CN107486849A - A kind of snakelike arm - Google Patents
A kind of snakelike arm Download PDFInfo
- Publication number
- CN107486849A CN107486849A CN201710761315.1A CN201710761315A CN107486849A CN 107486849 A CN107486849 A CN 107486849A CN 201710761315 A CN201710761315 A CN 201710761315A CN 107486849 A CN107486849 A CN 107486849A
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- CN
- China
- Prior art keywords
- connecting rod
- hole
- cross axis
- axis joint
- drag
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of snakelike arm,Including arm body,Arm body is formed by multiple connecting rods concatenation,Connected between adjacent links by cross axle joint motion,The upper surface of each connecting rod is provided with a pair of the first yokes with the pivot joint of cross axis joint one of which pivot in addition to top links,The lower surface of each connecting rod is provided with a pair of the second yokes being pivotally connected with another group of pivot of cross axis joint in addition to bottom linkage rod,It is in 90+ ɑ degree between first yoke in same small end face and the second yoke of lower surface,Wherein ɑ is acute angle,Connecting rod is provided around yoke and penetrated thereon,One circle first through hole of lower surface,Two groups of pivots of each cross axis joint by four drag-lines sequentially pass through below on each connecting rod corresponding to a first through hole be connected to corresponding to a driver element,Drawing by driver element to drag-line,Control the rotation of cross axis joint,To control the multi-dimensional movement of snakelike arm,Realize the operational capacity of high flexibility.
Description
Technical field
The present invention relates to electric automobile automatic charging technical field, and it is automatic to be used for electric automobile more particularly, to one kind
The Snakelike mechanical arm of charging robot technical equipment.
Background technology
Developed into as electric automobile is in the popularization of international and national, while with the big step of electric automobile timesharing charter business
Background, human-based management problem existing for electric automobile timesharing lease also highlight, especially the charging modes of electric automobile.
At present, traditional charging modes set electric automobile charging pile, charging using charging station or in city different zones
Process is completely dependent on manual operation, and automaticity is low, even more so particularly with the electric automobile of timesharing lease.
Electric automobile automatic charging and unmanned full automatic working are realized, the management cost of charging station can be greatly lowered,
The car experience and processing safety of timesharing lease are greatly enhanced, is charged for electric car and provides great convenience to lessee and car owner
Condition.Also, electric automobile automatic charging can be combined with other automation installations, such as automatic parking, automated cleaning etc., shape
Into perfect electric automobile automation services system, fully realize intelligent.
In order to realize the automatic charging of electric automobile, mechanical arm can be used as electric automobile automatic charging machine people's technology
Equipment carries out plugging between charging cable and electric automobile.However, in the prior art, traditional industrial machinery arm is limited to just
Degree and size limitation, its free degree is limited, and adaptive capacity to environment is poor, and therefore, it is difficult to be competent at the automatic charging mistake of electric automobile
Journey.
The content of the invention
It is an object of the invention to overcome drawbacks described above existing for prior art, there is provided one kind is filled automatically for electric automobile
The snakelike arm of electric machine people's technical equipment, realizes electric automobile automatic charging and unmanned full automatic working.
To achieve the above object, technical scheme is as follows：
A kind of snakelike arm, including：
Arm body, formed, connected between adjacent links by cross axle joint motion, except top links by multiple connecting rods concatenation
The upper surface of outer each connecting rod is provided with a pair of the first yokes being pivotally connected with cross axis joint one of which pivot, in addition to bottom linkage rod
The lower surface of each connecting rod is provided with a pair of the second yokes being pivotally connected with another group of pivot of cross axis joint, same small end
It is in 90+ ɑ degree between first yoke in face and the second yoke of lower surface, wherein ɑ is acute angle；The connecting rod is provided around yoke simultaneously
Insertion thereon, lower surface one circle first through hole；Wherein, two groups of pivots of each cross axis joint are worn successively by four drag-lines
Cross below on each connecting rod corresponding to a first through hole be connected to corresponding to a driver element, by driver element to drag-line
Drawing, control cross axis joint rotation, to control the multi-dimensional movement of snakelike arm.
Preferably, in addition to support base, it passes through a connecting rod lower surface in base deck front and arm body bottom
Connection, the base deck are provided with corresponding with first through hole one the second through hole of circle, and the base deck back side is around connecting rod center
Axle is provided with multiple driver elements, and two groups of pivots of each cross axis joint are sequentially passed through below on each connecting rod by four drag-lines
Second through hole corresponding in a corresponding first through hole and base deck is connected to a corresponding driver element and respectively drawn
It is arranged in parallel between rope.
Preferably, it is arranged in parallel between each drag-line.
Preferably, the quantity of the first through hole is 4 times of connecting rod quantity, and the angular values of the ɑ are 360 ° and first
The ratio between number of openings.
Preferably, the center of connecting rod and the cross axis joint is provided with third through-hole, and the center of the base deck is provided with
Fourth hole corresponding with third through-hole, for passing through cable.
Preferably, first sensor is housed on the outside of the entry of the yoke, for detecting the anglec of rotation of cross axis joint.
Preferably, be also equipped with second sensor on the yoke, for detect the relative position between adjacent links with
And the relative position relation between the relative upper and lower end face of adjacent links.
Preferably, each driver element includes motor, leading screw and sliding block, and the lower section of the base deck is provided with base bottom
Plate, bearing hole is provided with the base deck and base plate, bearing block is installed, the silk, which is shouldered, to be installed in the bearing hole
In bearing block on base deck and base plate, the motor is installed on the outside of base plate, and passes through shaft coupling and silk
Thick stick connects；Leading screw is driven to rotate by motor, the sliding block for making to be arranged on leading screw is run along leading screw, and is pulled and be fixed on sliding block
On drag-line.
Preferably, the drag-line is connected to the pivot shaft end of cross axis joint.
Preferably, it is attached between the upper and lower end face of the connecting rod by the circle column around connecting rod central shaft.
The advantage of the invention is that：The snakelike arm of the present invention can have high flexibility operational capacity, can realize electronic vapour
The hommization of car charging service, facilitation, intellectuality；Compared to snakelike arm configuration of the prior art, the present invention is by each
Increase a deflection angle ɑ between two pairs of yokes of the upper and lower end face of connecting rod to optimize the arrangement of drag-line, ensure that all drag-lines exist
While corresponding with the cross axis joint pivot that it is pulled, it can be arranged with keeping parallelism, effectively prevent the generation of winding；
Meanwhile the sensor by being installed on yoke, it can detect the relative position between the anglec of rotation of cross axis joint, adjacent links
Put and upper and lower end face that adjacent links are relative between relative position relation, so as to accurately know the motion of snakelike arm
Situation.
Brief description of the drawings
Fig. 1 is a kind of snakelike arm configuration schematic diagram of a preferred embodiment of the present invention；
Fig. 2 is a kind of snakelike arm arm body structural representation of a preferred embodiment of the present invention；
Fig. 3 is a kind of snakelike arm arm body bar linkage structure schematic diagram of a preferred embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawings, the embodiment of the present invention is described in further detail.
It should be noted that in following embodiments, when embodiments of the present invention are described in detail, in order to clear
Ground represents the structure of the present invention in order to illustrate, special that structure in accompanying drawing is not drawn according to general proportion, and has carried out part
Amplification, deformation and simplified processing, therefore, should avoid being understood in this, as limitation of the invention.
In embodiment of the invention below, Fig. 1-Fig. 3 is referred to, wherein Fig. 1 is that the present invention one is preferably implemented
A kind of snakelike arm configuration schematic diagram of example, Fig. 2 is a kind of snakelike arm arm body structural representation of a preferred embodiment of the present invention, figure
3 be a kind of snakelike arm arm body bar linkage structure schematic diagram of a preferred embodiment of the present invention；It is illustrated as the horizontal form of snakelike arm.Such as
Shown in Fig. 1, a kind of snakelike arm of the invention, it may include connected snakelike arm arm body 1 and the main composition portion of support base 2 two
Point.Arm body 1 is concatenated by multiple connecting rods 11 and formed；The quantity of connecting rod for example can be 3 to 10 between.Each two adjacent links
Between be flexibly connected by a cross axis joint；Each cross axis joint carries out rotation control by four drag-lines.Arm
Body 1 is linked together by a connecting rod of its bottom with support base 2.Driver element is provided with support base, is used for
Actuating arm body carries out multi-dimensional movement.
Refer to Fig. 2 and Fig. 3.It is flexibly connected between each two adjacent links 11 by a cross axis joint 12；
Each cross axis joint 12 has two groups of orthogonal pivots.In addition to a connecting rod at the top of arm body, each connecting rod 11 it is upper
End face 111 is provided with a pair of the first yokes 113 being pivotally connected with the one of which pivot of cross axis joint 12, and removes and be located at arm body bottom
A connecting rod outside, the lower surface 112 of each connecting rod 11 is provided with a pair and another group of pivot of cross axis joint is pivotally connected second
Yoke 114；Be respectively equipped with the upper surface 111 of two neighboring connecting rod, lower surface 112 a pair with cross axis joint 12 wherein
The yoke 113,114 of one group of pivot pivot joint.
Each pair yoke 113,114 positioned at the upper surface 111 of connecting rod 11, lower surface 112 is vertically arranged, can on each pair yoke
Relative level sets entry, and the both ends horizontal of the one of which pivot of cross axis joint 12 is put into two entries forms cooperation
Afterwards, you can make this group of pivot under the traction force effect for the drag-line 13 that another group of pivot of cross axis joint is connected by it around fork
Hole rotates, so as to drive snakelike arm arm body to stress lateral bending motion.
First sensor 116 can be housed on the outside of the entry of the yoke, for detecting the anglec of rotation of cross axis joint 12
Degree.
On same connecting rod 11, a pair of first yokes 113 of end face disposed thereon 111 and positioned at its lower surface 112 one
To being staggered between the second yoke 114 in 90+ ɑ degree, wherein ɑ is acute angle.That is, on two neighboring connecting rod, distinguish position
Thereon relative to central shaft (or the corresponding center between two yokes of connecting rod between a pair of yokes of end face (or lower surface)
Axle) interlock an angle ɑ setting.Mutually one angle of deflection is set between so also causing each cross axis joint between connecting rod
(i.e. drift angle is ɑ).
Yoke (namely around the central shaft of connecting rod) is provided around on the connecting rod 11 and penetrates the upper and lower end face of connecting rod
The evenly distributed first through hole 115 of one circle；Each first through hole wears a drag-line 13, one ten corresponding to every drag-line connection
Word axis joint 12, rotate cross axis joint for pulling.
It can be attached between the upper and lower end face of the connecting rod 11 by the circle column around connecting rod central shaft, and
The outline of column is less than the circumference of the upper and lower end face of connecting rod；Now, first through hole 115 is just respectively formed in the upper and lower end of connecting rod
Face 113,114, and correspond arrangement.Certainly, the connecting rod can also use cylindricality or other shapes.
The quantity of the first through hole is 4 times of connecting rod quantity.The angular values of drift angle (or stagger angle) ɑ are
360 ° and first through hole ratio of number.Often save the drag-line quantity that first through hole passed through on connecting rod and saved from the top one of arm body and connected
Bar starts to increase by 4 drag-lines section by section.For example, it is assumed that one shares 10 section connecting rods, then the upper surface and lower surface of each connecting rod are equal
Provided with 40 through holes.Lower surface the upper surface of connecting rod (i.e. second section) first through hole of first segment connecting rod passes through 4 drag-lines, and second
Lower surface (upper surface of i.e. Section three connecting rod) first through hole of section connecting rod passes through 8 drag-lines, by that analogy, final section connecting rod
Lower surface first through hole pass through 40 drag-lines, thus 40 drag-lines of the common mistake in the lower surface of final section connecting rod be connected to correspondingly
Driver element.
It can be seen that, set by Fig. 2 by making to deflect between different groups of yoke so that on each connecting rod on identical end face
Each pair of yoke deflects successively according to certain drift angle.So, because the upper and lower end face difference cross yoke of each connecting rod is handed over along central shaft
A wrong angle, same corresponding with the cross axis joint pivot that it is pulled of drag-line on it ensure that all cross axis joints
When, also so that being maintained between each drag-line arranged in parallel.
Refer to Fig. 1.Support base 2 is provided with base deck 21 and the base plate 22 below base deck, and phase
Connect and compose body structure.Support base 2 passes through under (section) connecting rod 11 for its front of base deck 21 and the bottom of arm body 1
End face connects.It is provided with the base deck 21 and encloses the second through hole (not shown) with each first through hole 115 corresponding one, is used for
It is corresponding to pass through drag-line 13.
Multiple driver elements 23 are provided with the back side of base deck 21；Each driver element 23 is around (the support of connecting rod central shaft
Base center axle) set, form tubular structure.Each driver element 23 includes motor 233, leading screw 231 and sliding block 232.It is described
A circle bearing hole is respectively provided with base deck 21 and base plate 22, bearing block is installed in the bearing hole；Each driving is single
The silk of member 23 is shouldered 231 and is correspondingly installed in a pair of bearing on base deck 21 and base plate 22.Each driving is single
The motor 232 of member 23 is arranged on the outside of base plate 22, and is connected by the leading screw 231 of shaft coupling and the driver element
Connect.
Leading screw 231 is driven to rotate by motor 232, the sliding block 232 for making to be arranged on leading screw is along leading screw in certain limit
Interior operation, and pull a drag-line 13 being fixed on sliding block, then it can control the cross axis joint 12 of drag-line connection to rotate, from
And reach the purpose for controlling snakelike arm motion.
Refer to Fig. 2.Two groups of orthogonal pivots of each cross axis joint are sequentially passed through each below by four drag-lines 13
It is single that second through hole corresponding in a first through hole corresponding on connecting rod and base deck is connected to a corresponding driving
On the sliding block of member.The drawing of the drag-line connected by some driver element to it, so that it may the rotation of the corresponding cross axis joint of control,
Control is combined to different driving unit, it is possible to realize and automatically control the purpose that snakelike arm carries out multi-dimensional movement.
For cross axis joint, if angle be present between input, output shaft, the angular speed of two axles will not phase
Deng this can cause to twist between connecting rod and vibrate, thus the kinematic accuracy that will have influence on snakelike arm.In order to ensure to input,
Angle is not present between output shaft, for pulling four drag-lines of the pivot of cross axis joint two, it should be connected to cross axle
On two pivots in joint, and it is preferably located at the shaft end of two pivots.
Meanwhile for snakelike arm, due to multiple connecting rods be present, that is, there are more set cross axis joints, such as by each ten
Word axis joint is all installed at the same angle, then will be unable to keep flat between a plurality of drag-line for driving cross axis joint
OK.In this case, when drag-line quantity is more, mutual winding easily occurs.This does not all consider in past invention
Cross this problem.
Advantages of the present invention is that the cross yoke due to the upper and lower end face of connecting rod along the shaft staggered angle in center, is protected
Demonstrate,proved all cross axis joints drag-line it is corresponding with the cross axis joint pivot that it is pulled while, can keeping parallelism row
Row.
Refer to Fig. 3.Third through-hole 117 is also provided with the center of each connecting rod and cross axis joint, meanwhile, described
The center of base deck is also provided with fourth hole (not shown) corresponding with third through-hole, and the 3rd, fourth hole can be used for passing through
Cable.
In addition, can further be provided with second sensor on the yoke, for detect the relative position between adjacent links with
And the relative position relation between the relative upper and lower end face of adjacent links.
Compared to snakelike arm configuration of the prior art, the present invention passes through two pairs of yokes in the upper and lower end face of each connecting rod
Between increase a deflection angle and optimize the arrangement of drag-line, ensure that all drag-lines in the cross axis joint pivot pulled with it
It while axle is corresponding, can be arranged with keeping parallelism, effectively prevent the generation of winding；Meanwhile by installing on yoke
Sensor, can detect relative position between the anglec of rotation of cross axis joint, adjacent links and adjacent links it is relative it is upper,
Relative position relation between lower surface, so as to accurately know the motion conditions of snakelike arm.
The snakelike arm of the present invention can have high flexibility operational capacity, and can realize the human nature of charging electric vehicle service
Change, facilitation, intellectuality.The automatic charging of electric automobile and unmanned full automatic working are realized, charging station can be greatly lowered
Management cost, be greatly enhanced the car experience and processing safety of timesharing lease, charged for electric car to lessee and car owner
Great convenience condition is provided.Also, electric automobile automatic charging can be combined with other automation installations, such as automatic parking,
Automated cleaning etc., perfect electric automobile automation services system is formed, fully realized intelligent.
Above-described is only the preferred embodiments of the present invention, the embodiment and the patent guarantor for being not used to the limitation present invention
Scope, therefore the equivalent structure change that every specification and accompanying drawing content with the present invention is made are protected, similarly should be included in
In protection scope of the present invention.
Claims (10)
- A kind of 1. snakelike arm, it is characterised in that including：Arm body, formed by multiple connecting rods concatenation, connected between adjacent links by cross axle joint motion, it is every in addition to top links The upper surface of one connecting rod be provided with a pair with cross axis joint one of which pivot be pivotally connected the first yokes, in addition to bottom linkage rod it is each The lower surface of connecting rod is provided with a pair of the second yokes being pivotally connected with another group of pivot of cross axis joint, same small end face It is in 90+ ɑ degree between first yoke and the second yoke of lower surface, wherein ɑ is acute angle；The connecting rod is provided around yoke and penetrated Thereon, a circle first through hole of lower surface；Wherein, two groups of pivots of each cross axis joint sequentially pass through it by four drag-lines A first through hole corresponding on each connecting rod in lower section is connected to a corresponding driver element, and drag-line is led by driver element Draw, the rotation of cross axis joint is controlled, to control the multi-dimensional movement of snakelike arm.
- 2. snakelike arm according to claim 1, it is characterised in that also including support base, it passes through base deck front It is connected with a connecting rod lower surface of arm body bottom, it is logical that the base deck is provided with corresponding with first through hole one circle second Hole, the base deck back side are provided with multiple driver elements around connecting rod central shaft, and two groups of pivots of each cross axis joint pass through Four drag-lines sequentially pass through below on each connecting rod corresponding to corresponding on a first through hole and base deck one second it is logical Hole is connected to a corresponding driver element.
- 3. snakelike arm according to claim 1, it is characterised in that arranged in parallel between each drag-line.
- 4. snakelike arm according to claim 1, it is characterised in that the quantity of the first through hole is 4 times of connecting rod quantity, The angular values of the ɑ are 360 ° and first through hole ratio of number.
- 5. snakelike arm according to claim 2, it is characterised in that the center of connecting rod and the cross axis joint is provided with the 3rd Through hole, the center of the base deck is provided with fourth hole corresponding with third through-hole, for passing through cable.
- 6. snakelike arm according to claim 1, it is characterised in that first sensor is housed on the outside of the entry of the yoke, For detecting the anglec of rotation of cross axis joint.
- 7. snakelike arm according to claim 1, it is characterised in that be also equipped with second sensor on the yoke, be used for Detect the relative position relation between relative position and the relative upper and lower end face of adjacent links between adjacent links.
- 8. snakelike arm according to claim 2, it is characterised in that each driver element includes motor, leading screw and sliding block, institute The lower section for stating base deck is provided with base plate, is provided with bearing hole on the base deck and base plate, in the bearing hole Bearing block is installed, the silk is shouldered in the bearing block being installed on base deck and base plate, and the motor is installed on base The outside of bottom plate, and be connected by shaft coupling with leading screw；Drive leading screw to rotate by motor, make the sliding block edge being arranged on leading screw Leading screw operation, and pulls the drag-line being fixed on sliding block.
- 9. snakelike arm according to claim 1, it is characterised in that the drag-line is connected to the pivot shaft of cross axis joint End.
- 10. snakelike arm according to claim 1, it is characterised in that by around company between the upper and lower end face of the connecting rod One circle column of bar central shaft is attached.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710761315.1A CN107486849B (en) | 2017-08-30 | 2017-08-30 | Snake-shaped arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710761315.1A CN107486849B (en) | 2017-08-30 | 2017-08-30 | Snake-shaped arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107486849A true CN107486849A (en) | 2017-12-19 |
| CN107486849B CN107486849B (en) | 2020-06-09 |
Family
ID=60645993
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710761315.1A Active CN107486849B (en) | 2017-08-30 | 2017-08-30 | Snake-shaped arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107486849B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111658152A (en) * | 2020-07-10 | 2020-09-15 | 山东大学 | Operation mechanical arm and endoscope system |
| CN111941410A (en) * | 2020-08-25 | 2020-11-17 | 长沙理工大学 | Avoid lax formula silk drive robot |
| CN111941405A (en) * | 2020-08-25 | 2020-11-17 | 长沙理工大学 | Wire-driven snakelike arm robot |
| CN111941404A (en) * | 2020-08-25 | 2020-11-17 | 长沙理工大学 | Working method of robot system |
| CN111941406A (en) * | 2020-08-25 | 2020-11-17 | 长沙理工大学 | Robot system |
| CN113331161A (en) * | 2021-06-03 | 2021-09-03 | 华中农业大学 | Agricultural accurate target spraying robot with snakelike arm |
| CN113829386A (en) * | 2021-08-26 | 2021-12-24 | 北京精密机电控制设备研究所 | Continuous type arm that charges with scalable degree of freedom |
| WO2023045647A1 (en) * | 2021-09-23 | 2023-03-30 | 湖南大学 | Large-load long-distance radiation-resistant high-precision snakelike arm |
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| CN2532954Y (en) * | 2002-03-27 | 2003-01-29 | 辽宁工程技术大学 | Snakelike robot |
| CN202726934U (en) * | 2012-06-20 | 2013-02-13 | 东莞东聚电子电讯制品有限公司 | Snake-shaped mechanical arm |
| CN204278011U (en) * | 2014-11-25 | 2015-04-22 | 杨一超 | A kind of snake-shaped robot driven by linkage |
| CN205415622U (en) * | 2015-05-18 | 2016-08-03 | 泰华宏业（天津）机器人技术研究院有限责任公司 | Snakelike robot |
| CN106926223A (en) * | 2015-12-30 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of snake-shaped robot |
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| CN2532954Y (en) * | 2002-03-27 | 2003-01-29 | 辽宁工程技术大学 | Snakelike robot |
| CN202726934U (en) * | 2012-06-20 | 2013-02-13 | 东莞东聚电子电讯制品有限公司 | Snake-shaped mechanical arm |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111658152A (en) * | 2020-07-10 | 2020-09-15 | 山东大学 | Operation mechanical arm and endoscope system |
| CN111658152B (en) * | 2020-07-10 | 2021-09-07 | 山东大学 | Operation mechanical arm and endoscope system |
| CN111941410A (en) * | 2020-08-25 | 2020-11-17 | 长沙理工大学 | Avoid lax formula silk drive robot |
| CN111941405A (en) * | 2020-08-25 | 2020-11-17 | 长沙理工大学 | Wire-driven snakelike arm robot |
| CN111941404A (en) * | 2020-08-25 | 2020-11-17 | 长沙理工大学 | Working method of robot system |
| CN111941406A (en) * | 2020-08-25 | 2020-11-17 | 长沙理工大学 | Robot system |
| CN113331161A (en) * | 2021-06-03 | 2021-09-03 | 华中农业大学 | Agricultural accurate target spraying robot with snakelike arm |
| CN113331161B (en) * | 2021-06-03 | 2023-02-28 | 华中农业大学 | Agricultural accurate target spraying robot with snakelike arm |
| CN113829386A (en) * | 2021-08-26 | 2021-12-24 | 北京精密机电控制设备研究所 | Continuous type arm that charges with scalable degree of freedom |
| WO2023045647A1 (en) * | 2021-09-23 | 2023-03-30 | 湖南大学 | Large-load long-distance radiation-resistant high-precision snakelike arm |
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| Publication number | Publication date |
|---|---|
| CN107486849B (en) | 2020-06-09 |
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