CN107030729A - A kind of apery elbow joint - Google Patents
A kind of apery elbow joint Download PDFInfo
- Publication number
- CN107030729A CN107030729A CN201710449728.6A CN201710449728A CN107030729A CN 107030729 A CN107030729 A CN 107030729A CN 201710449728 A CN201710449728 A CN 201710449728A CN 107030729 A CN107030729 A CN 107030729A
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- connecting rod
- elbow joint
- runner frame
- apery
- motor
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- 210000002310 elbow joint Anatomy 0.000 title claims abstract description 46
- 210000000245 forearm Anatomy 0.000 claims abstract description 22
- 235000014676 Phragmites communis Nutrition 0.000 claims description 2
- 238000010276 construction Methods 0.000 abstract description 3
- 238000009434 installation Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 229920003266 Leaf® Polymers 0.000 description 28
- 206010052904 Musculoskeletal stiffness Diseases 0.000 description 8
- 230000003993 interaction Effects 0.000 description 5
- 210000003205 muscle Anatomy 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 210000002027 skeletal muscle Anatomy 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004118 muscle contraction Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000006116 polymerization reaction Methods 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 241000894007 species Species 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
Classifications
-
- 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
- B25J17/0258—Two-dimensional joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to bio-robot joint technical field, and in particular to a kind of apery elbow joint, and it includes forearm, large arm and elbow joint runner assembly；One end of the forearm and large arm is connected together by central axle sleeve, and elbow joint runner assembly includes slide bar, spring leaf, runner frame, connecting rod, the first leading screw, the first motor；The two ends of slide bar are stuck in the resigning chute that forearm front end both sides are opened up, centre is fixedly connected with one end of spring leaf, the other end of spring leaf is fixedly connected on the surface of runner frame front end, in cavity of the runner frame located at forearm with large arm junction, the centre of runner frame by bearing holder (housing, cover) on center shaft, runner frame end connects one end of connecting rod, the other end of connecting rod is connected with sliding block, sliding block is fixed on the end of the first leading screw, first leading screw is fixedly connected with the first motor, and the first motor is fixed on the inside of the other end of large arm.The present invention is simple in construction, easy for installation, flexible, and small volume is lightweight, and production cost is substantially reduced, easy to use.
Description
Technical field
The present invention relates to bio-robot joint technical field, and in particular to a kind of apery elbow joint knot.
Background technology
With the development of robot technology, such as healing robot, Wearable robot, intelligent artificial limb, walking robot
Robot focusing on people is more and more, and physical man-machine interaction is also increased as, and human-computer interaction security and environment are adapted to
Property is also by more extensive concern.In order to meet, robot is high to control accuracy, response is fast, control simplification requirement, passes through electricity
Machine type of drive ensures the execution precision of robot end, by increasing robot application, still, and it also has Gao Gang
The characteristics of spending, and high rigidity characteristic is unfavorable for the requirement of human-computer interaction security.
In terms of sport biomechanics angle, muscle is the power resources of human motion system, and the power for passing through contraction of muscle
Amount maintenance or the execution of execution.Muscle has nonlinear variable-stiffness characteristic, can buffer certain collision, moreover it is possible to absorb and
Storage energy, if it is possible to use for reference human skeleton muscle system, joint of the design with bionic muscle characteristic just can be with
Improve the high rigidity characteristic of traditional robot, to improve the security and environmental suitability of man-machine interaction.
At present, it there is now the implementation of many imitation skeletal muscle, such as electroluminescent polymerization species artificial-muscle, shape memory are closed
Gold, Pneumatic artificial muscle, variation rigidity driver of flexible element etc., but the implementation of above-mentioned imitation skeletal muscle still without
Method simulates the characteristic of human joint completely, not only there is power output is big compared with small, weight, range of movement is small, rigidity is smaller etc.
Weak point, also there are complicated, and volume is big, assembles the defect such as cumbersome.
The content of the invention
(1) technical problem to be solved
In order to solve the above mentioned problem of prior art, the present invention provides a kind of apery elbow joint, its simple in construction, volume
It is small, easy to assembly, flexible, the joint with nonlinear variable-stiffness muscle property can be simulated, the peace of man-machine interaction is effectively improved
Full property and environmental suitability.
(2) technical scheme
In order to achieve the above object, the main technical schemes that the present invention is used include：
A kind of apery elbow joint, it includes forearm (1), large arm (11) and elbow joint runner assembly, the forearm (1) with it is big
One end of arm (11) is connected together by central shaft (9), the elbow joint runner assembly include slide bar (2), spring leaf (6),
Runner frame (7), connecting rod (15), the first leading screw (17), the first motor (18)；The two ends of the slide bar (2) are stuck in described small
In the resigning chute (5) that arm (1) front end both sides are opened up, centre is fixedly connected with one end of the spring leaf (6), the spring leaf
(6) the other end is fixedly connected on the surface of the runner frame (7) front end, and the runner frame (7) is located at the forearm
(1) with the cavity of the large arm (11) junction, the centre of the runner frame (7) is by bearing holder (housing, cover) in the central shaft (9)
On, runner frame (7) end connects one end of the connecting rod (15), and the other end of the connecting rod (15) is connected with sliding block
(16), the sliding block (16) is fixedly connected on the end of the first leading screw (17), and first leading screw (17) is fixedly connected with described
One motor (18), first motor (18) is fixed on the inside of the other end of the large arm (11).
It is used as a kind of preferred scheme of apery elbow joint as described above, in addition to stiffness variation executive module, the rigidity
Changing executive module includes moving sliding base (3), the second leading screw (20) and the second motor (10), the moving sliding base (3)
Centre is provided with least one pair of gag lever post (4), gap of the spring leaf (6) through the pair of gag lever post (4), the shifting
The two sides of dynamic slide (3) are equipped with raised (12), and the projection (12) is fastened on the side of the runner frame (7) front end two and opened
If slideway in；Second motor is fixed at the runner frame (7) end, and close to the central shaft (9) position
Set, second motor connects moving sliding base (3) by second leading screw (20).
As a kind of preferred scheme of apery elbow joint as described above, the spring leaf (6) is set to two, respectively described
The upper and lower both sides of runner frame (7) are symmetrical arranged, accordingly, and the upper and lower end of the moving sliding base (3) is respectively provided with two gag lever posts
(4), the slide bar (2) is set to two, and the resigning chute (5) offers two above and below same side.
As a kind of preferred scheme of apery elbow joint as described above, the projection (12) is equipped with two in one side.
As a kind of preferred scheme of apery elbow joint as described above, the projection (12) is set to square or cylinder.
As a kind of preferred scheme of apery elbow joint as described above, the large arm (11) the parallel arms of connection two it is interior
Parallel on wall to be provided with line slideway (14), the sliding block (16) is slidably fixed on the line slideway (14).
As a kind of preferred scheme of apery elbow joint as described above, the connecting rod (15) is returned with the runner frame (7)
Turn centerline offset of the center relative to the runner frame (7).
As a kind of preferred scheme of apery elbow joint as described above, the sliding block (16) connects with the connecting rod (15) hinge
Connect, the connecting rod (15) and the runner frame (7) hinge connection.
As a kind of preferred scheme of apery elbow joint as described above, the connecting rod (15) includes the U-shaped company of one synthesis
Fitting and connecting rod, the openend of the U-shaped connector are connected to the runner frame (7) end in which can rotate upwardly and downwardly, described U-shaped
Two brachiocylloosis of connector openend are set, sliding block (16) described in the connecting rod hinge connection.
As a kind of preferred scheme of apery elbow joint as described above, the openend of the U-shaped connector is in two madial walls
Clip-connecting rod is provided with, provided with the through hole being mutually adapted with the clip-connecting rod, the clamping on the runner frame (7) end both sides
Post passes through through hole, and bayonet lock is provided with the end of the clip-connecting rod.
As a kind of preferred scheme of apery elbow joint as described above, the large arm (11), the elbow of forearm (1) and human body are closed
Save size basically identical.
(3) beneficial effect
The beneficial effects of the invention are as follows：Compared with prior art, the apery elbow joint that provides of the present invention is not only functionally
The joint with nonlinear variable-stiffness muscle property can be simulated, and it is dimensionally consistent with the elbow joint of human body, maximally
Realize apery structure；The present invention uses spring leaf as stiffness tuning part, and spring leaf is used as force transmission member, its rigidity
It can be changed according to action length and changed, to meet the regulation of spring leaf action length, the present invention is coordinated by motor and leading screw
Use, and the action length of spring leaf just can easily be adjusted by the sliding of moving sliding base.
Present invention can be implemented in rigidity it is constant in the case of, only make articulation structure rotate, that is, meet permanent rigidity condition
The position adjustment of hypozygal structure；The present invention also may be implemented in the case that articulation structure do not rotate, and only change joint knot
The rigidity of structure, so as to meet the joint operation requirement under setting rigidity condition.Simple in construction, easy for installation, flexible, body of the invention
Product is small, and lightweight, production cost is substantially reduced, easy to use.
Brief description of the drawings
Fig. 1 is the structural representation of a preferred apery elbow joint of the invention；
Fig. 2 is to remove the structural representation at the runner frame of spring leaf；
Fig. 3 is the three-dimensional structural representation of the preferred apery elbow joint of the present invention；
Fig. 4 is the structural representation of moving sliding base；
Schematic diagram when Fig. 5 rotates for the preferred apery elbow joint of the present invention one.
【Description of reference numerals】
1：Forearm；
2：Slide bar；
3：Moving sliding base；
4：Gag lever post；
5：Resigning chute；
6：Spring leaf；
7：Runner frame；
8：Second motor support base；
9：Central shaft；
10：Second motor；
11：Large arm；
12：It is raised；
13：Bearing；
14：Line slideway；
15：Connecting rod；
16：Sliding block；
17：First leading screw；
18：First motor；
19：Slideway；
20：Second screw mandrel；
21：Gap.
Embodiment
In order to preferably explain the present invention, in order to understand, below in conjunction with the accompanying drawings, by embodiment, to this hair
It is bright to be described in detail.
Embodiment 1
As shown in figure 1, a kind of apery elbow joint, it includes forearm 1, large arm 11, elbow joint runner assembly, and forearm 1 can be set
For U-bracket, large arm 11 can be middle two parallel legs connected by upper surface portion, openend and the forearm 1 of large arm 11
Openend is socketed on central shaft 9 by bearing, leads to large arm 11 and central shaft 9 is perpendicular；Forearm 1 and central shaft 9 are perpendicular, small
The openend of arm 1 is enclosed between the parallel leg of large arm 11；Elbow joint runner assembly include slide bar 2, spring leaf 6, runner frame 7,
Connecting rod 15, the first leading screw 17, the first motor 18；The resigning chute 5 opened up on the front end two sides of forearm 1, the two of slide bar 2
End is stuck in resigning chute, and slide bar 2 can be slided in resigning chute, and one end of spring leaf 6, spring are fixedly connected with the middle of slide bar 2
The other end of piece 6 is fixedly connected on the surface of the front end of runner frame 7；Runner frame 7 is located at the sky between forearm 1 and large arm 11
Intracavitary, the centre of runner frame 7 offers groove on two sides, and groove is embedded to be cased with bearing 13, and the bearing 13 is enclosed on central shaft 9,
Runner frame 7 is fixed on central shaft 9, runner frame 7 can be rotated around central shaft 9；The end of runner frame 7 is fixedly connected with the one of connecting rod 15
End, the other end of connecting rod 15 is connected with sliding block 16, and sliding block 16 is fixed on the end of the first leading screw 17, and the first motor 18 is fixed
The first leading screw 17 is connected, the first motor 18 is fixedly mounted on the inside of the end of large arm 11.
Apery elbow joint is additionally provided with stiffness variation executive module, and it is in runner frame, the stiffness variation executive module
Elastic force for changing the spring leaf, and then change the rigidity of whole elbow joint structure.As shown in Fig. 2 stiffness variation is performed
Component includes moving sliding base 3, the second leading screw 20 and the second motor 10, and moving sliding base 3 is located at the front end of runner frame 7, and can
Slidably reciprocated in the front end of runner frame 7, the second motor 10 is fixed at the end of runner frame 7, moving sliding base 3 and second drives
Connected between dynamic motor 10 by the second leading screw 20.Specifically, provided with two gag lever posts 4 between two parallel-plates of moving sliding base 3,
Gap of the spring leaf 6 through two gag lever posts 4, the parallel-plate of the both sides of moving sliding base 3 is provided with projection, and the projection is fixed
In in the slideway 19 opened up on the side of 7 front end of runner frame two, projection can be set to square or cylinder；In the end of moving sliding base 3
The second motor cabinet 8 is provided with close to the position of central shaft 9, the second motor 10 is fixed in the second motor cabinet 8, second drives
Dynamic motor is spindle motor, is fixedly connected with the second leading screw, the second leading screw 20 is fixedly connected with moving sliding base 3.Second motor is transported
Turn drive the second leading screw 20 stretch, related moving sliding base 3 in slideway 19 forward, slide backward, such spring leaf 6 be located at it is spacing
Length between bar 4 and slide bar 2 can change therewith.
A sliding block 16 is provided with the junction of the first screw mandrel 17 and connecting rod 15, being used in large arm 11 connects two parallel branch
Line slideway 14 is fixed with the inside of arm upper surface, line slideway 14 is be arranged in parallel between two parties in large arm 11, and sliding block 16 is fixed
On line slideway 14, sliding block 16 can be slided along line slideway on line slideway.First screw mandrel 17 is fixedly connected with sliding block 16,
Sliding block 16 is connected by hinge with connecting rod 15.Sliding block play the guiding role, and makes screw rod transmission precision high.
Elbow joint is set to be rotated to a direction, the other end of connecting rod 15 is connected by hinge with runner frame 7, connecting rod 15 and chute
Centerline offset of the centre of gyration of frame 7 relative to runner frame 7, that is to say, that the centre of gyration and cunning of connecting rod 15 and runner frame 7
The center line of truss 7 is out-of-line to be set, and the centre of gyration of connecting rod 15 and sliding block 16 is set on the center line of runner frame 7
Put.
The use process of the present invention is as follows：
A. in the case where rigidity is constant, the apery elbow joint of the present invention is only made to rotate：
Start the first motor 18, drive the first motor leading screw 17 to rotate by the first motor 18, and then drive
Sliding block 16 is moved, and is rotated by the mobile drivening rod 15 of sliding block 16, and then drives runner frame 7 to rotate, now the second driving electricity
Machine 10 is rotated with runner frame 7, is deformed upon by the rotational band of runner frame 7 reed 6 of moving, now the position of gag lever post 4 is constant,
I.e. moving sliding base 3 is rotated without displacement by the deformation band moving slide-bar 2 of spring leaf 6, and then drives forearm 1 to rotate.
B. in the case where the articulation structure of the present invention does not rotate, the rigidity of articulation structure is changed：
Start the second motor 10, drive the second leading screw 20 to rotate by the second motor 10, and then drive movement
Slide 3 is moved, and is located at the length between gag lever post 4 and slide bar 2 by the mobile change spring leaf 6 of moving sliding base 3, due to positioned at
Spring leaf 6 between gag lever post 4 and slide bar 2 is that, for transmitting forces, and spring leaf 6 is in power transmittance process, its rigidity
Determined completely by its length, when moving sliding base 3 is moved to the direction of central shaft 9, the spring between gag lever post 4 and slide bar 2
The length of piece 6, its rigidity diminishes, conversely, when moving sliding base 3 is moved away from the direction of central shaft 9, positioned at gag lever post 4 with sliding
The length of spring leaf 6 between bar 2 shortens, and its rigidity becomes big.
Adjust through the above way after the corresponding length of spring leaf 6 between gag lever post 4 and slide bar 2, when forearm 1 by
When being forced to rotate articulation structure to external force, spring leaf 6 can be bent, and now slide bar 2 can be slided in resigning chute and realized
Servo-actuated, until the degree of crook of spring leaf 6 is stable, now, apery axis joint of the invention has fully met setting rigidity condition
Under joint operation requirement.
Embodiment 2
In order that the structure of apery elbow joint is more stablized, whole rigidity is more prone to control, on the basis of embodiment 1
On, spring leaf is set to two panels, as shown in figure 3, two spring leafs 6 are symmetrical arranged in the upper and lower both sides of runner frame 7, accordingly,
The correspondence of slide bar 2 is set to two, and two resigning chutes 5 are offered in forearm front end, meanwhile, the upper and lower end of moving sliding base 3 is respectively set
There are two gag lever posts 4, specifically as shown in figure 4, there is gap 21 at interval between two adjacent gag lever posts 4, spring leaf 6 passes through the seam
Gap, one end of spring leaf 6 is fixed in the middle of the slide bar 2 of opposite position, and the other end is fixed on close to the surface of the front end of runner frame 7
On；Two projections 12 are equipped with two sides of moving sliding base, projection 12 can be entrenched in the slideway 19 of the side of travelling carriage two setting
It is interior to slide, two projections are set to, structure is more stablized.
Connecting rod and sliding block hinge connection, as shown in figure 5, specific connecting rod 15 can be set to by the U-shaped connector integrally synthesized with
Connecting rod is constituted, and the openend of U-shaped connector is fixedly connected on the runner frame end, two support arms of U-shaped connector openend
Bending is set, and so U-shaped part can prevent from producing collision with the second leading screw stretched out from the second motor, while can increase
The anglec of rotation of forearm, by being provided inwardly with clip-connecting rod on two support arms of U-shaped connector, close to openend, at runner frame end
End two side is provided with the through hole being mutually adapted with clip-connecting rod, and clip-connecting rod passes through through hole, and bayonet lock is provided with the end of clip-connecting rod, will
U-shaped connector is stably fixed on runner frame, and will not be come off from runner frame；Connecting rod is fixedly connected with the sliding block.Sliding block
It is connected through the hinge with the connecting rod.
The apery elbow joint of the present invention can be used for being connected in robot using, and is directly connected by large arm with shoulder joint.
The above described is only a preferred embodiment of the present invention, being not the limitation that other forms are done to the present invention, appoint
What those skilled in the art changed or be modified as possibly also with the technology contents of the disclosure above equivalent variations etc.
Imitate embodiment.But it is every without departing from technical solution of the present invention content, the technical spirit according to the present invention is to above example institute
Any simple modification, equivalent variations and the remodeling made, still fall within the protection domain of technical solution of the present invention.
Claims (10)
1. a kind of apery elbow joint, it is characterised in that it includes forearm (1), large arm (11) and elbow joint runner assembly, described small
Arm (1) and one end of large arm (11) are connected together by central shaft (9), and the elbow joint runner assembly includes slide bar (2), bullet
Reed (6), runner frame (7), connecting rod (15), the first leading screw (17), the first motor (18)；The two ends card of the slide bar (2)
In the resigning chute (5) opened up in the forearm (1) front end both sides, centre is fixedly connected with one end of the spring leaf (6), described
The other end of spring leaf (6) is fixedly connected on the surface of the runner frame (7) front end, and the runner frame (7) is located at institute
In the cavity for stating forearm (1) and the large arm (11) junction, the centre of the runner frame (7) is by bearing holder (housing, cover) at the center
On axle (9), runner frame (7) end connects one end of the connecting rod (15), and the other end of the connecting rod (15) is connected with cunning
Block (16), the sliding block (16) is fixed on the end of first leading screw (17), and first leading screw is fixedly connected with described first
Motor (18), first motor (18) is fixed on the inside of the other end of the large arm (11).
2. apery elbow joint as claimed in claim 1, it is characterised in that also including stiffness variation executive module, the rigidity
Changing executive module includes moving sliding base (3), the second leading screw (20) and the second motor (10), the moving sliding base (3)
Centre is provided with gap (21) of at least one pair of gag lever post (4) described spring leaf (6) through the pair of gag lever post, described to move
The two sides of dynamic slide (3) are equipped with raised (12), and the projection (12) is fastened on the side of the runner frame (7) front end two and opened
If slideway (19) in；Second motor (10) is fixed at the end of the runner frame (7), and close to the center
Axle (9) is set, and second motor (10) connects the moving sliding base (3) by second leading screw (20).
3. apery elbow joint as claimed in claim 2, it is characterised in that the spring leaf (6) is set to two, respectively described
The upper and lower both sides of runner frame (7) are symmetrical arranged, accordingly, and the upper and lower end of the moving sliding base (3) is respectively provided with one group of gag lever post
(4), the slide bar (2) is set to two, and the resigning chute (5) offers two above and below same side.
4. apery elbow joint as claimed in claim 2, it is characterised in that the projection (12) is set to two in one side.
5. apery elbow joint as claimed in claim 2, it is characterised in that the projection (12) is set to square or cylinder.
6. apery elbow joint as claimed in claim 1, it is characterised in that the large arm (11) the parallel arms of connection two it is interior
Parallel on wall to be provided with line slideway (14), the sliding block (16) is slidably fixed on the line slideway (14).
7. apery elbow joint as claimed in claim 1, it is characterised in that the connecting rod (15) is returned with the runner frame (7)
Turn centerline offset of the center relative to the runner frame (7).
8. apery elbow joint as claimed in claim 1, it is characterised in that the sliding block (16) connects with the connecting rod (15) hinge
Connect, the connecting rod (15) and the runner frame (7) hinge connection.
9. the apery elbow joint as any one of claim 1-8, it is characterised in that the connecting rod (15) includes one and closed
Into U-shaped connector and connecting rod, the openend of the U-shaped connector is connected to the runner frame (7) end in which can rotate upwardly and downwardly
End, two brachiocylloosis of the U-shaped connector openend are set, sliding block (16) described in the connecting rod hinge connection.
10. apery elbow joint as claimed in claim 9, it is characterised in that the openend of the U-shaped connector is in two madial walls
Clip-connecting rod is provided with, provided with the through hole being mutually adapted with the clip-connecting rod, the clamping on the runner frame (7) end both sides
Post passes through through hole, and bayonet lock is provided with the end of the clip-connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710449728.6A CN107030729B (en) | 2017-06-14 | 2017-06-14 | A kind of apery elbow joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710449728.6A CN107030729B (en) | 2017-06-14 | 2017-06-14 | A kind of apery elbow joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107030729A true CN107030729A (en) | 2017-08-11 |
| CN107030729B CN107030729B (en) | 2019-11-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710449728.6A Expired - Fee Related CN107030729B (en) | 2017-06-14 | 2017-06-14 | A kind of apery elbow joint |
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| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110497393A (en) * | 2019-09-29 | 2019-11-26 | 中国科学技术大学 | A kind of upper limb exoskeleton robot |
| CN111938988A (en) * | 2020-07-17 | 2020-11-17 | 哈尔滨理工大学 | Wearable five-degree-of-freedom exoskeleton upper limb rehabilitation robot |
| CN114905541A (en) * | 2022-04-06 | 2022-08-16 | 重庆奔腾科技发展有限公司 | Variable rigidity robot joint |
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| CN101372096A (en) * | 2008-08-05 | 2009-02-25 | 东南大学 | Multiple-joint service robot arm capable of implementing translational decoupling at Z direction |
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| US20170020614A1 (en) * | 2015-07-22 | 2017-01-26 | Cambridge Medical Robotics Limited | Drive mechanisms for robot arms |
| CN105108771A (en) * | 2015-07-23 | 2015-12-02 | 东北大学 | Variable-stiffness robot joint structure |
| CN106426149A (en) * | 2016-11-05 | 2017-02-22 | 上海大学 | 2-DOF flexible mechanical arm based on antagonism type variable stiffness actuator |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110497393A (en) * | 2019-09-29 | 2019-11-26 | 中国科学技术大学 | A kind of upper limb exoskeleton robot |
| CN111938988A (en) * | 2020-07-17 | 2020-11-17 | 哈尔滨理工大学 | Wearable five-degree-of-freedom exoskeleton upper limb rehabilitation robot |
| CN114905541A (en) * | 2022-04-06 | 2022-08-16 | 重庆奔腾科技发展有限公司 | Variable rigidity robot joint |
| CN114905541B (en) * | 2022-04-06 | 2024-03-22 | 重庆奔腾科技发展有限公司 | Variable-rigidity robot joint |
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