CN106737628A - A kind of flexible charging robot driven based on rope - Google Patents

A kind of flexible charging robot driven based on rope Download PDF

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Publication number
CN106737628A
CN106737628A CN201710079369.XA CN201710079369A CN106737628A CN 106737628 A CN106737628 A CN 106737628A CN 201710079369 A CN201710079369 A CN 201710079369A CN 106737628 A CN106737628 A CN 106737628A
Authority
CN
China
Prior art keywords
rope
flexible
drive
control
mechanical arm
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
Application number
CN201710079369.XA
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Chinese (zh)
Inventor
徐文福
刘天亮
牟宗高
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Source Creation Intelligent Robot Co Ltd
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Shenzhen Source Creation Intelligent Robot Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shenzhen Source Creation Intelligent Robot Co Ltd filed Critical Shenzhen Source Creation Intelligent Robot Co Ltd
Priority to CN201710079369.XA priority Critical patent/CN106737628A/en
Publication of CN106737628A publication Critical patent/CN106737628A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/02Manipulators mounted on wheels or on carriages travelling along a guideway
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/06Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065Snake robots
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/109Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams

Abstract

The present invention relates to flexible robot field, disclose a kind of flexible charging robot driven based on rope, including some control ropes, wire drive, flexible mechanical arm and end effector, wherein, control rope can stretch under the driving of wire drive, flexible mechanical brachiocylloosis is driven, and then drives the end effector installed in flexible mechanical arm end to move.The present invention into charging robot, can adapt to that working space is narrow and small and there is the garage environment of numerous barriers using flexible mechanical arm combined charge capitiform with reference to the free bend motion of flexible mechanical arm, and small volume is lightweight, and motion is flexible, controls low cost;Motor and control circuit are not easily susceptible to the influence of external environment away from end effector simultaneously, help to ensure that the service life of robot.

Description

A kind of flexible charging robot driven based on rope
Technical field
It is more particularly to a kind of to be used for automobile more particularly, to flexible robot field the present invention relates to robot field The flexible robot of charging.
Background technology
Counted according to China Association for Automobile Manufacturers, automobile production and marketing in 2015 totally grows steadily, more than 24,500,000, the wound whole world The new highest record in history, continues to hold a post or title the whole world first for continuous 7 years.And corresponding China parking stall breach at least surpasses 50,000,000, parking difficulty problem Grow in intensity, development space utilization rate multi-storied garage high is extremely urgent.Meanwhile, the explosion type with new-energy automobile market increases Long, China has become the new-energy automobile market of global maximum, is sent out according to unit consolidations such as China Automotive Technology & Research Centers Cloth《New-energy automobile blue book:New Energy Sources In China development of automobile industry is reported(2016)》It has been shown that, new-energy automobile in 2015 Up to 340471, sales volume 331092 increases by 3.3 times and 3.4 times to yield respectively on year-on-year basis;By the end of the year 2015, China's new energy Automobile production and marketing is accumulative 49.7 ten thousand.According to Development of Electric Vehicles planning and application situation, the Committee of Development and Reform proposes " appropriate super Before " principle and " parking stall of a table one " pattern propulsion electrically-charging equipment construction.Therefore charging infrastructure construction is carried forward vigorously to be conducive to Charging electric vehicle problem is solved, is also the important leverage for developing new-energy automobile industry., on this basis, by multi-storied garage It can be new-energy automobile automatic charging in being parked in multi-storied garage to be combined with intelligent charging spot, effectively alleviate current parking The difficult and difficult social problem that charges, creates a new pattern of growth for future provides one kind.
In general, multi-storied garage working space is narrow and small and there are numerous barriers, it is difficult to which mode manually is vapour Car plugs charging head, the product that intelligent charging spot robot is then to solve this problem and develops, its by mechanical arm and Traditional charging pile is combined into, and drives charging head to realize the automatic charging to automobile by mechanical arm.The machinery commonly used at present Arm is made up of the rigid discrete joint of multiple, and each joint is required for the independent drive device of configuration, and volume, weight are big, control Comparatively high cost processed, move also underaction, it is difficult to meet the demand of charging head free movement in narrow space;Meanwhile, Motor and control circuit are easily influenceed near end effector by external environment, are unfavorable for ensureing the use longevity of robot Life.
The content of the invention
In order to overcome the deficiencies in the prior art, the present invention to provide a kind of flexible charging robot driven based on rope.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of flexible charging robot driven based on rope, including some control rope, wire drive, flexible mechanical Arm and end effector, wherein, control rope can stretch under the driving of wire drive, drive flexible mechanical brachiocylloosis, And then drive the end effector installed in flexible mechanical arm end to move.
Used as the further improved procedure of such scheme, wire drive includes support, the correspondence as bearing structure Control the movable pulley of rope and drive module, control one end of rope to be fixed with support, the other end bypasses corresponding movable pulley It is connected with mechanical arm afterwards, drives module to be used to drive each movable pulley to move, and then drive each control cord retraction.
Used as the further improved procedure of such scheme, support includes the first base plate and is parallel to each other with the first base plate Line collecting plate, control rope is uniformly distributed along the circumference of the first base plate, is uniformly distributed along its circumferentially corresponding control rope on line collecting plate There are multiple collection string holes, control the control end of rope to be stretched out from corresponding collection string holes.
As the further improved procedure of such scheme, the diameter of the diameter less than the first base plate of line collecting plate, with line concentration Between plate and the first base plate collecting for each control rope is realized along the direction of the first base plate to line collecting plate.
As the further improved procedure of such scheme, module is driven to include installing the pulley base of movable pulley, and drive The actuating unit of pulley base motion, actuating unit includes motor, screw mandrel, feed screw nut, sliding block and slide rail, the drive of screw mandrel and motor Moving axis is connected, and is threadedly coupled with feed screw nut, and feed screw nut fixes with pulley base, and is slided with respect to slide rail by sliding block.
As the further improved procedure of such scheme, flexible mechanical arm include some modularized joints be located at it is adjacent Tumbler between modularized joint, tumbler rotates connection with adjacent modularized joint respectively, and center of rotation mutually hangs down Directly.
Used as the further improved procedure of such scheme, tumbler includes swivel becket, and the two ends of modularized joint are provided with hinge Joint chair, swivel becket is provided with four orthogonal pin holes, and the hinged seat in adjacent modular joint is mutually perpendicular to, and by pin Nail is rotatably connected on swivel becket respectively with pin hole.
Used as the further improved procedure of such scheme, including mobile module, mobile module is used to drive rope to drive dress Motion is put, and then drives flexible mechanical arm and the end effector on flexible mechanical arm integrally to be moved.
Used as the further improved procedure of such scheme, mobile module includes mobile platform, upright slide rail and upright slide block, Wire drive is fixed on a mobile platform, and is slided with respect to slide rail by upright slide block.
Used as the further improved procedure of such scheme, end effector includes charging head, or charging head and camera Set.
The beneficial effects of the invention are as follows:
Using flexible mechanical arm combined charge capitiform into charging robot, can be fitted with reference to the free bend motion of flexible mechanical arm Answer working space narrow and small and there is the garage environment of numerous barriers, small volume is lightweight, motion is flexible, control low cost;Together When motor and control circuit away from end effector, be not easily susceptible to the influence of external environment, help to ensure that the use of robot Life-span.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the schematic perspective view of one embodiment of the invention;
Fig. 2 is the schematic perspective view of wire drive one embodiment of the present invention;
Fig. 3 is the schematic perspective view of wire drive medium-height trestle one embodiment of the present invention;
Fig. 4 is the connection diagram of present invention control rope and assembly pulley;
Fig. 5 is the schematic perspective view of driving module one embodiment in wire drive of the present invention;
Fig. 6 is the schematic perspective view of the part-structure of flexible mechanical arm one embodiment of the present invention;
Fig. 7 is the schematic perspective view of one embodiment that the present invention increases mobile module.
Specific embodiment
The technique effect of design of the invention, concrete structure and generation is carried out clearly below with reference to embodiment and accompanying drawing Chu, complete description, to be completely understood by the purpose of the present invention, scheme and effect.It should be noted that in situation about not conflicting Under, the feature in embodiment and embodiment in the application can be mutually combined.
It should be noted that unless otherwise specified, when a certain feature is referred to as " fixation ", " connection " in another feature, It can directly fix, be connected in another feature, it is also possible to fix indirectly, be connected in another feature.Additionally, this The description such as upper and lower, left and right used in invention is only that the mutual alignment of each part of the invention relative in accompanying drawing is closed For system.
Additionally, unless otherwise defined, the technology of all of technologies and scientific terms used here by the article and the art The implication that personnel are generally understood that is identical.Term used in the description is intended merely to describe specific embodiment herein, without It is to limit the present invention.Term as used herein " and/or " include the arbitrary of one or more related Listed Items Combination.
Reference picture 1, shows the schematic perspective view of one embodiment of the invention.As illustrated, main modular of the invention Including wire drive 100, some control ropes 200, flexible mechanical arm 300 and end effector 400.Wherein, control Rope 200 can be driven and be stretched by wire drive 100, so as to drive flexible mechanical arm 300 to bend, and then drive peace End effector 400 mounted in the end of flexible mechanical arm 300 is moved, and realizes the operation of setting.
End effector 400 in the present invention preferably uses charging head, so that charging robot is formed, with reference to flexible mechanical The free bend motor fitness working space of arm is narrow and small and there is the garage environment of numerous barriers.Further, end performs Device 400 can also be the set of charging head and camera, by the charge port of camera automatic identification automobile, realize automatic charging Function.
Each module is described in detail below in conjunction with accompanying drawing.
Reference picture 2, shows the schematic perspective view of wire drive one embodiment of the present invention.As illustrated, rope Drive device includes support 110, some movable pulleys 120 and driving mould of correspondence control rope 200 as bearing structure Group 130.
One end of rope 200 is controlled to be fixed with support 110 in the present invention, the other end is made after bypassing corresponding movable pulley 120 For control end is connected with flexible mechanical arm 300, due to controlling the overall length of rope 200 certain, thus it is each dynamic when driving module 130 to drive When pulley 120 is moved, the control end of rope 200 is controlled to occur to stretch, and then drive flexible mechanical arm to bend.The present invention Flexible by using movable pulley tricing line rustling sound, the stroke of rope is the twice of movable pulley stroke, therefore is meeting cord retraction The overall volume of wire drive can be reduced on the premise of amount, operation narrow space is preferably applicable and be there are numerous obstacles The multi-storied garage environment of thing.
Reference picture 3, shows the schematic perspective view of wire drive medium-height trestle one embodiment of the present invention.As schemed Show, the agent structure of support 110 includes the first base plate 111 and the second base plate 112 that are parallel to each other, the first base plate 111 and second Connected by connecting pole between base plate 112, the periphery of the second base plate 112 is extended with side wall 113 to form a tubular structure backward, The shell 114 for shielding is additionally provided between first base plate 111 and the second base plate 112.
A circle mounting hole 101 is peripherally correspondingly provided with first base plate 111 and the second base plate 112, in addition the first base plate 111 On be additionally provided with a circle rope via 102, the correspondent equal of mounting hole 101 on the quantity of rope via 102 and the first base plate 111.
Preferably, support 110 also includes line collecting plate 115, and relative second base plate 112 of line collecting plate 115 is located at the first base plate 111 Opposite side, it is and parallel with the first base plate 111, connected also by connecting pole between the base plate 111 of line collecting plate 115 and first, line concentration On plate 115 a circle collection string holes 103 is circumferentially with along it.The diameter of line collecting plate 115 is straight less than the first base plate 111 in the present embodiment Footpath.
Reference picture 4, shows the connection diagram of present invention control rope and assembly pulley.As illustrated, movable pulley 120 is solid Be scheduled on pulley base 131, control one end of rope 200 be connected with unshowned support, the other end bypass after movable pulley 120 and Unshowned mechanical arm connection, the double flexible of rope just can be realized by the motion of movable pulley 120.
Preferably, the present invention is additionally provided with fixed pulley and control rope is oriented to, specifically, including the first fixed pulley 140 With the second fixed pulley 150, with reference to Fig. 2, Fig. 3, the first fixed pulley 140 is fixed on the first base plate 111 by pulley base, and second determines Pulley 150 is fixed on line collecting plate 115 by pulley base, and control rope 200 is after movable pulley 120 is bypassed from the first base plate 111 On rope via 102 in pass, then pass around the first fixed pulley 140 successively and the second fixed pulley 150, finally from collect string holes Passed in 103.The present invention is oriented to by fixed pulley to control rope, it is to avoid wound between control rope, so that real Existing Precise control;Simultaneously as diameter of the diameter of line collecting plate 115 less than the first base plate 111, therefore can be in line collecting plate 115 Collecting for each control rope 200 is realized along the first base plate 111 to the direction of line collecting plate 115 between the first base plate 111, is easy to control Rope making rope 200 is docked with flexible mechanical arm 300.
Reference picture 5, shows the schematic perspective view of driving module one embodiment in wire drive of the present invention.As schemed It is shown, drive module 130 to include pulley base 131, motor 132, screw mandrel 133, feed screw nut 134, sliding block 135 and slide rail 136, its The engine that middle motor 132, screw mandrel 133, feed screw nut 134, sliding block 135 are moved with the composition driving pulley of slide rail 136 seat 131 Structure.Screw mandrel 133 is connected with the drive shaft of motor 132, and is threadedly coupled with feed screw nut 134, feed screw nut 134 and pulley base 131 fix, and are slided with respect to slide rail 136 by sliding block 135.
With reference to Fig. 2, Fig. 3, motor 132 is fixed on the second base plate 112, and slide rail 136 passes through the bottom of mounting hole 101 and first Plate 111, the second base plate 112 are fixed, movable pulley 120 between the first base plate 111 and the second base plate 112 axially movable.
In addition to above-mentioned motor-screw mandrel actuating unit, the present invention can also be using known any type of drive.
Reference picture 2, pulley base 131, actuating unit is corresponded with control rope 200, realizes the only of each control rope 200 Vertical control, and circumference along the first base plate 111, the second base plate 112 is uniformly distributed, and realizes effective utilization in space, further contracting The overall volume of small stuff drive device.
Reference picture 6, shows the schematic perspective view of the part-structure of flexible mechanical arm one embodiment of the present invention.As schemed Shown, flexible mechanical arm 300 includes some modularized joint 310 and the tumbler between adjacent modular joint, turns Moving part rotates connection with adjacent modularized joint 310 respectively, and center of rotation is mutually perpendicular to, so as to realize that adjacent modular is closed Along the rotation of four direction between section 310.
Specifically, tumbler includes the swivel becket 320 of rectangle, the two ends of modularized joint 310 are provided with hinged seat 311.Turn Horizontal pin hole 321 is equipped with four side walls of rotating ring 320, is mutually perpendicular between pin hole 321, adjacent modular joint 310 hinged seat 311 is mutually perpendicular to, and is rotatably connected on respectively on swivel becket 320 by pin 330 and pin hole 321.
Control rope 200 at least three, the fortune between any control rope 200 are connected with operational blocks which partition system joint 310 Dynamic is all independent, different control ropes so within the same time can be respectively at tighten up or diastole state so that Respective modules joint is pulled to be deflected towards different directions.Additionally, in order to ensure rotation of the joint on two axle center four directions The control of rope can be controlled, be had necessarily to the affixed position that rope 200 is controlled on same modularized joint in the present invention Limitation, that is, control rope to concentrate on certain side, and such modularized joint relative with the pulling of control rope could close on Modularized joint occur all directions on rotation.
Specifically, control rope 200 is fixed in the tail end of modularized joint 310, it is easy to exert a force joint.In the present invention In, the tail end of modularized joint 310 is defined as follows with head end:Along the length direction of mechanical arm, near the one of wire drive It is tail end to hold, and the one end away from wire drive is head end.
As the preferred embodiment of present invention control rope, control rope 200 on same modularized joint 310 at 3, And 120 ° of settings are spaced between adjacent control rope 200.As example, to meet the control in each joint of mechanical arm, tricing line The sum of rope 200 should be 3 times of modularized joint quantity, control rope 200 when by first group of modularized joint 310, its In 3 it is affixed with first group of modularized joint, remaining control rope through reaching second group of joint after the modularized joint, 3 control ropes are now separated again affixed with second group of modularized joint, remaining control rope moves on, by that analogy directly To last modularized joint is reached, being separately controlled for each modularized joint is so just realized.
Present invention additionally comprises there is mobile module, mobile module is used to drive wire drive to move, and then drives flexible Mechanical arm and the end effector on flexible mechanical arm are integrally moved, the working range of expanding machinery people, its In, the motion described in the present invention can be the motion on a direction(Such as along any one direction in X, Y, Z axis), it is also possible to It is the motion in both direction(Such as along any two direction in X, Y, Z axis), the motion on even three directions(Such as along X, Y, Z axis motion).
Used as the preferred embodiment of such scheme, reference picture 7 shows the vertical of the mobile module one embodiment of the present invention Body schematic diagram, mobile module 500 includes column 510, mobile platform 520, upright slide rail 530 and upright slide block 540.Rope drives Device 100 is fixed on mobile platform 520, and is slided with respect to slide rail 530 by upright slide block 540, so as to realize robot Vertical lifting.
Above is preferable implementation of the invention is illustrated, but the invention is not limited to the implementation Example, those of ordinary skill in the art can also make a variety of equivalent variations or replace on the premise of without prejudice to spirit of the invention Change, these equivalent deformations or replacement are all contained in the application claim limited range.

Claims (10)

1. it is a kind of based on rope drive flexible charging robot, it is characterised in that including some control ropes, rope drive Device, flexible mechanical arm and end effector, wherein, the control rope can be stretched under the driving of the wire drive Contracting, drives the flexible mechanical brachiocylloosis, and then drive the end effector installed in the flexible mechanical arm end to transport It is dynamic.
2. the flexible charging robot driven based on rope according to claim 1, it is characterised in that the rope drives Device includes support, the movable pulley and driving module of the correspondence control rope, the control rope as bearing structure One end fixed with the support, the other end is connected after bypassing the corresponding movable pulley with the mechanical arm, the driving mould Group drives each control cord retraction for driving each movable pulley to move.
3. it is according to claim 2 based on rope drive flexible charging robot, it is characterised in that the support includes First base plate and the line collecting plate being parallel to each other with first base plate, the control rope is along the circumferential equal of first base plate Even distribution, multiple collection string holes, the control rope are evenly distributed with the line collecting plate along its circumferentially corresponding described control rope Control end from it is corresponding it is described collection string holes in stretch out.
4. it is according to claim 3 based on rope drive flexible charging robot, it is characterised in that the line collecting plate Diameter less than first base plate diameter, between the line collecting plate and first base plate along first base plate to institute Realize collecting for each control rope in the direction for stating line collecting plate.
5. according to any one of claim 2 to 4 based on rope drive flexible charging robot, it is characterised in that The pulley base for driving module to include installing the movable pulley, and the actuating unit that the driving pulley base is moved, it is described Actuating unit includes motor, screw mandrel, feed screw nut, sliding block and slide rail, and the screw mandrel is connected with the drive shaft of the motor, and with Feed screw nut's threaded connection, the feed screw nut fixes with the pulley base, and by the relatively described slide rail of the sliding block Slide.
6. it is according to any one of claim 1 to 4 based on rope drive flexible charging robot, it is characterised in that The flexible mechanical arm includes some modularized joints and the tumbler between the adjacent modularized joint, described turn Moving part rotates connection with the adjacent modularized joint respectively, and center of rotation is mutually perpendicular to.
7. it is according to claim 6 based on rope drive flexible charging robot, it is characterised in that the tumbler bag Swivel becket is included, the two ends of the modularized joint are provided with hinged seat, and the swivel becket is provided with four orthogonal pin holes, The hinged seat of the adjacent modularized joint is mutually perpendicular to, and is rotatably connected on the swivel becket respectively by pin and pin hole On.
8. the flexible charging robot driven based on rope according to claim 1, it is characterised in that including mobile mould Group, the mobile module is used to drive the wire drive to move, and then drives the flexible mechanical arm and be arranged on End effector on the flexible mechanical arm is integrally moved.
9. it is according to claim 8 based on rope drive flexible charging robot, it is characterised in that the mobile module Including mobile platform, upright slide rail and upright slide block, the wire drive is fixed on the mobile platform, and by institute The relatively described slide rail of upright slide block is stated to slide.
10. it is according to claim 1 based on rope drive flexible charging robot, it is characterised in that hold the end Row device includes charging head, or charging head and camera set.
CN201710079369.XA 2017-02-14 2017-02-14 A kind of flexible charging robot driven based on rope Pending CN106737628A (en)

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CN107322583A (en) * 2017-08-30 2017-11-07 享奕自动化科技(上海)有限公司 A kind of snakelike arm
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CN107757409A (en) * 2017-10-31 2018-03-06 朱森 A kind of charging line control system for new-energy automobile
CN107795165A (en) * 2017-11-29 2018-03-13 深圳市中科利亨车库设备有限公司 A kind of multi-storied garage with mobile charging robot and stopping for charging method
CN107933339A (en) * 2017-10-31 2018-04-20 朱森 A kind of control method of charging line control system for new-energy automobile
CN108098744A (en) * 2017-12-26 2018-06-01 清华大学深圳研究生院 A kind of coordinate type mechanical arm
CN108263230A (en) * 2018-01-18 2018-07-10 上海电机学院 Charging system for electric automobile and electric vehicle stopping for charging method
CN108313151A (en) * 2018-01-16 2018-07-24 上海交通大学 A kind of software climbing robot turned
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CN108942958A (en) * 2018-07-13 2018-12-07 哈尔滨工业大学(深圳) A kind of mechanical arm carrying out pull force calculation
CN109094413A (en) * 2018-09-17 2018-12-28 享奕自动化科技(上海)有限公司 It is oriented to articulation mechanism and rope drives mechanical arm
CN109278034A (en) * 2018-10-24 2019-01-29 哈尔滨工业大学(深圳) A kind of rope drives flexible gripper and robot
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CN111230852A (en) * 2020-01-16 2020-06-05 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) Multi-arm manipulator and robot
CN111840853A (en) * 2020-06-30 2020-10-30 海尔优家智能科技(北京)有限公司 Lasso
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CN112008706A (en) * 2020-08-31 2020-12-01 哈尔滨工业大学(深圳) Lifting type rope-driven flexible charging robot
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Application publication date: 20170531