200966U (en) | The flexible mechanical arm of pneumatic series connection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |