CN106393074A - Multi-degree-of-freedom main manipulator with connecting rod mechanism - Google Patents
Multi-degree-of-freedom main manipulator with connecting rod mechanism Download PDFInfo
- Publication number
- CN106393074A CN106393074A CN201611052531.0A CN201611052531A CN106393074A CN 106393074 A CN106393074 A CN 106393074A CN 201611052531 A CN201611052531 A CN 201611052531A CN 106393074 A CN106393074 A CN 106393074A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- swivel base
- main manipulator
- hinged
- jointed shaft
- 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.)
- Pending
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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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0027—Means for extending the operation range
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1643—Programme controls characterised by the control loop redundant control
Abstract
The invention discloses a multi-degree-of-freedom main manipulator with a connecting rod mechanism. The multi-degree-of-freedom main manipulator comprises a position structure, a gesture structure and a lifting cover device; the position structure includes a rotating base, an upper arm, a lower arm, a middle rotating base and a horizontal connecting rod; the gesture structure includes a redundancy connecting rod, a pitching connecting rod, a yawing connecting rod and a revolving handle; one ends of the upper arm and the lower arm are hinged to the rotating base, and the other ends are hinged to the middle rotating base; the rotating base, the upper arm, the middle arm and the middle rotating base form a parallelogram structure; and the lifting cover device is arranged on the horizontal connecting rod. The multi-degree-of-freedom main manipulator has the following advantages: the parallelogram structure is adopted to always keep the horizontal connecting rod in the horizontal state during moving, that is, the gesture structure is kept in the horizontal state; the position structure and the gesture structure are not mutually influenced; the design of power driving and gravity balance of the main manipulator is relatively simple; and the lifting cover device can prevent the collision condition of the horizontal connecting rod and the upper arm, so that the working range of the main manipulator is largely widened.
Description
Technical field
The present invention relates to robotics are and in particular to a kind of multiple degrees of freedom main manipulator with linkage.
Background technology
With scientific and technical development, application in people's productive life for the robot is more and more extensive, and mostly is at present
Master-slave mode remote operating structure, human users' main manipulator passes through the motion from terminal structure of telecommunication and computer controls.This
No longer have geographic restriction between operator and operation target, operator being just operable to robot thousands of miles away,
And because this mode does not need operator not at the scene, away from dangerous or unfavorable environment.Meanwhile, this master-slave mode
Structure is passed through software and can directly be operated, with personnel, the shake that apparatus brings, and then reduces the operational error rate of doctor, improves essence
Really property, stability and safety.Additionally, operator can be sitting in being operated on comfortable, pleasant control station, greatly drop
Low feeling of fatigue.
Had many kinds in prior art, wherein close to this invention technology be realize attitude part 3 from
By spending, the action of 3 degree of freedom of redundant degree of freedom and position.Functionally simulation arm reach position (for upper and lower, left and right,
In front and back), the attitude (pitching, beat and rotation) of staff.Redundant degree of freedom is the Singularity avoiding staff attitude.But it is existing
Attitude part-structure in technology is unable to be in horizontality, brings very big difficulty in gravitational equilibrium and power drive
Degree；Or the range of movement that because of architectural characteristic in parallel etc. is is less.
Content of the invention
The present invention is directed to above-mentioned technical problem, provides a kind of multiple degrees of freedom main manipulator with linkage.
For reaching above-mentioned purpose, the invention provides a kind of multiple degrees of freedom main manipulator with linkage, including position
Put structure and attitude structure；Positional structure includes swivel base, upper arm, underarm, middle part swivel base and waling stripe；Attitude structure includes superfluous
Remaining connecting rod, pitch link, beat connecting rod and rotary handle；Waling stripe one end is hinged on the swivel base of middle part, the other end is hinged with
Attitude structure；Swivel base is arranged by rotation axis horizontal Plane Rotation；Main manipulator also includes lifting cover device；Main manipulator has
There is 7 degree of freedom；Upper arm and underarm one end are hinged on swivel base, the other end is hinged on middle part swivel base；Swivel base, upper arm, underarm and in
Portion's swivel base constitutes parallelogram sturcutre；Lifting cover device is arranged on waling stripe.
Preferred as technique scheme, the side wall of middle part swivel base is fixed with the gripper shoe being vertically arranged a pair；?
Between fagging, level is articulated with the second jointed shaft be arrangeding in parallel for about a pair；It is hinged on the first jointed shaft on the wall of swivel base side；Turn
It is fixed with the second jointed shaft on the wall of seat side；First jointed shaft of swivel base and the second jointed shaft are arranged from top to bottom；One end of upper arm
It is fixed on the first jointed shaft, the other end is set on the second jointed shaft above gripper shoe；One end of underarm is set in swivel base
The second jointed shaft on, the other end is set on the second jointed shaft below gripper shoe.
Preferred as technique scheme, redundancy connecting rod, pitch link, beat connecting rod are all L-shaped；The water of redundancy connecting rod
Flat portion is vertically hinged on waling stripe；The vertical portion of pitch link is vertically hinged on the vertical portion of redundancy connecting rod；Beat is even
The horizontal part of bar is vertically hinged on the horizontal part of pitch link；Rotary handle is vertically hinged on the vertical portion of beat connecting rod.
Preferred as technique scheme, the vertical portion length of pitch link is less than the vertical portion of redundancy connecting rod；Beat
The horizontal minister end of connecting rod is less than the vertical portion of pitch link.
Preferred as technique scheme, the horizontal part rotation of the horizontal part Pivot axle of beat connecting rod and redundancy connecting rod
Turning central shaft has coUinear state.
Preferred as technique scheme, lifting cover device includes rising avoiding device and declines cover device；Water
Flat connecting rod includes left connecting rod and right connecting rod；Left connecting rod and right connecting rod are connected by declining cover device；Decline cover device
Slide portion including a left side and portion is slided on the right side；The left side portion of sliding is vertically fixed on the right side of left connecting rod；A left side is slided on the right side in portion
Form the slide block that level cross-sectionn is in T font；The right side portion of sliding is vertically fixed on the left side of right connecting rod；The upper of portion is slided on the right side
End face offers the gathering sill that level cross-sectionn is in " native " font；A left side is slided portion and is slided by slide block lifting and is arranged on the right side and slides portion
Gathering sill in；A left side is slided and is fixed with cover motor on the left side in portion；The output shaft of cover motor to the right pass through slide block and
Right-hand member is fixed with cover gear；Cover tooth bar is formed on the front side wall of gathering sill；Cover gear be located at gathering sill in and with
Cover tooth bar engages each other；Rise avoiding device to include rotating base, avoid motor, threaded rod and some leads；Right connecting rod
Right-hand member form the screwed hole running through up and down and centered on screwed hole circle distribution pilot hole；During rotating base is articulated in
On portion's swivel base；The some leads avoiding motor and circle distribution are fixed with upwards on the upper surface of rotating base；Avoid motor
Take-off lever on be fixedly connected with threaded rod；Threaded rod is spirally connected with right connecting rod；Lead is plugged in the guiding in the hole of right connecting rod.
Preferred as technique scheme, portion is slided on a left side and the right side slide the lower surface in portion respectively with left connecting rod and right connecting rod
Lower surface concordant.
The beneficial effects of the present invention is：Using parallelogram structure so that waling stripe can begin at the volley
Keep horizontality eventually, that is, attitude structure keeps horizontality, and positional structure is independent of each other with attitude structure, and in main operation
Relatively easy in the power drive of handss, the design of gravitational equilibrium；Lifting cover device is avoided that waling stripe and upper arm collision
Situation, greatly improves the working range of main manipulator.
Brief description
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of the positional structure of the present invention；
Fig. 3 is the structural representation of the waling stripe of the present invention；
Fig. 4 is the structural representation of the left connecting rod of the present invention.
In figure, 10, swivel base；100th, the second jointed shaft；20th, rotary shaft；21st, the first jointed shaft；30th, upper arm；40th, underarm；
50th, middle part swivel base；500th, rotating base；51st, gripper shoe；52nd, avoid motor；520th, threaded rod；521st, lead；60th, level
Connecting rod；61st, right connecting rod；610th, pilot hole；6100th, screwed hole；6111st, cover tooth bar；62nd, left connecting rod；621st, portion is slided on a left side；
6210th, slide block；622nd, cover motor；6220th, cover gear；70th, redundancy connecting rod；80th, pitch link；90th, beat connecting rod；91、
Rotary handle.
Specific embodiment
As shown in Figures 1 to 4, a kind of multiple degrees of freedom main manipulator with linkage, including positional structure and attitude
Structure；Positional structure includes transposase 11 0, upper arm 30, underarm 40, middle part swivel base 50 and waling stripe 60；Attitude structure includes redundancy
Connecting rod 70, pitch link 80, beat connecting rod 90 and rotary handle 91；Waling stripe 60 one end is hinged on the swivel base 50 of middle part, separately
One end is hinged with attitude structure；Transposase 11 0 passes through rotary shaft 20 horizontal plane rotary setting；Main manipulator also includes lifting cover
Device；Main manipulator has 7 degree of freedom；Upper arm 30 and underarm 40 one end are hinged on transposase 11 0, the other end is hinged on middle part and turns
Seat 50；Transposase 11 0, upper arm 30, underarm 40 and middle part swivel base 50 constitute parallelogram sturcutre；Lifting cover device is arranged on
On waling stripe 60.
As shown in Figure 1 and Figure 2, the side wall of middle part swivel base 50 is fixed with the gripper shoe 51 being vertically arranged a pair；Gripper shoe 51
Between level be articulated with the second jointed shaft 100 be arrangeding in parallel for about a pair；It is hinged on the first jointed shaft 21 on transposase 11 0 side wall；
It is fixed with the second jointed shaft 100 on transposase 11 0 side wall；First jointed shaft 21 of transposase 11 0 and the second jointed shaft 100 set from top to bottom
Put；One end of upper arm 30 is fixed on the first jointed shaft 21, the other end is set in the second jointed shaft 100 above gripper shoe 51
On；One end of underarm 40 is set on the second jointed shaft 100 of transposase 11 0, the other end is set in the second of gripper shoe 51 lower section and cuts with scissors
In spindle 100.
As shown in Figure 1 and Figure 2, redundancy connecting rod 70, pitch link 80, beat connecting rod 90 are all L-shaped；The water of redundancy connecting rod 70
Flat portion is vertically hinged on waling stripe 60；The vertical portion of pitch link 80 is vertically hinged on the vertical portion of redundancy connecting rod 70；
The horizontal part of beat connecting rod 90 is vertically hinged on the horizontal part of pitch link 80；Rotary handle 91 is vertically hinged on beat connecting rod
On 90 vertical portion.
As shown in Figure 1 and Figure 2, the vertical portion length of pitch link 80 is less than the vertical portion of redundancy connecting rod 70；Beat connecting rod 90
Horizontal minister end be less than pitch link 80 vertical portion.
As shown in Figure 1 and Figure 2, during the horizontal part of the horizontal part Pivot axle of beat connecting rod 90 and redundancy connecting rod 70 rotates
Heart axle has coUinear state.
Lifting cover device includes rising avoiding device and declines cover device；Waling stripe 60 includes left connecting rod 62 and the right side
Connecting rod 61；Left connecting rod 62 and right connecting rod 61 are connected by declining cover device；Decline cover device includes a left side and slides portion 621
Slide portion 611 with the right side；A left side is slided portion 621 and is vertically fixed on the right side of left connecting rod 62；A left side is slided and is become on the right side in portion 621
Type has the slide block 6210 that level cross-sectionn is in T font；The right side is slided portion 611 and is vertically fixed on the left side of right connecting rod 61；Right cunning
The upper surface in row portion 611 offers the gathering sill 6110 that level cross-sectionn is in " native " font；A left side is slided portion 621 and is passed through slide block 6210
Lifting is slided and is arranged on right sliding in the gathering sill 6110 in portion 611；A left side is slided and is fixed with cover motor on the left side in portion 621
622；The output shaft of cover motor 622 passes through to the right slide block 6210 and right-hand member is fixed with cover gear 6220；Gathering sill 6110
Front side wall on form cover tooth bar 6111；Cover gear 6220 be located in gathering sill 6110 and with cover tooth bar 6111 phase
Mutually engage；Rise avoiding device to include rotating base 500, avoid motor 52, threaded rod 520 and some leads 521；Right connecting rod
61 right-hand member form the screwed hole 6100 running through up and down and centered on screwed hole 6100 circle distribution pilot hole 610；Rotation
Turn base 500 to be articulated on the swivel base 50 of middle part；It is fixed with avoidance motor 52 upwards on the upper surface of rotating base 500 and circumference divides
Some leads 521 of cloth；It is fixedly connected with threaded rod 520 on the take-off lever avoiding motor 52；Threaded rod 520 and right connecting rod 61
It is spirally connected；Lead 521 is plugged in the pilot hole 610 of right connecting rod 61.
Preferred as technique scheme, portion 621 is slided on a left side and the right side slide the lower surface in portion 611 respectively with left connecting rod 62
Concordant with the lower surface of right connecting rod 61.
Main manipulator has 7 degree of freedom, wherein attitude 3, redundancy 1, position 3；
Positional structure is equivalent to the effect of the arm of people, that is, in whole range of movement manipulator can reach any
Position.In mechanism, swivel base 10 can be rotated along axis A by rotary shaft 20；Upper arm 30, underarm 40 and transposase 11 0, middle part swivel base 50
Collectively form parallelogram sturcutre, upper arm 30 can make waling stripe 60 remain with underarm 40 when rotating along axis B
Horizontality；Waling stripe 60 can rotate along axis C, and 3 degree of freedom of such axis A, B, C just constitute position portion
Point, overall structure optional position motion up and down, around can be accomplished.
Attitude structure is equivalent to the wrist of people, being capable of upper and lower, around any attitude.Redundancy connecting rod 70 is along axis D
Rotation, pitch link 80 rotates along axis E, and beat connecting rod 90 rotates along axis F, and rotary handle 91 rotates along axis G, thus
Operator are had to hold 3 attitudes that rotary handle can be accomplished.
It may appear that situation about colliding in upper arm 30 in rotary course, this is to start to avoid motor 52 to waling stripe 60,
Drive waling stripe 60 to rise, be thus avoided that the situation of collision, then start cover motor 622, drive under left connecting rod 62
Fall is to fill up the climb of the waling stripe 60 producing as avoidance.So virtually increase the opereating specification of manipulator.
Above content is only the better embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, all will change in specific embodiments and applications, this specification content should not be construed as to this
Bright restriction.
Claims (7)
1. a kind of multiple degrees of freedom main manipulator with linkage, including positional structure and attitude structure；Positional structure includes
Swivel base (10), upper arm (30), underarm (40), middle part swivel base (50) and waling stripe (60)；Attitude structure includes redundancy connecting rod
(70), pitch link (80), beat connecting rod (90) and rotary handle (91)；Waling stripe (60) one end is hinged on middle part swivel base
(50) the upper, other end is hinged with attitude structure；Swivel base (10) passes through rotary shaft (20) horizontal plane rotary setting；Its feature exists
In：Main manipulator also includes lifting cover device；Main manipulator has 7 degree of freedom；Upper arm (30) and underarm (40) one end hinge
It is connected on swivel base (10), the other end is hinged on middle part swivel base (50)；Swivel base (10), upper arm (30), underarm (40) and middle part swivel base
(50) constitute parallelogram sturcutre；Lifting cover device is arranged on waling stripe (60).
2. a kind of multiple degrees of freedom main manipulator with linkage according to claim 1 it is characterised in that：Middle part turns
It is fixed with, on the side wall of seat (50), the gripper shoe (51) being vertically arranged a pair；Between gripper shoe (51), level is articulated with about a pair
The second jointed shaft (100) be arrangeding in parallel；It is hinged on the first jointed shaft (21) on the wall of swivel base (10) side；Solid on the wall of swivel base (10) side
Surely there is the second jointed shaft (100)；First jointed shaft (21) of swivel base (10) and the second jointed shaft (100) are arranged from top to bottom；On
One end of arm (30) is fixed on the first jointed shaft (21), the other end is set in the second jointed shaft above gripper shoe (51)
(100) on；The second jointed shaft (100) that one end of underarm (40) is set in swivel base (10) is upper, the other end is set in gripper shoe
(51) on the second jointed shaft (100) below.
3. a kind of multiple degrees of freedom main manipulator with linkage according to claim 1 it is characterised in that：Redundancy is even
Bar (70), pitch link (80), beat connecting rod (90) are all L-shaped；The horizontal part of redundancy connecting rod (70) is vertically hinged on level even
On bar (60)；The vertical portion of pitch link (80) is vertically hinged on the vertical portion of redundancy connecting rod (70)；Beat connecting rod (90)
Horizontal part is vertically hinged on the horizontal part of pitch link (80)；Rotary handle (91) is vertically hinged on the perpendicular of beat connecting rod (90)
In straight portion.
4. a kind of multiple degrees of freedom main manipulator with linkage according to claim 3 it is characterised in that：Pitching is even
The vertical portion length of bar (80) is less than the vertical portion of redundancy connecting rod (70)；The horizontal minister end of beat connecting rod (90) is less than pitching even
The vertical portion of bar (80).
5. a kind of multiple degrees of freedom main manipulator with linkage according to claim 3 it is characterised in that：Beat is even
The horizontal part Pivot axle of bar (90) has coUinear state with the horizontal part Pivot axle of redundancy connecting rod (70).
6. a kind of multiple degrees of freedom main manipulator with linkage according to claim 1 it is characterised in that：Lifting is mended
Position device includes rising avoiding device and declines cover device；Waling stripe (60) includes left connecting rod (62) and right connecting rod (61)；
Left connecting rod (62) and right connecting rod (61) are connected by declining cover device；Decline cover device includes a left side and slides portion (621)
Slide portion (611) with the right side；A left side is slided portion (621) and is vertically fixed on the right side of left connecting rod (62)；The right side of portion (621) is slided on a left side
The slide block (6210) that level cross-sectionn is in T font is formed on end face；The right side is slided portion (611) and is vertically fixed on right connecting rod (61)
On left side；The upper surface that portion (611) is slided on the right side offers the gathering sill (6110) that level cross-sectionn is in " native " font；A left side is slided
Portion (621) passes through slide block (6210) lifting slides and is arranged on the right side and slides in the gathering sill (6110) of portion (611)；Portion is slided on a left side
(621) cover motor (622) is fixed with left side；The output shaft of cover motor (622) to the right pass through slide block (6210) and
And right-hand member is fixed with cover gear (6220)；Cover tooth bar (6111) is formed on the front side wall of gathering sill (6110)；Cover tooth
Wheel (6220) is located in gathering sill (6110) and is engaged each other with cover tooth bar (6111)；Rise avoiding device to include rotating bottom
Seat (500), avoidance motor (52), threaded rod (520) and some leads (521)；The right-hand member of right connecting rod (61) forms up and down
The screwed hole (6100) that runs through and centered on screwed hole (6100) circle distribution pilot hole (610)；Rotating base (500) pivot
It is connected on middle part swivel base (50)；It is fixed with upwards on the upper surface of rotating base (500) and avoid motor (52) and circle distribution
Some leads (521)；It is fixedly connected with threaded rod (520) on the take-off lever avoiding motor (52)；Threaded rod (520) and right company
Bar (61) is spirally connected；Lead (521) is plugged in the pilot hole (610) of right connecting rod (61).
7. a kind of multiple degrees of freedom main manipulator with linkage according to claim 6 it is characterised in that：A left side is slided
The lower surface that portion (611) is slided with the right side by portion (621) is concordant with the lower surface of left connecting rod (62) and right connecting rod (61) respectively.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611052531.0A CN106393074A (en) | 2016-11-25 | 2016-11-25 | Multi-degree-of-freedom main manipulator with connecting rod mechanism |
| CN201710310548.XA CN107160381A (en) | 2016-11-25 | 2017-05-05 | A kind of linkage being used in multiple degrees of freedom main manipulator |
| CN201720490521.9U CN206953001U (en) | 2016-11-25 | 2017-05-05 | A kind of linkage being used in multiple degrees of freedom main manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611052531.0A CN106393074A (en) | 2016-11-25 | 2016-11-25 | Multi-degree-of-freedom main manipulator with connecting rod mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106393074A true CN106393074A (en) | 2017-02-15 |
Family
ID=58081617
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611052531.0A Pending CN106393074A (en) | 2016-11-25 | 2016-11-25 | Multi-degree-of-freedom main manipulator with connecting rod mechanism |
| CN201710310548.XA Pending CN107160381A (en) | 2016-11-25 | 2017-05-05 | A kind of linkage being used in multiple degrees of freedom main manipulator |
| CN201720490521.9U Active CN206953001U (en) | 2016-11-25 | 2017-05-05 | A kind of linkage being used in multiple degrees of freedom main manipulator |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710310548.XA Pending CN107160381A (en) | 2016-11-25 | 2017-05-05 | A kind of linkage being used in multiple degrees of freedom main manipulator |
| CN201720490521.9U Active CN206953001U (en) | 2016-11-25 | 2017-05-05 | A kind of linkage being used in multiple degrees of freedom main manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN106393074A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901043A (en) * | 2017-12-25 | 2018-04-13 | 哈尔滨思哲睿智能医疗设备有限公司 | Pitch freedom redundancy posture structure in a kind of link mechanism manipulator |
| CN109079762A (en) * | 2018-10-29 | 2018-12-25 | 苏州神运机器人有限公司 | A kind of four axis pressing robots |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393074A (en) * | 2016-11-25 | 2017-02-15 | 东莞市天合机电开发有限公司 | Multi-degree-of-freedom main manipulator with connecting rod mechanism |
| CN107971997A (en) * | 2017-12-25 | 2018-05-01 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of full active seven freedom posture redundancy-type main manipulator |
| CN110181499A (en) * | 2019-07-11 | 2019-08-30 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of four axis congruences friendship redundant unit that posture may be implemented and arbitrarily adjusts |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5275760A (en) * | 1975-12-19 | 1977-06-25 | Hitachi Ltd | Manipulator joints mechanism |
| JPH02193819A (en) * | 1989-01-23 | 1990-07-31 | Okura Yusoki Co Ltd | Commodity holding device |
| US5811951A (en) * | 1996-10-14 | 1998-09-22 | Regents Of The University Of California | High precision redundant robotic manipulator |
| JP3585419B2 (en) * | 2000-04-18 | 2004-11-04 | 川崎重工業株式会社 | Master arm device |
| CN1244435C (en) * | 2003-09-26 | 2006-03-08 | 西安交通大学 | Gesture regulating wrist mechanism of robot decoupled with position mechanism movement |
| CN105127633B (en) * | 2015-09-06 | 2017-01-04 | 北京中电华强焊接工程技术有限公司 | Seven-axis industrial welding robot |
| CN106393074A (en) * | 2016-11-25 | 2017-02-15 | 东莞市天合机电开发有限公司 | Multi-degree-of-freedom main manipulator with connecting rod mechanism |
-
2016
- 2016-11-25 CN CN201611052531.0A patent/CN106393074A/en active Pending
-
2017
- 2017-05-05 CN CN201710310548.XA patent/CN107160381A/en active Pending
- 2017-05-05 CN CN201720490521.9U patent/CN206953001U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901043A (en) * | 2017-12-25 | 2018-04-13 | 哈尔滨思哲睿智能医疗设备有限公司 | Pitch freedom redundancy posture structure in a kind of link mechanism manipulator |
| CN109079762A (en) * | 2018-10-29 | 2018-12-25 | 苏州神运机器人有限公司 | A kind of four axis pressing robots |
Also Published As
| Publication number | Publication date |
|---|---|
| CN206953001U (en) | 2018-02-02 |
| CN107160381A (en) | 2017-09-15 |
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