CN106514646B - Series elastic driver and joint of robot - Google Patents
Series elastic driver and joint of robot Download PDFInfo
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- CN106514646B CN106514646B CN201610991547.1A CN201610991547A CN106514646B CN 106514646 B CN106514646 B CN 106514646B CN 201610991547 A CN201610991547 A CN 201610991547A CN 106514646 B CN106514646 B CN 106514646B
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- swing mechanism
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- flexible cable
- driver
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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
A kind of series elastic driver, including motor driven group, transmission group, driver output group, first sensor, second sensor, the transmission group includes the active swing mechanism, driven swing mechanism and flexible cable to form rope drive relationship, the active swing mechanism can realize rotary motion under motor driven group driving, the Pivot axle of the active swing mechanism is vertical with the Pivot axle of the driven swing mechanism, and the flexible cable is respectively tightly around on the rotary surface of the active swing mechanism and the driven swing mechanism；A kind of joint of robot includes the first joint portion and second joint portion, and first joint portion includes the series elastic driver, and the series elastic driver is connect with the second joint portion.The present invention provides a kind of compact-sized, reliable transmission series elastic driver and joint of robot.
Description
Technical field
The invention belongs to robotic technology fields, are a kind of series elastic driver and joint of robot specifically.
Background technique
Robot is the automatic installations for executing work.With the development of artificial intelligence technology, robot has considerable
Progress, function becomes increasingly abundant.Robot can assist or replace the work of the mankind, greatly improve quality of life and life
Efficiency is produced, manually-operated danger is avoided, thus is applied to every field more and more.
Robot is generally made of executing agency, driver, detection device and control system and complicated machinery etc..Wherein,
Driver is the power mechanism for driving robot sending to act, and is the indispensable critical component of joint of robot.
For current driver since its design structure is limited, structure size is excessively huge, leads to joint of robot entirety ruler
It is very little bigger than normal, very big limitation is formd to the application of robot.Meanwhile structure size is bigger than normal causes transmission efficiency low
Under, reliable transmission is poor.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of series elastic drivers, pass through 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 driven group, transmission group and driver output group, wherein：
The output end of the motor driven group is connect with the input terminal of the transmission group；
The transmission group includes the active swing mechanism, driven swing mechanism and flexible cable to form rope drive relationship, the master
Dynamic swing mechanism can realize rotary motion under motor driven group driving, the Pivot axle of the active swing mechanism with
The Pivot axle of the driven swing mechanism is vertical, the flexible cable respectively tightly around in the active swing mechanism with it is described driven
On the rotary surface of swing mechanism；
The input terminal of the driver output group is connect with the driven swing mechanism, can be in the driven swing mechanism
Driving is lower to realize rotary motion, and the output end of the driver output group is equipped with the interconnecting piece for connecting external executive item；
The series elastic driver further includes first sensor, second sensor；
The first sensor is used to measure angular displacement and the angular speed of the transmission group input terminal；
The second sensor is used to measure angular displacement and the angular speed of the driver output group.
As an improvement of the above technical solution, flexible cable is equipped between the active swing mechanism and the driven swing mechanism
Support shaft, the central axis of the flexible cable support shaft is parallel with the central axis of the driven swing mechanism, and the flexible cable is tensioned to institute
State flexible cable support shaft outer surface.
As a further improvement of the above technical scheme, the flexible cable support shaft is equipped with spring bearing, the flexible cable
Tightly in the spring bearing outer surface.
As a further improvement of the above technical scheme, the driver output group includes that driving spring and driver export
Bar, the driving spring both ends are separately connected the driven swing mechanism and the driver output rod, the driver output
Bar is equipped with the interconnecting piece.
As a further improvement of the above technical scheme, the driving spring is arc spring, disc spring, torsion bullet
One of spring, linear springs.
As a further improvement of the above technical scheme, the driven swing mechanism include unitary rotation driven runner with
Spring support, the spring support are connect with the driving spring.
As a further improvement of the above technical scheme, the active swing mechanism includes reel and coiling tube stent,
The revolution shaft end of the reel is connect with the output end of the motor driven group, and the flexible cable is tightly around returning in the reel
Turn on surface.
As a further improvement of the above technical scheme, the flexible cable is equipped with the tensioning wheel for being tensioned the flexible cable.
As a further improvement of the above technical scheme, the output end of the motor driven 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 driven group, transmission group and driver output group：
The output end of the motor driven group is connect with the input terminal of the transmission group, the output end of the motor driven group
Equipped with first sensor；
The transmission group includes the active swing mechanism, driven swing mechanism and flexible cable to form rope drive relationship, the master
Dynamic swing mechanism can realize rotary motion under motor driven group driving, the Pivot axle of the active swing mechanism with
The Pivot axle of the driven swing mechanism is vertical, the flexible cable respectively tightly around in the active swing mechanism with it is described driven
On the rotary surface of swing mechanism；
The input terminal of the driver output group is connect with the driven swing mechanism, can be in the driven swing mechanism
Driving is lower to realize rotary motion, and the output end of the driver output group is equipped with the connection for connecting the second joint portion
Portion, the driver output group are equipped with second sensor.
The beneficial effects of the invention are as follows：There is vertically arranged active swing mechanism and driven swing mechanism by being arranged
Transmission group, and then rope drive relationship is formed, the bulk of transmission group is efficiently reduced, while controlling by setting sensor
Its transmission accuracy, and then being arranged includes the first joint portion and the second joint portion with series elastic driver, provides one kind
Compact-sized, reliable transmission series elastic driver and joint of robot.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the overall structure perspective view for the series elastic driver that the embodiment of the present invention 1 provides；
Fig. 2 is the first partial perspective view for the series elastic driver that the embodiment of the present invention 1 provides；
Fig. 3 is the second local perspective view of the series elastic driver that the embodiment of the present invention 1 provides；
Fig. 4 is the third local perspective view for the series elastic driver that the embodiment of the present invention 1 provides；
Fig. 5 is the structural schematic diagram for the joint of robot that the embodiment of the present invention 1 provides.
Main element symbol description：
10000- joint of robot, the first joint portion of 1001-, 1000- series elastic driver, 0100- motor driven group,
0110- driving motor, 0120- electric machine support, 0130- retarder, 0140- shaft coupling, 0200- transmission group, 0210- are actively turned round
Mechanism, 0211- reel, 0212- coiling tube stent, the driven swing mechanism of 0220-, the driven runner of 0221-, 0222- spring branch
Frame, 0230- flexible cable, 0240- flexible cable support shaft, 0241- spring bearing, 0300- driver output group, 0310- driving spring,
0320- driver output rod, 0321- interconnecting piece, 0400- first sensor, 0500- second sensor, 0600- gear drive
Group, 0610- driving gear, 0620- driven gear, 0700- V belt translation group, 0710- driving pulley, 0720- transmission belt, 0730-
Driven pulley, 2001- second joint portion.
Specific embodiment
To facilitate the understanding of the present invention, series elastic driver is more fully retouched below with reference to relevant drawings
It states.The preferred embodiment of series elastic driver is given in attached drawing.But series elastic driver can pass through many differences
Form realize, however it is not limited to embodiment described herein.On the contrary, purpose of providing these embodiments is makes to series connection
The disclosure of elastic driver is more thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.On the contrary, when element is referred to as " directly existing " another element "upper",
There is no intermediary elements.Term as used herein "vertical", "horizontal", "left" and "right" and similar statement are
For illustrative purposes.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Only it is in the term used in the description of series elastic driver herein
The purpose of description specific embodiment, it is not intended that the limitation present invention.Term " and or " used herein include one or
Any and all combinations of multiple relevant listed items.
Embodiment 1
Referring to Fig. 1, series elastic driver 1000 includes motor driven group 0100, transmission group 0200, driver output
Group 0300, first sensor 0400, second sensor 0500, wherein：
The output end of motor driven group 0100 is connect with the input terminal of transmission group 0200.Specifically, motor driven group
0100 includes driving motor 0110 and the electric machine support 0120 for fixing driving motor 0110.
In a preferred embodiment, 0110 output shaft end of driving motor is additionally provided with retarder 0130.Retarder 0130
The output revolving speed of driving motor 0110 can be reduced, while increasing the output torque of driving motor 0110, makes series elastic driver
1000 have good application effect under slow-speed of revolution high torque (HT) occasion.
First sensor 0400 is used to measure angular displacement and the angular speed of 0200 input terminal of transmission group, realizes to transmission group
The precise measurement of 0200 input terminal state, and then feedback signal is exported, realize accurate control.Due to 0200 input terminal of transmission group with
The angular displacement of motor driven group 0100 and angular speed is with uniformity and synchronism, in other words, first sensor 0400 is to electricity
The angular displacement of machine driving group 0100 and the precise measurement of angular speed also belong to the angular displacement to 0200 input terminal of transmission group and angle speed
Spend a kind of embodiment measured.
In a preferred embodiment, first sensor 0400 is set to the output end of motor driven group 0100.Motor drives
The output end of dynamic group 0100 is connect by gear drive group 0600 with first sensor 0400.Gear drive group 0600 includes mutual
The driving gear 0610 and driven gear 0620 of engagement, driving gear 0610 are connected to the output end of motor driven group 0100, from
Moving gear 0620 is connected to the input terminal of first sensor 0400.
Driving motor 0110 drives driving gear 0610 to rotate as a result, and driving gear 0610 drives driven gear 0620 to revolve
Turn, so that first sensor 0400 is given in the motion state transmitting of driving motor 0110, realizes 0400 pair of first sensor driving
The measurement of motor 0110.
In another embodiment, first sensor 0400 can be also directly arranged on the input terminal of transmission group 0200.
Please refer to Fig. 2 and Fig. 3, transmission group 0200 include the active swing mechanism 0210 for forming rope drive relationship, from
Dynamic swing mechanism 0220 and flexible cable 0230, active swing mechanism 0210 can realize rotation fortune under the driving of motor driven group 0100
Dynamic, the Pivot axle of active swing mechanism 0210 is vertical with the Pivot axle of driven swing mechanism 0220, and flexible cable 0230 is divided
Not tightly around on the rotary surface of active swing mechanism 0210 and driven swing mechanism 0220.
Specifically, flexible cable 0230 is sufficiently flexible, tension can only be born.When it keeps tensioning state, can only send out thereon
The raw drawing force along itself.When active swing mechanism 0210 rotates movement, and tightly around flexible cable 0230 thereon
Between active force will to flexible cable 0230 apply drawing force.Flexible cable 0230 applies drawing force to driven swing mechanism 0220 as a result,
Rotate driven swing mechanism 0220.
Under such configuration, active swing mechanism 0210 and the spatial arrangement of driven swing mechanism 0220 are extremely compact, avoid
Bulky dimensions problem caused by too long transmission chain.Meanwhile flexible cable 0230 remains tensioning, is effectively guaranteed transmission process
Reliability and cooperation precision.
Further, active swing mechanism 0210 includes reel 0211 and coiling tube stent 0212, reel 0211
Revolution shaft end is connect with the output end of motor driven group 0100, and flexible cable 0230 is tightly around on the rotary surface of reel 0211.
In a preferred embodiment, reel 0211 is connected by the output end of shaft coupling 0140 and retarder 0130
It connects, can realize rotary motion on coiling tube stent 0212 under the driving of motor driven group 0100, rotary shaft is along vertical 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 far from motor driven
One end of group 0100.
Further, flexible cable support shaft 0240 is equipped between active swing mechanism 0210 and driven swing mechanism 0220, it is soft
The central axis of rope support shaft 0240 is parallel with the central axis of driven swing mechanism 0220, and flexible cable 0230 is tensioned to flexible cable support shaft
0240 outer surface.Active swing mechanism 0210 and the spatial arrangement relationship of driven swing mechanism 0220 are more stable as a result, into one
Improve its compactness and transmission accuracy to step.
Further, driven swing mechanism 0220 includes the driven runner 0221 and spring support 0222 of unitary rotation, bullet
Spring bracket 0222 is connect with driving spring 0310.Driven swing mechanism 0220 acts on driving by spring support 0222 as a result,
Spring 0310, and then realize the transmission to driver output group 0300.
Further, flexible cable support shaft 0240 is equipped with spring bearing 0241, and flexible cable 0230 is tensioned to spring bearing 0241
Outer surface.Spring bearing 0241 is able to bear the active force derived from flexible cable 0230, reduces flexible cable 0230 and flexible cable support shaft 0240
Friction damage, improve flexible cable 0230 and flexible cable support shaft 0240 service life.In addition, 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 equipped with the tensioning wheel for being tensioned flexible cable 0230, remains flexible cable 0230 and opens
Tight state, avoids it from loose or dislocation occur and influence transmission accuracy.
The input terminal of driver output group 0300 is connect with driven swing mechanism 0220, can be in driven swing mechanism 0220
Driving is lower to realize rotary motion.The output end of driver output group 0300 is equipped with the interconnecting piece for connecting external executive item
0321, to realize the external movement of series elastic driver 1000 and power transmitting.
Referring to Fig. 4, second sensor 0500 is used to measure angular displacement and the angular speed of driver output group 0300.Specifically
For, driver output group 0300 is equipped with second sensor 0500.In turn, second sensor 0500 exports feedback signal, together
When in conjunction with first sensor 0400 feedback signal, series elastic driver 1000 can accurately realize the feedback regulation of itself,
Guarantee the reliability of its transmission process.
In a preferred embodiment, driver output group 0300 passes through 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 connect 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 connect with the input terminal of second sensor 0500.
The motion state of driver output group 0300, which can be transmitted, as a result, gives second sensor 0500, makes second sensor
0500 is able to carry out precise measurement.
Further, V belt translation group 0700 is equipped with the tensioning wheel for being tensioned transmission belt 0720, protects transmission belt 0720
Tensioning is held, its loose or dislocation is avoided.
Driver output group 0300 includes driving spring 0310 and driver output rod 0320,0310 both ends of driving spring point
Driven swing mechanism 0220 and driver output rod 0320 are not connected, and driver output rod 0320 is equipped with interconnecting piece 0321.
Specifically, driven swing mechanism 0220 rotates and driving spring 0310 is made to deform.At this point, driving spring
Elastic force is formed on 0310, and it is applied to driver output rod 0320, and driver output rod 0320 is made to rotate movement.
In turn, driver output rod 0320 drives external executive item to rotate by interconnecting piece 0321, realizes series elastic driver 1000
Driving function.
Driving spring 0310 is one of arc spring, disc spring, torsionspring, linear springs, and quantity can be
Positive integer.
In the present embodiment, driving spring 0310 is arc spring, and quantity is 2 and is symmetric.Arc spring
Appearance profile be arc, with spring support 0222 have coaxial relation.Arc is oppressed when spring support 0222 rotates as a result,
Spring is allowed to deform and driver output rod 0320 is driven to rotate.Under such configuration, the space knot of series elastic driver 1000
Structure is further compressed, extremely compact small and exquisite.
Referring to Fig. 5, joint of robot 10000 includes the first joint portion 1001 and second joint portion 2001.First joint
Portion 1001 includes series elastic driver 1000 and the shell being coated on outside series elastic driver 1000, flexible drive of connecting
Device 1000 is connect by interconnecting piece 0321 with second joint portion 2001.
The first joint portion 1001 drives second joint portion 2001 to rotate by series elastic driver 1000 as a result, thus
Realize the rotating function of joint of robot 10000.Specifically, motor driven group 0100 drives driver by transmission group 0200
Output group 0300 rotates.Driver output rod 0320 rotates with, and then drives second joint portion 2001 by interconnecting piece 0321
Rotation.
Since series elastic driver 1000 is compact-sized, the structure size of the first joint portion 1001 is greatly reduced.Compared with
In short transmission chain, the first joint portion 1001 and connection structure stabilization, the driving error in second joint portion 2001 are smaller, make machine
Person joint 10000 has the advantages that compact-sized, reliable transmission.
In all examples being illustrated and described herein, any occurrence should be construed as merely illustratively, without
It is as limitation, therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitation of the scope of the invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection model of the invention
It encloses.Therefore, protection scope of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of series elastic driver, including motor driven group, transmission group and driver output group, it is characterised in that：
The output end of the motor driven group is connect with the input terminal of the transmission group；
The transmission group includes the active swing mechanism, driven swing mechanism and flexible cable to form rope drive relationship, and the active is returned
Rotation mechanism can realize rotary motion under motor driven group driving, the Pivot axle of the active swing mechanism with it is described
The Pivot axle of driven swing mechanism is vertical, and the flexible cable is respectively tightly around in the active swing mechanism and the driven revolution
On the rotary surface of mechanism；
The input terminal of the driver output group is connect with the driven swing mechanism, can be in the driving of the driven swing mechanism
Lower realization rotary motion, the output end of the driver output group are equipped with the interconnecting piece for connecting external executive item；
The series elastic driver further includes first sensor, second sensor；
The first sensor is used to measure angular displacement and the angular speed of the transmission group input terminal；
The second sensor is used to measure angular displacement and the angular speed of the driver output group.
2. series elastic driver according to claim 1, which is characterized in that the active swing mechanism with it is described driven
Flexible cable support shaft is equipped between swing mechanism, the central axis of the flexible cable support shaft and the central axis of the driven swing mechanism are flat
Row, the flexible cable are tensioned to flexible cable support shaft outer surface.
3. series elastic driver according to claim 2, which is characterized in that the flexible cable support shaft is equipped with support shaft
It holds, the flexible cable is tensioned to the spring bearing outer surface.
4. series elastic driver according to claim 1, which is characterized in that the driver output group includes driving bullet
Spring and driver output rod, the driving spring both ends are separately connected the driven swing mechanism and the driver output rod,
The driver output rod is equipped with the interconnecting piece.
5. series elastic driver according to claim 4, which is characterized in that the driving spring is arc spring, disk
One of formula spring, torsionspring, linear springs.
6. series elastic driver according to claim 4, which is characterized in that the driven swing mechanism includes that one turns
Dynamic driven runner and spring support, the spring support are connect with the driving spring.
7. series elastic driver according to claim 1, which is characterized in that the active swing mechanism includes reel
And coiling tube stent, the revolution shaft end of the reel are connect with the output end of the motor driven group, the flexible cable tightly around in
On the rotary surface of the reel.
8. series elastic driver according to claim 1, which is characterized in that the flexible cable is equipped with described for being tensioned
The tensioning wheel of flexible cable.
9. series elastic driver according to claim 1, which is characterized in that the output end of the motor driven group passes through
Gear drive group is connect with the first sensor.
10. a kind of joint of robot, including the first joint portion and second joint portion, which is characterized in that the first joint portion packet
Series elastic driver and shell are included, the series elastic driver includes motor driven group, transmission group and driver output group：
The output end of the motor driven group is connect with the input terminal of the transmission group, and the output end of the motor driven group is equipped with
First sensor；
The transmission group includes the active swing mechanism, driven swing mechanism and flexible cable to form rope drive relationship, and the active is returned
Rotation mechanism can realize rotary motion under motor driven group driving, the Pivot axle of the active swing mechanism with it is described
The Pivot axle of driven swing mechanism is vertical, and the flexible cable is respectively tightly around in the active swing mechanism and the driven revolution
On the rotary surface of mechanism；
The input terminal of the driver output group is connect with the driven swing mechanism, can be in the driving of the driven swing mechanism
Lower realization rotary motion, the output end of the driver output group are equipped with the interconnecting piece for connecting the second joint portion, institute
Driver output group is stated equipped 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 |
| US16/075,741 US11198213B2 (en) | 2016-11-10 | 2017-08-07 | Flexible driver, robot joint, robot and exoskeleton robot |
| JP2018536847A JP6723366B2 (en) | 2016-11-10 | 2017-08-07 | Flexible actuators, robot joints, robots and exoskeleton robots |
| DE112017000187.0T DE112017000187T5 (en) | 2016-11-10 | 2017-08-07 | Flexbile drive device, robot joint, robot and exoskeleton robot |
| PCT/CN2017/096228 WO2018086393A1 (en) | 2016-11-10 | 2017-08-07 | Flexible actuator, 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106514646A CN106514646A (en) | 2017-03-22 |
| CN106514646B true CN106514646B (en) | 2018-11-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610991547.1A Active CN106514646B (en) | 2016-11-10 | 2016-11-10 | Series elastic driver and joint of robot |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6723366B2 (en) * | 2016-11-10 | 2020-07-15 | シェンチェン マイルボット ロボティクス カンパニー リミテッド | Flexible actuators, robot joints, robots and exoskeleton robots |
| CN108721009B (en) * | 2017-04-14 | 2019-08-16 | 香港中文大学 | Magnetorheological series elastic driver |
| CN107414809B (en) * | 2017-06-20 | 2023-07-04 | 深圳市迈步机器人科技有限公司 | Mechanical arm |
| CN107149722B (en) * | 2017-06-20 | 2020-10-09 | 深圳市瀚翔生物医疗电子股份有限公司 | Transcranial magnetic stimulation treatment equipment |
| CN108789395B (en) * | 2018-06-07 | 2021-03-30 | 上海交通大学 | Series viscoelastic driver based on bionic tendon |
| 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 |
| 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 |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002178290A (en) * | 2000-12-12 | 2002-06-25 | Communication Research Laboratory | Joint structure of robot |
| CN100496903C (en) * | 2007-07-11 | 2009-06-10 | 哈尔滨工业大学 | Finger-base joint mechanism for smart robot hand |
| JP2011083884A (en) * | 2009-10-19 | 2011-04-28 | Yaskawa Electric Corp | Variable rigidity mechanism and robot |
| CN102152319B (en) * | 2011-05-11 | 2012-07-11 | 哈尔滨工程大学 | Elastically-driven rotational joint |
| KR101710256B1 (en) * | 2015-01-19 | 2017-02-24 | 고려대학교 산학협력단 | Robotic joint device using wire and module-type robotic joint system using wire |
| CN104772759B (en) * | 2015-04-29 | 2016-06-29 | 浙江大学 | The flexible actuator of bionic muscle |
| CN206367005U (en) * | 2016-11-10 | 2017-08-01 | 深圳市迈步机器人科技有限公司 | Series elastic driver and joint of robot |
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2016
- 2016-11-10 CN CN201610991547.1A patent/CN106514646B/en active Active
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