CN108177159B - High-bearing universal joint, mechanical arm joint and flexible mechanical arm - Google Patents
High-bearing universal joint, mechanical arm joint and flexible mechanical arm Download PDFInfo
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- CN108177159B CN108177159B CN201711469161.5A CN201711469161A CN108177159B CN 108177159 B CN108177159 B CN 108177159B CN 201711469161 A CN201711469161 A CN 201711469161A CN 108177159 B CN108177159 B CN 108177159B
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- 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
- B25J17/0283—Three-dimensional joints
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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)
- Pivots And Pivotal Connections (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention relates to the technical field of robots, and provides a high-bearing universal joint, a mechanical arm joint and a flexible mechanical arm. The arrangement of the first limiting structure and the second limiting structure respectively limits the rotation of the first sliding ball along the weft of the first sliding ball and the rotation of the second sliding ball along the weft of the second sliding ball, so that the problem of underactuation of the common ball hinge structure is solved on the premise that the movement between the first sliding ball and the second sliding ball and the combination between the second sliding ball and the ball seat realize universal rotation.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a high-bearing universal joint, a mechanical arm joint and a flexible mechanical arm.
Background
The flexible mechanical arm is generally provided with a plurality of bone segments which are mutually connected through joints, and the bone segments are respectively driven to move around the joints through a driving device so as to realize the mutual movement between the bone segments, so that the flexible mechanical arm can be integrally and freely bent. The flexible mechanical arm is characterized in that a rotatable part is arranged between two adjacent bone sections, corresponding joints are arranged on the rotatable part to connect the two adjacent bone sections, and in the prior art, the joints are mainly arranged in the following three ways: the first is an elastic joint using an elastic element such as a spring as a rotatable portion, the second is a universal joint using a cross universal joint as a rotatable portion, and the third is a ball-and-socket joint using a ball-and-socket joint as a rotatable portion. In actual use, the bearing capacity of the first joint and the second joint is small, so that the joints are fragile, the bearing capacity of the third joint is high, but the degree of freedom rotating around the arm rod in the three degrees of freedom of the ball hinge cannot be limited during driving, so that the problem of underactuation exists, the driving control is inaccurate, most of spherical universal joints at present are complex in structural design and cannot be used in practice, and therefore the problem of insufficient bearing capacity still exists in the existing flexible mechanical arm joint.
therefore, it is necessary to provide a new technical solution to solve the above problems in the prior art.
Disclosure of Invention
the invention aims to solve the technical problem of providing a high-bearing universal joint, a mechanical arm joint and a flexible mechanical arm.
the technical scheme adopted by the invention for solving the technical problems is as follows:
The utility model provides a high universal joint that bears, includes first sliding ball, second sliding ball, ball seat and gland, wherein:
The first sliding ball is fixedly provided with a connecting part;
The second sliding ball comprises a first cavity with a spherical inner surface, the first sliding ball is rotatably arranged in the first cavity, and the first sliding ball can slide along the inner surface of the first cavity;
the ball seat comprises a second cavity with a spherical inner surface, the second sliding ball is rotatably arranged in the second cavity, and the second sliding ball can slide along the inner surface of the second cavity;
The gland is fixedly arranged on the ball seat and fixes the first sliding ball and the second sliding ball in the second cavity;
The first sliding ball and the second sliding ball are provided with a first limiting structure therebetween for limiting the rotary motion of the first sliding ball along the weft direction thereof, and the second sliding ball and the ball seat are provided with a second limiting structure therebetween for limiting the rotary motion of the second sliding ball along the weft direction thereof.
as an improvement of the above technical solution, the first limiting structure includes a first limiting body and a first limiting groove which are installed in a matching manner, the first limiting body can slide in the first limiting groove, the second limiting structure includes a second limiting body and a second limiting groove which are installed in a matching manner, and the second limiting body can slide in the second limiting groove.
As a further improvement of the above technical solution, the first limiting groove is disposed on the inner surface of the first cavity and is inwardly recessed, the first limiting groove is disposed along the warp of the first cavity, the first limiting body is disposed on the outer surface of the first sliding ball and is outwardly protruded, the first limiting body is disposed along the warp of the first sliding ball, and when the first sliding ball is mounted in the first cavity, the first limiting body is located in the first limiting groove.
as a further improvement of the above technical solution, the second limiting groove is disposed on the inner surface of the second cavity and is inwardly recessed, the second limiting groove is disposed along the weft of the second cavity, the second limiting body is disposed on the outer surface of the second sliding ball and is outwardly protruded, the second limiting body is disposed along the warp of the second sliding ball, when the second sliding ball is mounted in the second cavity, the second limiting body is disposed in the second limiting groove, and the first limiting groove and the second limiting body are spatially crossed.
as a further improvement of the technical scheme, the second sliding ball is hemispherical and comprises two hemispherical shells, and one hemispherical shell is detachably and fixedly connected with the other hemispherical shell.
As a further improvement of the above technical solution, the hemispherical shell includes an installation edge, the two hemispherical shells are fixedly connected through the installation edge to form the second sliding ball, and the two installation edges jointly form the second limiting body.
As a further improvement of the above technical solution, the ball seat is hemispherical as a whole, the second cavity is a hemispherical cavity, the pressing cover is fixedly mounted on the upper portion of the ball seat, a through hole for the first sliding ball to pass through is formed in the pressing cover, and the inner wall of the through hole is a spherical surface with a diameter identical to that of the inner surface of the second cavity.
As a further improvement of the above technical solution, a pair of abdicating grooves is further provided on the gland at a position corresponding to the second limiting groove, and the second limiting body can slide in the abdicating grooves.
The mechanical arm condyle comprises a condyle body and the high-bearing universal joint, wherein the condyle body is fixedly connected with the connecting part or the ball seat.
The mechanical arm comprises a driving device and a plurality of mechanical arm joints, the mechanical arm joints are connected in sequence, and the driving device is used for driving the mechanical arm joints to wind the high-bearing universal joint to move.
The invention has the beneficial effects that:
The high-bearing universal joint of the invention is provided with a second sliding ball between a first sliding ball and a ball seat, the second sliding ball comprises a first cavity with a spherical inner surface, the first sliding ball is rotatably arranged in the first cavity and can slide along the inner surface of the first cavity, the ball seat comprises a second cavity with a spherical inner surface, the second sliding ball is rotatably arranged in the second cavity and can slide along the inner surface of the second cavity, so that the contact area between the first sliding ball and the second sliding ball and the contact area between the second sliding ball and the ball seat are ensured, the load capacity is improved, a first limit structure and a second limit structure are arranged to respectively limit the rotation of the first sliding ball along the weft line thereof and the rotation of the second sliding ball along the weft line thereof, and the movement between the first sliding ball and the second sliding ball and the combination between the second sliding ball and the ball seat realize universal rotation, the problem of ordinary ball twist structure underactuation is solved. The mechanical arm joint and the flexible mechanical arm with the high-bearing universal joint have the technical effects.
Drawings
in order to more clearly illustrate the technical solution in the embodiments of the present invention, the following will briefly explain the drawings used in the description of the embodiments:
FIG. 1 is a schematic overall structure diagram of an embodiment of the high-load-bearing universal joint of the present invention;
FIG. 2 is a schematic exploded view of the embodiment of FIG. 1;
FIG. 3 is a schematic view of a mechanical arm condyle of an embodiment of the present invention;
Fig. 4 is a schematic structural diagram of one embodiment of the flexible mechanical arm of the invention.
Detailed Description
the conception, the specific structure, and the technical effects produced by the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the features, and the effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention. In addition, all the connection/connection relations referred to in the patent do not mean that the components are directly connected, but mean that a better connection structure can be formed by adding or reducing connection auxiliary components according to specific implementation conditions. The description of the invention with respect to the upper, lower, left, right and the like is made only with respect to the positional relationship of the components of the invention with respect to each other in the drawings. The technical characteristics of the invention can be combined interactively on the premise of not conflicting with each other.
the first embodiment is as follows:
fig. 1 is a schematic overall structure view of an embodiment of the high load-bearing universal joint of the present invention, and fig. 2 is a schematic exploded view of the embodiment shown in fig. 1, and referring to fig. 1 and 2, the high load-bearing universal joint includes a first sliding ball 100, a second sliding ball 200, a ball seat 300, and a gland 400.
The first sliding ball 100 is a solid spherical member on which a connecting portion 110 is fixedly provided for connection with an external member. The second sliding ball 200 includes a first cavity 210 having a spherical inner surface, the first sliding ball 100 is rotatably disposed in the first cavity 210 and is in contact with the inner surface of the first cavity 210, and the first sliding ball 100 can slide along the inner surface of the first cavity 210, compared with the prior art cross universal joint, the spherical contact provides a larger contact area for the movement between the first sliding ball 100 and the second sliding ball 200, thereby improving the bearing capacity. The ball seat 300 includes a second chamber 310 having a spherical inner surface, and a second sliding ball 200 is rotatably disposed in the second chamber 310, and the second sliding ball 200 is slidable along the inner surface of the second chamber 310. The gland 400 is fixedly installed on the ball seat 300, and fixes the first sliding ball 100 and the second sliding ball 200 in the second chamber 310, maintaining the stability of the joint, and preventing the first sliding ball 100 and the second sliding ball 200 from being separated from the ball seat 300.
For convenience of explanation, the following definitions are now made: one end of the first sliding ball 100 far away from the connecting part 110 is taken as the top of the first sliding ball, and a line on the outer surface of the first sliding ball 100 and passing around the top of the first sliding ball along the diameter of the first sliding ball is taken as the meridian of the first sliding ball 100; the line on the first chamber 210 that goes around the bottom of the first chamber 210 along its diameter is taken as the meridian of the first chamber 210; the end of the second sliding ball 200 far away from the port of the first cavity 210 is the top of the second sliding ball, the line on the outer surface of the second sliding ball 200 which goes around the top of the second sliding ball along the diameter thereof is the meridian of the second sliding ball 200, and the line on the second cavity 310 which goes around the bottom of the second cavity 310 along the diameter thereof is the meridian of the second cavity 310; therefore, the latitude lines of the first sliding ball, the second sliding ball, the first cavity and the second cavity can be obtained according to the law of the longitude and the latitude lines of the ball body.
A first limiting structure is arranged between the first sliding ball 100 and the second sliding ball 200 and used for limiting the rotary motion of the first sliding ball 100 relative to the second sliding ball 200 along the weft direction of the first sliding ball 100, so that the rotary motion in the direction has corresponding constraint, and the problem of under-actuation of the ball-hinged joint in the direction in the prior art is solved. The first position-limiting structure comprises a first position-limiting body 120 and a first position-limiting groove 220, wherein the first position-limiting body 120 is arranged in a matched manner, and the first position-limiting body 120 can slide in the first position-limiting groove 220. A second limiting structure is arranged between the second sliding ball 200 and the ball seat 300 and used for limiting the rotation of the second sliding ball 200 relative to the ball seat 300 along the weft direction of the second sliding ball 200, so that the rotation motion in the direction has corresponding constraint, and the problem of under-actuation of the ball-hinged joint in the direction in the prior art is solved. The second position-limiting structure comprises a second position-limiting body 230 and a second position-limiting groove 320 which are matched and installed, and the second position-limiting body 230 can slide in the second position-limiting groove 320.
In this embodiment, the first position-limiting groove 220 is a rectangular groove disposed on the inner surface of the first cavity 210 and recessed inwards, the first position-limiting groove 220 is disposed along the meridian direction of the first cavity 210, the first position-limiting body 120 is a rectangular ridge disposed on the outer surface of the first sliding ball 100 and protruding outwards, the first position-limiting body 120 is disposed along the meridian of the first sliding ball 100, such that the extending direction of the first position-limiting body 120 on the first sliding ball 100 is consistent with the extending direction of the first position-limiting groove 220 in the first cavity 210, when the first sliding ball 100 is installed in the first cavity 210, the first position-limiting body 120 is disposed in the first position-limiting groove 220 and can slide along the first position-limiting groove 220, the cooperation between the first position-limiting body 120 and the first position-limiting groove 220 is the cooperation between the rectangular ridge and the rectangular groove, which helps to prevent the first position-limiting body 120 from slipping out of the first position-limiting groove 220.
The second position-limiting groove 320 is a rectangular groove which is arranged on the inner surface of the second cavity 310 and is recessed inwards, the second position-limiting groove 320 is arranged along the meridian of the second cavity 310, the second position-limiting body 230 is a rectangular edge which is arranged on the outer surface of the second sliding ball 200 and is raised outwards, the second position-limiting body 230 is arranged along the meridian of the second sliding ball 200, so that the extending direction of the second position-limiting body 230 on the second sliding ball 200 is consistent with the extending direction of the second position-limiting groove 320 in the second cavity 310, and when the second sliding ball 200 is installed in the second cavity 310, the second position-limiting body 230 is located in the second position-limiting groove 320 and can slide along the second position-limiting groove. The cooperation between the second position-limiting body 230 and the second position-limiting groove 320 is the cooperation between a rectangular edge and a rectangular groove, which helps to prevent the second position-limiting body 230 from slipping out of the second position-limiting groove 320. The first sliding ball 100 can rotate along the extending direction of the first position-limiting body 120 and the first position-limiting groove 220 relative to the second sliding ball 200, the second sliding ball 200 can rotate along the extending direction of the second position-limiting body 230 and the second position-limiting groove 320 relative to the ball seat 300, the first position-limiting groove 220 and the second position-limiting body 230 are crossed in space on the second sliding ball 200, so that the rotating direction of the first sliding ball 100 is crossed with the rotating direction of the second sliding ball 200, and the combination of the two rotations can realize universal rotation.
During specific implementation, the first position-limiting body may also be a rectangular ridge that is disposed on the inner surface of the first cavity 210 and protrudes outward, and is disposed along the longitude line of the first cavity, and correspondingly, the first position-limiting groove is a rectangular groove that is disposed on the outer surface of the first sliding ball 100 and protrudes inward, and is disposed along the longitude line of the first sliding ball, and when the first sliding ball 100 is installed in the first cavity 210, the first position-limiting body is located in the first position-limiting groove and can slide along the first position-limiting groove. The second position-limiting body may also be disposed on the inner surface of the second cavity 310 and has a rectangular edge protruding outward, and disposed along the longitude line of the second cavity 310, and correspondingly, the second position-limiting groove is a rectangular groove disposed on the outer surface of the second sliding ball 200 and recessed inward, and disposed along the longitude line of the second sliding ball, and when the second sliding ball 200 is installed in the second cavity 310, the second position-limiting body is located in the second position-limiting groove and can slide along the second position-limiting groove. The second limiting body on the second sliding ball 200 and the first limiting groove are crossed in space.
In this embodiment, the second sliding ball 200 is a hemisphere, and includes two hemispherical shells 201, each hemispherical shell 201 includes a mounting edge 202, the two hemispherical shells 201 are detachably and fixedly connected through the mounting edge 202, so as to form the second sliding ball 200, and the two mounting edges 202 jointly form a second limiting body 230. The two mounting edges 202 may be provided with a positioning pin and a positioning hole for fitting connection therebetween, and are fixedly connected by bolts.
The ball seat 300 is wholly hemispherical, the second cavity 310 is a hemispherical cavity, the gland 400 is an annular structure, the gland 400 is fixedly installed on the upper portion of the ball seat 300, a through hole 410 for the first sliding ball 100 to pass through is formed in the gland 400, the inner wall of the through hole 410 is a spherical structure with the diameter identical to that of the inner surface of the second cavity 310, a pair of yielding grooves 420 are further formed in the position, corresponding to the second limiting groove 320, of the gland 400, and the second limiting body can slide in the yielding grooves 420. When the pressing cover 400 is mounted on the ball seat 300, the inner surface of the through hole 410 is aligned with the inner surface of the second chamber 310, thereby constituting a mounting spherical surface larger than a hemisphere, so that the second sliding ball 200 can slide within the mounting spherical surface, but cannot be pulled out. The receding groove 420 is aligned with the second limiting groove 320, so as to prevent the second limiting body 230 from interfering with the gland 400 when the second sliding ball 200 rotates.
The connection part 110 includes a first connection disc 111, and the ball socket 300 includes a second connection disc 330, the first connection disc 111 and the second connection disc 330 being used to connect with an external member. The first flange 111 and the geothermal flange 340 have the same structure, so that the machining period can be shortened, the cost can be reduced, and the assembly efficiency and the assembly tolerance rate of the high-bearing universal joint and external member connection can be improved.
According to the universal joint, the second sliding ball 200 is arranged between the first sliding ball 100 and the ball seat 300, so that the contact area between the first sliding ball 100 and the second sliding ball 200 and the contact area between the second sliding ball 200 and the ball seat 300 are ensured, the load capacity is improved, the high bearing capacity of the universal joint is realized, the first limiting structure and the second limiting structure are arranged to respectively limit the rotation of the first sliding ball 100 around the weft line of the first sliding ball 100 and the rotation of the second sliding ball 200 around the weft line of the second sliding ball, and the problem of under-actuated common ball hinge is solved on the premise that the movement between the first sliding ball 100 and the second sliding ball 200 and the combination between the second sliding ball 200 and the ball seat 300 realize universal rotation.
Example two:
Fig. 3 is a schematic structural diagram of an embodiment of the mechanical arm condyle, and referring to fig. 3, the mechanical arm condyle 1 of the present embodiment includes a condyle body 10 and a universal joint 20, the universal joint 20 in the present embodiment is a high-load-bearing universal joint described in the first embodiment, which is beneficial to improving the load-bearing capacity of the mechanical arm condyle, wherein the connection portion includes a first connection disc 111, the ball seat includes a second connection disc 330, and the condyle body 10 is fixedly connected to the first connection disc 111 or the second connection disc 330. The first connecting disc 111 and the second connecting disc 330 have the same structure, so that the machining period can be shortened, the cost is reduced, the condyle body 10 can be installed together with any one of the first connecting disc and the second connecting disc when being installed, the installation sequence is not required to be considered, and the assembly efficiency and the fault tolerance rate are improved. The condyle bodies 10 are symmetrically arranged, the two ends of each condyle body are provided with the mounting ends 101, and the two mounting ends 101 are identical in structural arrangement, so that the modular installation between the mechanical arm condyle bodies 1 is facilitated.
Example three:
Fig. 4 is a schematic structural diagram of an embodiment of the flexible mechanical arm, and referring to fig. 4, the flexible mechanical arm of this embodiment includes a driving device and a plurality of mechanical arm burls 1, the mechanical arm burls 1 are sequentially connected to form a strip shape, the driving device includes a plurality of driving ropes 2, the tail ends of the driving ropes 2 are fixedly connected to mounting ends 101 of the mechanical arm burls, the mounting ends 101 are further provided with through holes 102 for penetrating the driving ropes 2, and each mounting end 101 is fixedly connected to 3 driving ropes 2. The mechanical arm joint 1 is driven to move around the universal joint 20 through the driving rope 2, so that the bending action of the whole flexible mechanical arm is realized. In specific implementation, the mechanical arm joint is the mechanical arm joint in the second embodiment, so that the overall assembly efficiency and the assembly fault tolerance rate of the flexible mechanical arm can be improved, and the modularization of the flexible mechanical arm is realized. Through the description of the first embodiment, it can be known that the universal joint 20 has the characteristics of high bearing capacity and accurate control, and the overall load capacity and control precision of the flexible mechanical arm can be improved.
The above description is only for the preferred embodiment of the present invention, but the present invention is not limited to the embodiment, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are included in the scope defined by the claims of the present application.
Claims (10)
1. A high-bearing universal joint is characterized in that: including first sliding ball, second sliding ball, ball seat and gland, wherein:
The first sliding ball is fixedly provided with a connecting part;
The second sliding ball comprises a first cavity with a spherical inner surface, the first sliding ball is rotatably arranged in the first cavity, and the first sliding ball can slide along the inner surface of the first cavity;
the ball seat comprises a second cavity with a spherical inner surface, the second sliding ball is rotatably arranged in the second cavity, and the second sliding ball can slide along the inner surface of the second cavity;
The gland is fixedly arranged on the ball seat and fixes the first sliding ball and the second sliding ball in the second cavity;
the first sliding ball and the second sliding ball are provided with a first limiting structure therebetween for limiting the rotary motion of the first sliding ball along the weft direction thereof, and the second sliding ball and the ball seat are provided with a second limiting structure therebetween for limiting the rotary motion of the second sliding ball along the weft direction thereof.
2. the high load bearing universal joint of claim 1, wherein: the first limiting structure comprises a first limiting body and a first limiting groove which are installed in a matched mode, the first limiting body can slide in the first limiting groove, the second limiting structure comprises a second limiting body and a second limiting groove which are installed in a matched mode, and the second limiting body can slide in the second limiting groove.
3. the high load bearing universal joint of claim 2, wherein: the first limiting groove is arranged on the inner surface of the first cavity and is inwards concave, the first limiting groove is arranged along the warp of the first cavity, the first limiting body is arranged on the outer surface of the first sliding ball and is outwards convex, the first limiting body is arranged along the warp of the first sliding ball, and the first sliding ball is arranged in the first cavity and is positioned in the first limiting groove.
4. the high load bearing universal joint of claim 3, wherein: the second limiting groove is formed in the inner surface of the second cavity and is inwards concave, the second limiting groove is formed along the weft of the second cavity, the second limiting body is arranged on the outer surface of the second sliding ball and is outwards convex, the second limiting body is arranged along the warp of the second sliding ball, when the second sliding ball is installed in the second cavity, the second limiting body is located in the second limiting groove, and the first limiting groove and the second limiting body are crossed in space.
5. The high load bearing universal joint according to claim 3 or 4, wherein: the second sliding ball is hemispherical and comprises two hemispherical shells, and one hemispherical shell is detachably and fixedly connected with the other hemispherical shell.
6. The high load bearing universal joint of claim 5, wherein: the hemispherical shell comprises mounting edges, the two hemispherical shells are fixedly connected through the mounting edges to form the second sliding ball, and the two mounting edges jointly form the second limiting body.
7. the high load bearing universal joint of claim 6, wherein: the ball seat is wholly hemispherical, the second cavity is a hemispherical cavity, the gland is fixedly installed at the upper part of the ball seat, a through hole for the first sliding ball to pass through is formed in the gland, and the inner wall of the through hole is a spherical surface with the diameter identical to that of the inner surface of the second cavity.
8. the high load bearing universal joint of claim 7, wherein: the position of the pressing cover corresponding to the second limiting groove is further provided with a pair of abdicating grooves, and the second limiting body can slide in the abdicating grooves.
9. The mechanical arm condyle is characterized in that: the high-bearing universal joint comprises a joint body and the high-bearing universal joint as claimed in any one of claims 1 to 8, wherein the joint body is fixedly connected with the connecting part or the ball seat.
10. A flexible robotic arm, comprising: the mechanical arm joint comprises a plurality of mechanical arm joints of claim 9 and a driving device, wherein the mechanical arm joints are connected in sequence, and the driving device is used for driving the mechanical arm joints to move around the high-bearing universal joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711469161.5A CN108177159B (en) | 2017-12-29 | 2017-12-29 | High-bearing universal joint, mechanical arm joint and flexible mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711469161.5A CN108177159B (en) | 2017-12-29 | 2017-12-29 | High-bearing universal joint, mechanical arm joint and flexible mechanical arm |
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| CN108177159A CN108177159A (en) | 2018-06-19 |
| CN108177159B true CN108177159B (en) | 2019-12-06 |
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| CN109773769B (en) * | 2019-02-25 | 2020-11-10 | 清华大学深圳研究生院 | Flexible mechanical arm based on ball pin pair |
| CN110027011A (en) * | 2019-05-14 | 2019-07-19 | 广东工业大学 | A kind of mechanical arm and its profiling mechanism joint |
| CN110202557A (en) * | 2019-06-15 | 2019-09-06 | 江苏华兮网络科技工程有限公司 | A kind of mechanical arm of intelligent robot universal rotational |
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| CN101644296B (en) * | 2008-08-08 | 2012-01-25 | 鸿富锦精密工业（深圳）有限公司 | Connection unit and ball joints thereof |
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| CN108177159A (en) | 2018-06-19 |
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