CN106514646A - Serial connection elastic drive and robot joint - Google Patents
Serial connection elastic drive and robot joint Download PDFInfo
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- CN106514646A CN106514646A CN201610991547.1A CN201610991547A CN106514646A CN 106514646 A CN106514646 A CN 106514646A CN 201610991547 A CN201610991547 A CN 201610991547A CN 106514646 A CN106514646 A CN 106514646A
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- slew gear
- group
- driven
- driver
- flexible cable
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a serial connection elastic drive. The serial connection elastic drive comprises a motor driving set, a transmission set, a drive output set, a first sensor and a second sensor; the transmission set includes a driving rotating mechanism, a driven rotating mechanism and a flexible rope for forming a rope transmission relation; the driving rotating mechanism can be driven by the motor driving set to realize a rotating motion; a rotating center shaft of the driving rotating mechanism is perpendicular to a rotating center shaft of the driven rotating mechanism; and the flexible rope is tightly wound on rotating surfaces of the driving rotating mechanism and the driven rotating mechanism. A robot joint comprises a first joint part and a second joint part; the first joint part includes the serial connection elastic drive; and the serial connection elastic drive is connected with the second joint part. The serial connection elastic drive and the robot joint are compact in structure and reliable in transmission.
Description
Technical field
The invention belongs to robotics, specifically, are a kind of series elastic driver and joint of robot.
Background technology
Robot is the installations for performing automatically work.With the development of artificial intelligence technology, robot has considerable
Progress, its function becomes increasingly abundant.Robot can assist or replace the work of the mankind, drastically increase quality of life and life
Produce efficiency, it is to avoid manually-operated danger, thus be applied to every field more and more.
Robot is typically made up of executing agency, driver, detection means and control system and complicated machinery etc..Wherein,
Driver is to order about the actuating unit that robot sends action, is the indispensable critical component of joint of robot.
Current driver is limited due to its design structure, and physical dimension is excessively huge, causes joint of robot entirety chi
It is very little bigger than normal, very big restriction is defined to the application scenario of robot.Meanwhile, its physical dimension is bigger than normal to cause transmission efficiency low
Under, reliable transmission is poor.
The content of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of series elastic driver, by compact structure
Realize reliable machine driving.
The purpose of the present invention is achieved through the following technical solutions：
A kind of series elastic driver, including Motor drive group, transmission group and driver output group, wherein：
The output end of the Motor drive group is connected with the input of the transmission group；
The transmission group includes active slew gear, driven slew gear and the flexible cable to form rope drive relation, the master
Dynamic slew gear can realize rotary motion in the case where the Motor drive group drives, the Pivot axle of the active slew gear with
The Pivot axle of the driven slew gear is vertical, and the flexible cable is respectively tightly around driven with described in the active slew gear
On the rotary surface of slew gear；
The input of the driver output group is connected with the driven slew gear, can be in the driven slew gear
Realize rotary motion under driving, the output end of the driver output group is provided with for connecting the connecting portion of outside executive item；
The series elastic driver also includes first sensor, second sensor；
The first sensor is used for angular displacement and the angular speed for measuring the transmission group input；
The second sensor is used for angular displacement and the angular speed for measuring the driver output group.
As the improvement of above-mentioned technical proposal, between the active slew gear and the driven slew gear, flexible cable is provided with
Support shaft, the central shaft of the flexible cable support shaft are parallel with the central shaft of the driven slew gear, and the flexible cable is tensioned to institute
State flexible cable support shaft outer surface.
Used as the further improvement of above-mentioned technical proposal, the flexible cable support shaft is provided with spring bearing, the flexible cable
Tightly in the spring bearing outer surface.
Used as the further improvement of above-mentioned technical proposal, the driver output group includes that driving spring is exported with driver
Bar, the driving spring two ends connect the driven slew gear and the driver take-off lever, the driver output respectively
Bar is provided with the connecting portion.
Used as the further improvement of above-mentioned technical proposal, the driving spring is arc spring, disc spring, reverses bullet
One kind in spring, linear springs.
As the further improvement of above-mentioned technical proposal, the driven slew gear include the driven runner of unitary rotation with
Spring support, the spring support are connected with the driving spring.
Used as the further improvement of above-mentioned technical proposal, the active slew gear includes reel and coiling tube stent,
The revolution shaft end of the reel is connected with the output end of the Motor drive group, and the flexible cable is tightly around returning in the reel
Turn on surface.
Used as the further improvement of above-mentioned technical proposal, the flexible cable is provided with for being tensioned the tensioning wheel of the flexible cable.
Used as the further improvement of above-mentioned technical proposal, the output end of the Motor drive group passes through gear drive group and institute
State first sensor connection.
A kind of joint of robot, including the first joint portion and second joint portion, first joint portion include series connection elasticity
Driver and shell, the series elastic driver include Motor drive group, transmission group and driver output group：
The output end of the Motor drive group is connected with the input of the transmission group, the output end of the Motor drive group
It is provided with first sensor；
The transmission group includes active slew gear, driven slew gear and the flexible cable to form rope drive relation, the master
Dynamic slew gear can realize rotary motion in the case where the Motor drive group drives, the Pivot axle of the active slew gear with
The Pivot axle of the driven slew gear is vertical, and the flexible cable is respectively tightly around driven with described in the active slew gear
On the rotary surface of slew gear；
The input of the driver output group is connected with the driven slew gear, can be in the driven slew gear
Realize rotary motion under driving, the output end of the driver output group is provided with for connecting the connection in the second joint portion
Portion, the driver output group are provided with second sensor.
The invention has the beneficial effects as follows：By arranging with vertically arranged active slew gear and driven slew gear
Transmission group, and then rope drive relation is formed, the bulk of transmission group is efficiently reduced, while by arranging sensor control
Its transmission accuracy, and then setting includes the first joint portion with series elastic driver and second joint portion, there is provided it is a kind of
Compact conformation, the series elastic driver of reliable transmission and joint of robot.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Description of the drawings
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below by to be used attached needed for embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, thus be not construed as it is right
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can be with according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the overall structure perspective view of the series elastic driver that the embodiment of the present invention 1 is provided；
Fig. 2 is the first fragmentary, perspective view of the series elastic driver that the embodiment of the present invention 1 is provided；
Fig. 3 is the second fragmentary, perspective view of the series elastic driver that the embodiment of the present invention 1 is provided；
Fig. 4 is the 3rd fragmentary, perspective view of the series elastic driver that the embodiment of the present invention 1 is provided；
Fig. 5 is the structural representation of the joint of robot that the embodiment of the present invention 1 is provided.
Main element symbol description：
10000- joint of robot, the first joint portions of 1001-, 1000- series elastic drivers, 0100- Motor drive groups,
0110- motors, 0120- electric machine supports, 0130- decelerators, 0140- shaft couplings, 0200- transmission groups, 0210- are actively turned round
Mechanism, 0211- reels, 0212- coiling tube stents, the driven slew gears of 0220-, the driven runners of 0221-, 0222- springs
Frame, 0230- flexible cables, 0240- flexible cable support shafts, 0241- spring bearings, 0300- driver output groups, 0310- driving springs,
0320- driver take-off levers, 0321- connecting portions, 0400- first sensors, 0500- second sensors, 0600- gear drives
Group, 0610- driving gears, 0620- driven gears, 0700- V belt translation groups, 0710- driving pulleys, 0720- transmission belts, 0730-
Driven pulley, 2001- second joints portion.
Specific embodiment
For the ease of understanding the present invention, series elastic driver is more fully retouched below with reference to relevant drawings
State.The preferred embodiment of series elastic driver is given in accompanying drawing.But, series elastic driver can be by many differences
Form realizing, however it is not limited to embodiment described herein.On the contrary, the purpose for providing these embodiments is made to series connection
The disclosure of elastic driver is more thorough comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can directly on another element
Or can also there is element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or may be simultaneously present centering elements.Conversely, when element be referred to as " directly existing " another element " on " when,
There is no intermediary element.Term as used herein " vertical ", " level ", "left", "right" and similar statement are
For illustrative purposes.
Unless otherwise defined, all of technology used herein and scientific terminology and the technical field for belonging to the present invention
The implication that technical staff is generally understood that is identical.Term used in the description in series elastic driver is simply herein
The purpose of description specific embodiment, it is not intended that limit the present invention.Term as used herein " and/or " including one or
The arbitrary and all of combination of multiple related Listed Items.
Embodiment 1
Fig. 1 is referred to, series elastic driver 1000 includes Motor drive group 0100, the output of transmission group 0200, driver
Group 0300, first sensor 0400, second sensor 0500, wherein：
The output end of Motor drive group 0100 is connected with the input of transmission group 0200.Specifically, Motor drive group
0100 includes motor 0110 and the electric machine support 0120 for fixed drive motor 0110.
In a preferred embodiment, 0110 output shaft end of motor is additionally provided with decelerator 0130.Decelerator 0130
The output speed of motor 0110 can be reduced, while increasing the output torque of motor 0110, series elastic driver is made
1000 have good application effect under slow-speed of revolution high torque (HT) occasion.
First sensor 0400 is used for angular displacement and the angular speed for measuring 0200 input of transmission group, realizes to transmission group
The accurate measurement of 0200 input state, and then output feedback signal, realize precise control.Due to 0200 input of transmission group with
The angular displacement of Motor drive group 0100 has uniformity and synchronism with angular speed, and in other words, first sensor 0400 pair is to electricity
The angular displacement of machine driving group 0100 and the accurate measurement of angular speed, also belong to the angular displacement to 0200 input of transmission group with angle speed
A kind of embodiment that degree is measured.
In a preferred embodiment, output end of the first sensor 0400 located at Motor drive group 0100.Motor drives
The output end of dynamic group 0100 is connected with first sensor 0400 by gear drive group 0600.Gear drive group 0600 includes mutually
Driving gear 0610 and the driven gear 0620 of engagement, driving gear 0610 are connected to the output end of Motor drive group 0100, from
Moving gear 0620 is connected to the input of first sensor 0400.
Thus, motor 0110 drives driving gear 0610 to rotate, and driving gear 0610 drives driven gear 0620 to revolve
Turn, so as to first sensor 0400 is given in the motion state transmission by motor 0110, realize 0400 pair of driving of first sensor
The measurement of motor 0110.
In another embodiment, first sensor 0400 can be also directly arranged on the input of transmission group 0200.
Please refer to Fig. 2 and Fig. 3, active slew gear 0210 that transmission group 0200 includes forming rope drive relation, from
Dynamic slew gear 0220 and flexible cable 0230, active slew gear 0210 can realize rotation fortune under the driving of Motor drive group 0100
Dynamic, the Pivot axle of active slew gear 0210 is vertical with the Pivot axle of driven slew gear 0220,0230 point of flexible cable
Not tightly around on the rotary surface in active slew gear 0210 with driven slew gear 0220.
Specifically, flexible cable 0230 is sufficiently flexible, can only bearing tension force.When which keeps tensioning state, can only send out thereon
Life is along the tensile force of itself.When active slew gear 0210 rotates motion, its with tightly around flexible cable 0230 thereon
Between active force will apply tensile force to flexible cable 0230.Thus, flexible cable 0230 applies tensile force to driven slew gear 0220,
Rotate driven slew gear 0220.
Under such configuration, active slew gear 0210 is extremely compact with the spatial arrangement of driven slew gear 0220, it is to avoid
Bulky dimensions problem caused by long driving-chain.Meanwhile, flexible cable 0230 remains tensioning, is effectively guaranteed transmission process
Reliability and quality of fit.
Further, active slew gear 0210 includes reel 0211 and coiling tube stent 0212, reel 0211
Revolution shaft end is connected with the output end of Motor drive group 0100, and flexible cable 0230 is tightly around on the rotary surface of reel 0211.
In a preferred embodiment, output end of the reel 0211 by shaft coupling 0140 with decelerator 0130 connects
Connect, rotary motion can be realized on coiling tube stent 0212 under the driving of Motor drive group 0100, its rotary shaft is along vertically side
To.Flexible cable 0230 is wound with multi-turn on reel 0211 without overlapping.
In a preferred embodiment, first sensor 0400 can also be directly arranged in reel 0211 away from Motor drive
One end of group 0100.
Further, flexible cable support shaft 0240 is provided between active slew gear 0210 and driven slew gear 0220, it is soft
The central shaft of rope support shaft 0240 is parallel with the central shaft of driven slew gear 0220, and flexible cable 0230 is tensioned to flexible cable support shaft
0240 outer surface.Thus, active slew gear 0210 is more stable with the spatial arrangement relation of driven slew gear 0220, enters one
Its compactness and transmission accuracy are improved step.
Further, driven slew gear 0220 includes the driven runner 0221 and spring support 0222 of unitary rotation, bullet
Spring bracket 0222 is connected with driving spring 0310.Thus, driven slew gear 0220 acts on driving by spring support 0222
Spring 0310, and then realize the transmission to driver output group 0300.
Further, flexible cable support shaft 0240 is provided with spring bearing 0241, and flexible cable 0230 is tensioned to spring bearing 0241
Outer surface.Spring bearing 0241 can bear the active force for coming from flexible cable 0230, reduce flexible cable 0230 and flexible cable support shaft 0240
Friction damage, improve the service life of flexible cable 0230 and flexible cable support shaft 0240.Additionally, spring bearing 0241 can be adjusted automatically
The mismatch error of whole transmission process, improves the transmission accuracy of rope drive.
Further, flexible cable 0230 is provided with for being tensioned the tensioning wheel of flexible cable 0230, flexible cable 0230 is remained
Tight state, it is to avoid which loose or dislocation occurs and affects transmission accuracy.
The input of driver output group 0300 is connected with driven slew gear 0220, can be in driven slew gear 0220
Rotary motion is realized under driving.The output end of driver output group 0300 is provided with for connecting the connecting portion of outside executive item
0321, to realize the external motion of series elastic driver 1000 and power transmission.
Fig. 4 is referred to, second sensor 0500 is used for angular displacement and the angular speed for measuring driver output group 0300.Specifically
For, driver output group 0300 is provided with second sensor 0500.Further, 0500 output feedback signal of second sensor, together
When with reference to first sensor 0400 feedback signal, series elastic driver 1000 can accurately realize the feedback regulation of itself,
Ensure the reliability of its transmission process.
In a preferred embodiment, driver output group 0300 is by V belt translation group 0700 and second sensor 0500
Connection.
Specifically, V belt translation group 0700 includes driving pulley 0710, transmission belt 0720 and driven pulley 0730, main belt
The shaft end of wheel 0710 is connected with driver output group 0300, and transmission belt 0720 is coated on driving pulley 0710 and driven pulley 0730
Circumferential surface on, the shaft end of driven pulley 0730 is connected with the input of second sensor 0500.
Thus, the motion state of driver output group 0300 can be transmitted and give second sensor 0500, make second sensor
0500 is able to carry out accurate measurement.
Further, V belt translation group 0700 is provided with for being tensioned the tensioning wheel of transmission belt 0720, protects transmission belt 0720
Hold tensioning, it is to avoid its loose or dislocation.
Driver output group 0300 includes driving spring 0310 and driver take-off lever 0320,0310 two ends of driving spring point
Do not connect driven slew gear 0220 and driver take-off lever 0320, driver take-off lever 0320 is provided with connecting portion 0321.
Specifically, driven slew gear 0220 rotates and makes driving spring 0310 deform.Now, driving spring
Elastic force is formed on 0310, and it is put on into driver take-off lever 0320, make driver take-off lever 0320 rotate motion.
Further, driver take-off lever 0320 drives external executive item rotation by connecting portion 0321, realizes series elastic driver 1000
Driving function.
Driving spring 0310 is arc spring, disc spring, torsionspring, the one kind in linear springs, and its quantity can be
Positive integer.
In the present embodiment, driving spring 0310 is arc spring, and its quantity is for 2 and is symmetric.Arc spring
Appearance profile be arc, which has coaxial relation with spring support 0222.Thus, arc is oppressed when spring support 0222 is rotated
Spring, is allowed to deform and drive driver take-off lever 0320 to rotate.Under such configuration, the space knot of series elastic driver 1000
Structure is further compressed, extremely compact compact.
Fig. 5 is referred to, joint of robot 10000 includes the first joint portion 1001 and second joint portion 2001.First joint
The shell that portion 1001 includes series elastic driver 1000 and is coated on outside series elastic driver 1000, flexible drive of connecting
Device 1000 is connected with second joint portion 2001 by connecting portion 0321.
Thus, the first joint portion 1001 drives second joint portion 2001 to rotate by series elastic driver 1000, so as to
Realize the rotating function of joint of robot 10000.Specifically, Motor drive group 0100 drives driver by transmission group 0200
Output group 0300 rotates.Driver take-off lever 0320 is rotated with, and then drives second joint portion 2001 by connecting portion 0321
Rotation.
Due to 1000 compact conformation of series elastic driver, the physical dimension of the first joint portion 1001 is greatly reduced.Compared with
In short driving-chain, the first joint portion 1001 is stable with the attachment structure in second joint portion 2001, driving error is less, makes machine
Person joint 10000 has the advantages that compact conformation, reliable transmission.
In all examples being illustrated and described herein, any occurrence should be construed as merely exemplary, and not
Be as restriction, therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represent similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then in subsequent accompanying drawing which further need not be defined and is explained.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more concrete and detailed, but and
Therefore limitation of the scope of the invention can not be interpreted as.It should be pointed out that for the person of ordinary skill of the art,
Without departing from the inventive concept of the premise, some deformations and improvement can also be made, these belong to the protection model of the present invention
Enclose.Therefore, protection scope of the present invention should be defined by claims.
Claims (10)
1. a kind of series elastic driver, including Motor drive group, transmission group and driver output group, it is characterised in that：
The output end of the Motor drive group is connected with the input of the transmission group；
The transmission group includes active slew gear, driven slew gear and the flexible cable to form rope drive relation, and the active is returned
Rotation mechanism can realize rotary motion in the case where the Motor drive group drives, the Pivot axle of the active slew gear with it is described
The Pivot axle of driven slew gear is vertical, and the flexible cable is respectively tightly around in the active slew gear and the driven revolution
On the rotary surface of mechanism；
The input of the driver output group is connected with the driven slew gear, can be in the driving of the driven slew gear
Under realize rotary motion, the output end of the driver output group is provided with for connecting the connecting portion of outside executive item；
The series elastic driver also includes first sensor, second sensor；
The first sensor is used for angular displacement and the angular speed for measuring the transmission group input；
The second sensor is used for angular displacement and the angular speed for measuring the driver output group.
2. series elastic driver according to claim 1, it is characterised in that the active slew gear is driven with described
Flexible cable support shaft is provided between slew gear, the central shaft of the flexible cable support shaft is flat with the central shaft of the driven slew gear
OK, the flexible cable is tensioned to the flexible cable support shaft outer surface.
3. series elastic driver according to claim 2, it is characterised in that the flexible cable support shaft is provided with support shaft
Hold, the flexible cable is tensioned to the spring bearing outer surface.
4. series elastic driver according to claim 1, it is characterised in that the driver output group includes driving bullet
Spring and driver take-off lever, the driving spring two ends connect the driven slew gear and the driver take-off lever respectively,
The driver take-off lever is provided with the connecting portion.
5. series elastic driver according to claim 4, it is characterised in that the driving spring is arc spring, disk
One kind in formula spring, torsionspring, linear springs.
6. series elastic driver according to claim 4, it is characterised in that the driven slew gear includes that one turns
Dynamic driven runner and spring support, the spring support are connected with the driving spring.
7. series elastic driver according to claim 1, it is characterised in that the active slew gear includes reel
And coiling tube stent, the reel revolution shaft end be connected with the output end of the Motor drive group, the flexible cable tightly around in
On the rotary surface of the reel.
8. series elastic driver according to claim 1, it is characterised in that the flexible cable is provided with described for being tensioned
The tensioning wheel of flexible cable.
9. series elastic driver according to claim 1, it is characterised in that the output end of the Motor drive group passes through
Gear drive group is connected with the first sensor.
10. a kind of joint of robot, including the first joint portion and second joint portion, it is characterised in that the first joint portion bag
Series elastic driver and shell are included, the series elastic driver includes Motor drive group, transmission group and driver output group：
The output end of the Motor drive group is connected with the input of the transmission group, and the output end of the Motor drive group is provided with
First sensor；
The transmission group includes active slew gear, driven slew gear and the flexible cable to form rope drive relation, and the active is returned
Rotation mechanism can realize rotary motion in the case where the Motor drive group drives, the Pivot axle of the active slew gear with it is described
The Pivot axle of driven slew gear is vertical, and the flexible cable is respectively tightly around in the active slew gear and the driven revolution
On the rotary surface of mechanism；
The input of the driver output group is connected with the driven slew gear, can be in the driving of the driven slew gear
Under realize rotary motion, the output end of the driver output group is provided with for connecting the connecting portion in the second joint portion, institute
State driver output group and be provided with second sensor.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610991547.1A CN106514646B (en) | 2016-11-10 | 2016-11-10 | Series elastic driver and joint of robot |
| DE112017000187.0T DE112017000187T5 (en) | 2016-11-10 | 2017-08-07 | Flexbile drive device, robot joint, robot and exoskeleton robot |
| JP2018536847A JP6723366B2 (en) | 2016-11-10 | 2017-08-07 | Flexible actuators, robot joints, robots and exoskeleton robots |
| PCT/CN2017/096228 WO2018086393A1 (en) | 2016-11-10 | 2017-08-07 | Flexible actuator, robot joint, robot and exoskeleton robot |
| US16/075,741 US11198213B2 (en) | 2016-11-10 | 2017-08-07 | Flexible driver, robot joint, robot and exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610991547.1A CN106514646B (en) | 2016-11-10 | 2016-11-10 | Series elastic driver and joint of robot |
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| Publication Number | Publication Date |
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| CN106514646A true CN106514646A (en) | 2017-03-22 |
| CN106514646B CN106514646B (en) | 2018-11-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610991547.1A Active CN106514646B (en) | 2016-11-10 | 2016-11-10 | Series elastic driver and joint of robot |
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| WO2018188474A1 (en) * | 2017-04-14 | 2018-10-18 | The Chinese University Of Hong Kong | Magneto-rheological series elastic actuator |
| CN108789395A (en) * | 2018-06-07 | 2018-11-13 | 上海交通大学 | A kind of series connection viscoplasticity driver based on bionical tendon |
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| US11198213B2 (en) | 2016-11-10 | 2021-12-14 | Shenzhen Milebot Robotics Co., Ltd. | Flexible driver, robot joint, robot and exoskeleton robot |
| WO2018188474A1 (en) * | 2017-04-14 | 2018-10-18 | The Chinese University Of Hong Kong | Magneto-rheological series elastic actuator |
| EP3552662A4 (en) * | 2017-06-20 | 2020-07-29 | Shenzhen Hanix United, Ltd. | Transcranial magnetic stimulation treatment apparatus |
| CN107414809A (en) * | 2017-06-20 | 2017-12-01 | 深圳市迈步机器人科技有限公司 | A kind of mechanical arm |
| CN108789395A (en) * | 2018-06-07 | 2018-11-13 | 上海交通大学 | A kind of series connection viscoplasticity driver based on bionical tendon |
| CN108789395B (en) * | 2018-06-07 | 2021-03-30 | 上海交通大学 | Series viscoelastic driver based on bionic tendon |
| CN109009889A (en) * | 2018-08-10 | 2018-12-18 | 山东大学 | Wearable flexibility lower limb rehabilitation robot |
| CN109009889B (en) * | 2018-08-10 | 2023-08-18 | 山东大学 | Wearable flexible lower limb rehabilitation robot |
| CN109968337A (en) * | 2018-12-26 | 2019-07-05 | 香港中文大学（深圳） | A kind of cantilever of hanger rail type tunnel crusing robot |
| CN111590555A (en) * | 2020-06-25 | 2020-08-28 | 中国科学院自动化研究所 | Series elastic driver |
| CN111590555B (en) * | 2020-06-25 | 2021-06-08 | 中国科学院自动化研究所 | Series elastic driver |
| CN112338957A (en) * | 2020-10-30 | 2021-02-09 | 山东大学 | Leg joint, leg structure and underwater robot based on series elastic driver |
| CN112372645A (en) * | 2020-11-10 | 2021-02-19 | 广东电网有限责任公司 | Robot for power distribution station |
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