CN106956289A - A kind of apery mechanical arm based under DC motor Driver - Google Patents
A kind of apery mechanical arm based under DC motor Driver Download PDFInfo
- Publication number
- CN106956289A CN106956289A CN201710173121.XA CN201710173121A CN106956289A CN 106956289 A CN106956289 A CN 106956289A CN 201710173121 A CN201710173121 A CN 201710173121A CN 106956289 A CN106956289 A CN 106956289A
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- Prior art keywords
- forearm
- ancon
- motor
- shoulder
- bevel gear
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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
- B25J18/00—Arms
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of design of the mechanism of apery mechanical arm based under DC motor Driver.Including shoulder joints component, ancon joint assembly and forearm joint assembly, two frees degree of wherein shoulder joints can solve the flexibility problem of anthropomorphic robot head movement, the cooperation that ancon joint passes through direct current generator and a pair of helical bevel gears, that extremely presses close to simulates the kinetic characteristic in mankind's ancon joint, small shoulder joint uses expansion set shaft coupling and angular contact ball bearing, under the cooperation of shaft coupling, in the case where providing the performance of the small shoulder joint rotary motion characteristic of anthropomorphic robot, the weight of forearm lower member is transferred on motor forearm electric rotating casing, solve the problem of motor shaft is not by axial direction and radial load.The mechanical arm has simple in construction, operates steadily, economical and practical, environmental protection, and space structure body is easy to the advantages of production is assembled close to human arm.
Description
Technical field
The invention belongs to anthropomorphic robot field, and in particular to a kind of apery mechanical arm based under DC motor Driver.
Background technology
The popular apery service robot mechanical arm of existing in the market has the less free degree mostly, and structure is more
It is huge, differ larger with human body mechanism size；This mechanism can effectively solve the freedom of apery service robot mechanical arm
The problem of degree is less, mechanism size is excessive, and overall structure is simple, low processing cost.
The content of the invention
The problem of in order to solve the free degree of apery service robot mechanical arm of the prior art less, the invention provides
A kind of apery mechanical arm based under DC motor Driver.The technical problem to be solved in the present invention is real by the following technical programs
It is existing：
A kind of apery mechanical arm based under DC motor Driver, including：Shoulder joints, ancon joint and small shoulder joint, it is described
Shoulder joints are connected by ancon joint with small shoulder joint；
The shoulder joints include：The small straight spur gear axle and small straight spur gear axle of power are provided by electric rotating machine
The big straight spur gear coordinated, the small spur bevel gear axle that is arranged on shoulder supporting part and with small spur bevel gear
The big spur bevel gear axle coordinated, the big straight spur gear is fixed on the outer wall of shoulder supporting part, the small straight-tooth
Conical gear the tip of the axis is connected with expansion set shaft coupling；
One end of the big spur bevel gear axle is axially and radially fixed branch to it by bevel gear wheel straddle type fixture
Support；The other end of the big spur bevel gear axle sequentially passes through electric with revolution after the inner chamber of shoulder supporting part, thoracic cavity fixture
Machine is connected, and the shoulder supporting part is fixedly connected with the shoulder supporting part；The turning motor is fixed on as the revolution electricity
Machine is provided in the turning motor fixed plate of support；The small straight spur gear the tip of the axis passes through positive coupling and electric rotating
Machine is connected, and the electric rotating machine is fixed on rotary mount；
The ancon joint includes the ancon motor being built in ancon motor casing, and ancon motor is fixed with expansion set shaft coupling to be connected
Connect, the output shaft of ancon motor is fixedly connected with the small helical bevel gear axle of ancon by expansion set shaft coupling, elbow joint top connects
One end of fitting is fixedly connected with ancon motor casing, and the other end of elbow joint upper attachment is connected with elbow joint middleware, elbow
One end of portion's central shaft pass through elbow joint upper attachment after be connected with big helical bevel gear, the other end of ancon central shaft and
Ancon bearing retainer is connected, and a deep groove ball bearing is fixed by ancon central shaft and circlip inside elbow joint middleware,
Be fixedly connected with bevel gear wheel on the right side of ancon central shaft, on the left of ancon central shaft and circlip fix a deep groove ball bearing in
In ancon bearing retainer；
The small shoulder joint includes the forearm electric rotating machine being fixed in forearm electric rotating casing, the forearm electric rotating casing
Top is connected with ancon bearing retainer, and the lower end of the forearm electric rotating casing is provided with forearm supporting part, the forearm rotation
The top of motor casing is also connected with a bevel gear wheel connector, and forearm electric rotating machine is fixed with forearm spin motor shaft shaft coupling to be connected
Connect, the end of forearm spin motor shaft shaft coupling is fixedly connected with forearm expansion set shaft coupling, the end of forearm expansion set shaft coupling with
Palm connector is fixedly connected, and forearm supporting part is flexibly connected with forearm spin motor shaft shaft coupling.
A kind of above-mentioned apery mechanical arm based under DC motor Driver, the big straight spur gear passes through deep-groove ball
Bearing is fixed on the outer wall of shoulder supporting part, and circlip is provided with inside the deep groove ball bearing.
A kind of above-mentioned apery mechanical arm based under DC motor Driver, shoulder joints are joined with ancon joint by expansion set
Axle device is interference fitted, and ancon motor rear cover is connected with small straight bevel gear axle.
A kind of above-mentioned apery mechanical arm based under DC motor Driver, palm connector passes through forearm expansion set shaft coupling
It is connected with forearm rotating machine coupling, by the weight of palm connector from being transferred to forearm rotating machine coupling；Forearm rotates
The deep groove ball bearing coordinated with forearm rotating machine coupling, the depth are provided between the endoporus of motor coupler and forearm supporting part
Ditch ball bearing by the force of gravity in forearm rotating machine coupling to forearm bearing supporting part, forearm bearing supporting part with it is small
Arm electric rotating casing is connected, and the forearm bearing supporting part is by weight transfer to forearm electric rotating casing.
Beneficial effects of the present invention：
Effective collocation between Bionic Design of the invention by structure, interstructural reasonable connection and cooperation, actuating unit, success
Realize the exercise performance of the larger range of movement of anthropomorphic robot mechanical arm, this is scientific and reasonable for structure, perfect in shape and function, institutional
Can be stable, it is easy to scheduling and planning.
The present invention is described in further details below with reference to drawings and Examples.
Brief description of the drawings
Fig. 1 is overall structure figure of the invention.
Fig. 2 is shoulder structure figure of the invention.
Fig. 3 is ancon of the invention and forearm structure figure.
Embodiment
Reach technological means and effect that predetermined purpose is taken for the present invention is expanded on further, below in conjunction with accompanying drawing and reality
Embodiment, architectural feature and its effect of example to the present invention are applied, is described in detail as follows.
The problem of the present embodiment will be solved is to provide a kind of mechanical arm configuration of apery based under DC motor Driver, with biography
System anthropomorphic robot mechanical arm mechanism is compared, and the mechanism has simple in construction, and size dimension operates steadily close to human dimension,
Perfect in shape and function, structural behaviour is stable, the advantages of being easy to equipment adjustment.Reference picture 1, Fig. 2 and Fig. 3, the technology that the present embodiment is used
Scheme is：
A kind of apery mechanical arm based under DC motor Driver, including：
One shoulder joints, shoulder joints include a pair of straight spur gears 1 and 46, and small straight spur gear 46 is with the shape of gear shaft
Formula is presented, and small straight spur gear 46 fixed with cantilevered fixed form, fixed support end first by deep groove ball bearing and
The shaft shoulder, the cooperation of circlip is axially and radially fixed to gear shaft, and the end of gear passes through positive coupling 15 and rotation
Rotating motor 14 is fixedly connected, and electric rotating machine 14 is fixed by the cooperation of rotary mount 16 and screw, big straight tooth column tooth
Wheel 1 is fixed with shoulder supporting part 6 by screw to the left, inside big straight spur gear 1, passes through circlip, the shaft shoulder
Deep groove ball bearing is fixed.Big spur bevel gear 1 is presented in gear shaft form, and big spur bevel gear 47 uses straddle type
Fixed form is fixed, in the left side of big spur bevel gear, is provided with structure endoporus, and deep groove ball bearing is fixed in endoporus, deep
Ditch ball passes on left corresponding circlip and fixed, and the axle of bevel gear wheel straddle type fixture 45, interior stretches and the endoporus of bevel gear wheel 47
Big spur bevel gear 47 is axially and radially fixed by the shaft shoulder and worn in support, the other end of big spur bevel gear 47
In, again by deep groove ball bearing, circlip is fixed in thoracic cavity fixture 10, in big straight bevel after the big endoporus of roller gear 1
The end of gear 47 is fixedly connected by screw with ring flange 18, and turning motor 17 is directly fixedly connected with ring flange 18, revolution
Motor 17 is fixedly connected with turning motor fixed plate 19 by screw, turning motor is fixed support.Small straight tooth column tooth
Wheel 46 is also presented in the form of gear shaft, solid by circlip inside the small middle part of spur bevel gear 2, shoulder supporting part 4
A fixed angular contact ball bearing, small spur bevel gear 2 is by shaft shoulder in the vertical direction by gravity unloading in angular contact ball bearing
Inner ring surface on, shoulder supporting part 4 is fixedly connected by bolt with shoulder supporting part 6.The small end of straight bevel gear 2 and Z11 types
Expansion set shaft coupling 37 is connected；
One ancon joint, ancon joint, including an ancon motor 21, ancon motor 21 is built in ancon motor casing 7, in ancon
The head end of motor 21 is fixed by sunk screw with ancon motor casing 7, is fixed in end by screw with ancon motor rear cover 38,
Ancon motor casing 7 coordinates the axial direction of limitation ancon motor with ancon motor rear cover 38 jointly, moves radially, ancon motor rear cover 38
Pass through tight fit connection, output shaft and the small helical teeth circular cone tooth of ancon of ancon motor 21 with the expansion set shaft coupling 37 in shoulder joints
Wheel shaft 20 is connected by Z11 type expansion sets shaft coupling 22, and big helical bevel gear 48 passes through screw and bevel gear wheel connector
32 are fixed, and elbow joint upper attachment 23 is connected by screw with ancon motor casing 7, in elbow joint upper attachment 23
Lower end is connected by screw with elbow joint middleware 24, is kept off inside elbow joint middleware 24 by ancon central shaft 26, elasticity
Enclose, fix a deep groove ball bearing, the right side of ancon central shaft 26 is fixedly connected by screw with bevel gear wheel 48, and left side is kept off with elasticity
Circle fixes a deep groove ball bearing in ancon bearing retainer 31;
One small shoulder joint, including forearm electric rotating machine 34, forearm electric rotating machine 34 are fixed in forearm electric rotating casing 33, forearm
The top of electric rotating casing 33 by screw respectively with ancon bearing retainer 31, bevel gear wheel connector 32 is fixedly connected, forearm
The output shaft of electric rotating machine 34 is fixed with forearm spin motor shaft shaft coupling 39 by jackscrew, and the end of shaft coupling 39 joins with forearm expansion set
Axle device 42 is fixedly connected, and the end of forearm expansion set shaft coupling 42 is fixedly connected by tight fit with palm connector 43 again, and forearm is held
Heavy mail 41 is coordinated by endoporus and forearm electric rotating machine output shaft coupler 39 fixes a deep groove ball bearing, the end of forearm supporting part 41
End is fixedly connected with forearm electric rotating casing 33 by screw.
Whole mechanical arm is under the cooperation from roller gear of four direct current generators and bevel gear and each component is different
Connected mode and cooperation realize two frees degree of shoulder, and ancon one degree of freedom, forearm one degree of freedom is straight by four
Flow motor and kinetic energy is provided, the engagement of two pairs of bevel gears and a pair of roller gears coordinates transmission, makes this mechanical arm in less structure
Design space is issued to more space scope, completes the required locomitivity of apery service robot.
One shoulder joints, shoulder joints include a pair of straight spur gears, and small straight spur gear is in the form of gear shaft
Present, small straight spur gear is fixed with cantilevered fixed form, in fixed support end first by deep groove ball bearing and the shaft shoulder,
The cooperation of circlip is axially and radially fixed to gear shaft, and the end of gear is consolidated by positive coupling and electric rotating machine
Fixed connection, electric rotating machine is fixed by the cooperation of rotary mount and screw, big straight spur gear to the left with shoulder
Wing supporting part is fixed by screw, inside big straight spur gear, and by circlip, the shaft shoulder is consolidated to deep groove ball bearing
It is fixed.Big spur bevel gear is presented in gear shaft form, is fixed in big spur bevel gear using straddle type fixed form, big straight
The left side of tooth conical gear, is provided with structure endoporus, and deep groove ball bearing is fixed in endoporus, and deep-groove ball passes on left corresponding bullet
Property back-up ring fix, stretched in the axle of bevel gear wheel straddle type fixture with bevel gear wheel endoporus, by the shaft shoulder to conical gear carry out axle
To and radially fixed support, wear in the other end of large bevel gear shaft after big roller gear endoporus again by deep groove ball bearing, elasticity
Back-up ring is fixed in the fixture of thoracic cavity, is fixedly connected in gear the tip of the axis by screw with ring flange, turning motor directly with
Ring flange is fixedly connected, and turning motor is fixedly connected with turning motor fixed plate by screw, turning motor is fixed branch
Support.Small straight spur gear is also presented in the form of gear shaft, in the middle part of small spur bevel gear axle, logical inside shoulder supporting part
Cross circlip and fix an angular contact ball bearing, small spur bevel gear axle by shaft shoulder in the vertical direction by gravity unloading in
On the inner ring surface of angular contact ball bearing, shoulder supporting part is fixedly connected by bolt with shoulder supporting part.Small straight bevel gear axle
End is connected with Z11 type expansion set shaft couplings；
One ancon joint, ancon joint includes an ancon motor, and ancon electric machine built-in is in ancon motor casing, in ancon motor
Head end is fixed by sunk screw with ancon motor casing, is fixed in end by screw with ancon motor rear cover, ancon motor casing
Coordinate the axial direction of limitation ancon motor jointly with ancon motor rear cover, move radially, in ancon motor rear cover and shoulder joints
Expansion set shaft coupling passes through Z11 type expansion set shaft couplings by tight fit connection, ancon motor shaft with the small helical bevel gear axle of ancon
It is connected, big helical bevel gear is fixed by screw with bevel gear wheel connector, elbow joint upper attachment passes through screw
It is connected, is connected in the lower end of elbow joint upper attachment by screw with elbow joint middleware, in axle with ancon motor casing
Inside the middleware of joint, by ancon central shaft, circlip, which is fixed on the right side of a deep groove ball bearing, ancon central shaft, passes through screw
It is fixedly connected with bevel gear wheel, a deep groove ball bearing is fixed in ancon bearing retainer in left side with circlip;
One small shoulder joint, including forearm electric rotating machine, forearm electric rotating machine are fixed in forearm motor casing, forearm electric rotating casing
Top is by screw respectively at ancon bearing retainer, and bevel gear wheel connector is fixedly connected, forearm spin motor shaft and forearm
Rotating machine coupling is fixed by jackscrew, and shaft coupling end is fixedly connected with forearm expansion set shaft coupling, forearm expansion set shaft coupling
End is fixedly connected by tight fit with palm connector again, and forearm supporting part is joined by endoporus and forearm electric rotating machine output shaft
Axle device, which coordinates, fixes a deep groove ball bearing, and forearm supporting part end is fixedly connected with forearm electric rotating casing by screw.
In some embodiments, wherein shoulder large conical gear is built in big straight spur gear, and turning motor leads to
Ring flange direct drive large conical gear rotation is crossed, small conical gear is engaged, electric rotating machine is directly driven small straight by shaft coupling
Tooth roller gear is engaged with big straight spur gear.
In some embodiments, wherein：The zanjon that the rotary motion of shoulder joints passes through inside configuration with gyration
The cooperation of ball bearing, is that rotary motion has separate forms of motion with gyration.
In some embodiments, wherein：Shoulder joints use expansion set shaft coupling with the excessive coupling part that ancon shuts down,
By tight fit, ancon motor rear cover is set to be connected with small straight bevel gear axle.
In some embodiments, wherein：The weight of palm connector is delivered to forearm by forearm expansion set shaft coupling and revolved
On rotating motor shaft coupling, forearm rotating machine coupling is further through matched deep groove ball bearing by force of gravity to small arm axle
Hold on supporting part, and forearm bearing supporting part is by weight transfer to forearm electric rotating casing.
By above-mentioned technical proposal, the beneficial effect of the present embodiment is：
The different connected mode of each component of the present embodiment and cooperation realize two frees degree of shoulder, one freedom of ancon
Degree, forearm one degree of freedom provides kinetic energy by four direct current generators, and the engagement of two pairs of bevel gears and a pair of roller gears coordinates
Transmission, makes this mechanical arm be issued to more space scope in less structure design space, completes apery service-delivery machine
The required locomitivity of people.
Present embodiment discloses a kind of design of the mechanism of apery mechanical arm based under DC motor Driver.Closed including shoulder
Component, ancon joint assembly and forearm joint assembly are saved, wherein the two of the shoulder joints free degree can solve anthropomorphic robot
The flexibility problem of head movement, ancon joint is extremely pressed close to by the cooperation of direct current generator and a pair of helical bevel gears
Simulate the kinetic characteristic in mankind's ancon joint, small shoulder joint is matched somebody with somebody using expansion set shaft coupling and angular contact ball bearing, shaft coupling
Under conjunction, in the case where providing the performance of the small shoulder joint rotary motion characteristic of anthropomorphic robot, the weight of forearm lower member is transferred to
On motor forearm electric rotating casing, the problem of motor shaft is not by axial direction and radial load is solved.The mechanical arm has structure letter
It is single, operate steadily, economical and practical, environmental protection, space structure body is easy to the advantages of production is assembled close to human arm.
The present embodiment has perfect in shape and function in place, and mechanism is simple, and purpose is strong, stable movement, and mechanism performance is stable, is easy to
The advantages of equipment adjustment.
The present embodiment is by the Bionic Design of structure, interstructural reasonable connection and cooperation, effectively taking between actuating unit
Match somebody with somebody, successfully realize the exercise performance of the larger range of movement of anthropomorphic robot mechanical arm, this is scientific and reasonable for structure, and function is complete
Kind, mechanism performance is stable, is easy to scheduling and planning.
The different connected mode of each component of the present embodiment and cooperation realize two frees degree of shoulder, and ancon one is certainly
By spending, forearm one degree of freedom provides kinetic energy by four direct current generators, and the engagement of two pairs of bevel gears and a pair of roller gears is matched somebody with somebody
Transmission is closed, this mechanical arm is issued to more space scope in less structure design space, completes apery server
The required locomitivity of device people.Also, the present embodiment has perfect in shape and function in place, mechanism is simple, and purpose is strong, and motion is flat
Surely, mechanism performance is stable, the advantages of being easy to equipment adjustment.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert
The specific implementation of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of not departing from present inventive concept, some simple deduction or replace can also be made, should all be considered as belonging to the present invention's
Protection domain.
Claims (4)
1. a kind of apery mechanical arm based under DC motor Driver, it is characterised in that including：Shoulder joints, ancon joint and
Small shoulder joint, the shoulder joints are connected by ancon joint with small shoulder joint；
The shoulder joints include：The small straight spur gear axle and small straight spur gear axle of power are provided by electric rotating machine
The big straight spur gear coordinated, the small spur bevel gear axle that is arranged on shoulder supporting part and with small spur bevel gear
The big spur bevel gear axle coordinated, the big straight spur gear is fixed on the outer wall of shoulder supporting part, the small straight-tooth
Conical gear the tip of the axis is connected with expansion set shaft coupling；
One end of the big spur bevel gear axle is axially and radially fixed branch to it by bevel gear wheel straddle type fixture
Support；The other end of the big spur bevel gear axle sequentially passes through electric with revolution after the inner chamber of shoulder supporting part, thoracic cavity fixture
Machine is connected, and the shoulder supporting part is fixedly connected with the shoulder supporting part；The turning motor is fixed on as the revolution electricity
Machine is provided in the turning motor fixed plate of support；The small straight spur gear the tip of the axis passes through positive coupling and electric rotating
Machine is connected, and the electric rotating machine is fixed on rotary mount；
The ancon joint includes the ancon motor being built in ancon motor casing, and ancon motor is fixed with expansion set shaft coupling to be connected
Connect, the output shaft of ancon motor is fixedly connected with the small helical bevel gear axle of ancon by expansion set shaft coupling, elbow joint top connects
One end of fitting is fixedly connected with ancon motor casing, and the other end of elbow joint upper attachment is connected with elbow joint middleware, elbow
One end of portion's central shaft pass through elbow joint upper attachment after be connected with big helical bevel gear, the other end of ancon central shaft and
Ancon bearing retainer is connected, and a deep groove ball bearing is fixed by ancon central shaft and circlip inside elbow joint middleware,
Be fixedly connected with bevel gear wheel on the right side of ancon central shaft, on the left of ancon central shaft and circlip fix a deep groove ball bearing in
In ancon bearing retainer；
The small shoulder joint includes the forearm electric rotating machine being fixed in forearm electric rotating casing, the forearm electric rotating casing
Top is connected with ancon bearing retainer, and the lower end of the forearm electric rotating casing is provided with forearm supporting part, the forearm rotation
The top of motor casing is also connected with a bevel gear wheel connector, and forearm electric rotating machine is fixed with forearm spin motor shaft shaft coupling to be connected
Connect, the end of forearm spin motor shaft shaft coupling is fixedly connected with forearm expansion set shaft coupling, the end of forearm expansion set shaft coupling with
Palm connector is fixedly connected, and forearm supporting part is flexibly connected with forearm spin motor shaft shaft coupling.
2. as claimed in claim 1 based on the apery mechanical arm under DC motor Driver, it is characterised in that the big straight-tooth
Roller gear is fixed on by deep groove ball bearing on the outer wall of shoulder supporting part, provided with elasticity gear inside the deep groove ball bearing
Circle.
3. as claimed in claim 1 based on the apery mechanical arm under DC motor Driver, it is characterised in that shoulder joints and elbow
Portion joint is interference fitted by expansion set shaft coupling, ancon motor rear cover is connected with small straight bevel gear axle.
4. as claimed in claim 1 based on the apery mechanical arm under DC motor Driver, it is characterised in that palm connector leads to
Cross forearm expansion set shaft coupling to be connected with forearm rotating machine coupling, by the weight of palm connector from being transferred to forearm electric rotating machine
Shaft coupling；It is provided with what is coordinated with forearm rotating machine coupling between the endoporus of forearm rotating machine coupling and forearm supporting part
Deep groove ball bearing, the deep groove ball bearing is small by the force of gravity in forearm rotating machine coupling to forearm bearing supporting part
Arm axle holds supporting part and is connected with forearm electric rotating casing, and the forearm bearing supporting part is by weight transfer to forearm electric rotating casing
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710173121.XA CN106956289A (en) | 2017-03-22 | 2017-03-22 | A kind of apery mechanical arm based under DC motor Driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710173121.XA CN106956289A (en) | 2017-03-22 | 2017-03-22 | A kind of apery mechanical arm based under DC motor Driver |
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| CN106956289A true CN106956289A (en) | 2017-07-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710173121.XA Pending CN106956289A (en) | 2017-03-22 | 2017-03-22 | A kind of apery mechanical arm based under DC motor Driver |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107718043A (en) * | 2017-10-31 | 2018-02-23 | 东莞市太行机电科技有限公司 | A kind of desktop type industrial robot |
| CN108766128A (en) * | 2018-07-05 | 2018-11-06 | 浙江理工大学 | Rotary hemispherical formula braille point shows structure |
| CN110067421A (en) * | 2019-05-08 | 2019-07-30 | 长春理工大学 | A kind of lateral parking device using greenery patches overhead |
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| CN106217357A (en) * | 2016-08-26 | 2016-12-14 | 北京工业大学 | Six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror and robot |
| CN206598286U (en) * | 2017-03-22 | 2017-10-31 | 陕西科技大学 | A kind of motion of robot four-degree-of-freedom mechanical arm |
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2017
- 2017-03-22 CN CN201710173121.XA patent/CN106956289A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217357A (en) * | 2016-08-26 | 2016-12-14 | 北京工业大学 | Six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror and robot |
| CN206598286U (en) * | 2017-03-22 | 2017-10-31 | 陕西科技大学 | A kind of motion of robot four-degree-of-freedom mechanical arm |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107718043A (en) * | 2017-10-31 | 2018-02-23 | 东莞市太行机电科技有限公司 | A kind of desktop type industrial robot |
| CN108766128A (en) * | 2018-07-05 | 2018-11-06 | 浙江理工大学 | Rotary hemispherical formula braille point shows structure |
| CN110067421A (en) * | 2019-05-08 | 2019-07-30 | 长春理工大学 | A kind of lateral parking device using greenery patches overhead |
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Application publication date: 20170718 |
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