CN108381542A - Submarine mechanical arm based on mixed drive - Google Patents
Submarine mechanical arm based on mixed drive Download PDFInfo
- Publication number
- CN108381542A CN108381542A CN201810298501.0A CN201810298501A CN108381542A CN 108381542 A CN108381542 A CN 108381542A CN 201810298501 A CN201810298501 A CN 201810298501A CN 108381542 A CN108381542 A CN 108381542A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- unit
- gear
- arm
- forearm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000000245 forearm Anatomy 0.000 claims abstract description 89
- 230000005540 biological transmission Effects 0.000 claims abstract description 50
- 230000007246 mechanism Effects 0.000 claims description 26
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 18
- 230000005484 gravity Effects 0.000 claims description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 9
- 230000000386 athletic effect Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 20
- 238000010586 diagram Methods 0.000 description 17
- 230000009471 action Effects 0.000 description 15
- 210000000707 wrist Anatomy 0.000 description 7
- 210000000323 shoulder joint Anatomy 0.000 description 6
- 238000013461 design Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 230000001186 cumulative effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009931 harmful effect Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 238000010977 unit operation Methods 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
- 238000003466 welding 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
Abstract
The invention belongs to submarine mechanical arm fields, and in particular to a kind of submarine mechanical arm.In order to reduce underwater environment factor to the operation precision of submarine mechanical arm and the influence of flexibility, the submarine mechanical arm of the present invention includes driving unit and arm component, arm component includes forearm and postbrachium, the output end of forearm is connected with operating unit, mechanical arm further includes the first gear unit and the second gear unit, driving unit is connect by the first smaller gear unit of conducting oneself with dignity with forearm and operating unit, driving unit is larger by conducting oneself with dignity by higher second gear unit of transmission accuracy is connect with postbrachium, pass through the combination of the first gear unit and the second gear unit, reduce the total quality of mechanical arm, to reduce inertia to the precision of manipulator motion and the influence of flexibility, and mechanical arm rear end uses high-precision second gear unit, reduce the accumulative of kinematic error, it ensure that the kinematic accuracy of mechanical arm front-end operations unit.
Description
Technical field
The invention belongs to underwater robot fields, and in particular to a kind of submarine mechanical arm based on mixed drive.
Background technology
In the exploratory development of ocean, underwater robot is one of essential tool, and underwater robot configures underwater
Mechanical arm is mainly used for completing the work such as Underwater resources collection, sample collection as execution unit.In view of the ring of underwater operation
Border factor, in order to it is reliable, efficiently complete underwater work, the operation precision and flexibility to submarine mechanical arm have higher
It is required that.Each joint of most of submarine mechanical arm is all made of the design of single transmission structure at present, to underwater environment factor pair
The considerations of mechanical arm operation precision and flexibility, is not comprehensive enough.
As the patent application of Publication No. 106393172A discloses a kind of Arm Flexible underwater operation mechanical arm, the machine
The structure of tool arm mainly by the arm joint unit of several repetitions, the pedestal for installing arm, arm body end paw and
The compositions such as tip sensor.Motor mounted on pedestal drives flexible strand, is realized to machinery by changing the length of flexible strand
The deflection of arm arm body, pitching movement control, after arm body reaches designated position, the crawl to object is realized in paw opening and closing.It can
It is to control all arm joint units by driving flexible strand in the disclosure in this patent to find out.Flexible strand drive mechanism
Quality light and small can improve the dexterity of action of mechanical arm, but transmission accuracy is relatively low.
For another example the patent application of Publication No. 104084947A discloses mechanical arm system under seven function waters of one kind, the system
Including paw, wrist, the first-the five joint, the first joint includes pedestal, first hydraulic cylinder, and second joint includes first connecting rod,
Two hydraulic cylinders, third joint include second connecting rod, third hydraulic cylinder, and the 4th joint includes third connecting rod, the 4th hydraulic cylinder, and the 5th
Joint includes fourth link, the 5th hydraulic cylinder；Paw include wrist front end, first the-the second finger tip of finger tip, the first-the second master connecting-rod,
First-the second auxiliary connecting rod, the 6th hydraulic cylinder, wrist include connector, rotation motor, the 5th connecting rod.As can be seen that special at this
In profit application, all joints are all made of hydraulic-driven, need to separately set the supply that hydraulic pump carries out power oil, and in gear unit
End needs that pressure energy is converted to mechanical energy with hydraulic cylinder, increases the quality of each joint of mechanical arm, especially mechanical arm
The quality of end, to reduce the dexterity of action of mechanical arm.
Correspondingly, this field needs a kind of new technical solution to solve the above problems.
Invention content
In order to solve the above problem in the prior art, in order to reduce action of the underwater environment factor to submarine mechanical arm
The influence of precision and flexibility, the present invention provides a kind of submarine mechanical arm based on mixed drive, the submarine mechanical arm packet
Driving unit and arm component are included, the arm component includes forearm and postbrachium, and the output end of the forearm is connected with operating unit,
The submarine mechanical arm further includes the first gear unit and the second gear unit, and the driving unit is single by first transmission
First to be connect with the forearm and the operating unit, the driving unit is connected by second gear unit and the postbrachium
It connects, wherein the dead weight of first gear unit is less than second gear unit.
In the optimal technical scheme of above-mentioned submarine mechanical arm, the arm component further includes middle arm, and the middle arm is connected to
Between the forearm and the postbrachium, the submarine mechanical arm further includes third gear unit, and the driving unit passes through described
Third gear unit is connect with the middle arm, wherein the dead weight of first gear unit is less than the third gear unit.
In the optimal technical scheme of above-mentioned submarine mechanical arm, one in the forearm, the middle arm and the postbrachium
It is a or multiple be arranged to hollow structure.
In the optimal technical scheme of above-mentioned submarine mechanical arm, the forearm, the middle arm and the postbrachium are respectively provided with
At hollow structure and meet respective gravity equal to its buoyancy in water.
In the optimal technical scheme of above-mentioned submarine mechanical arm, first gear unit includes multiple line transmission mechanisms；
Second gear unit is turbine and worm transmission mechanism；The third gear unit includes two groups of bevel gear pairs, and two groups of cones
By being connected through the drive link of the postbrachium between gear pair.
In the optimal technical scheme of above-mentioned submarine mechanical arm, the submarine mechanical arm includes waterproof unit, the waterproof
Unit includes waterproof vessel, and the driving unit is fixed in the waterproof vessel, and the waterproof vessel are in a rotatable way
It is connected with the main body of underwater robot.
In the optimal technical scheme of above-mentioned submarine mechanical arm, the submarine mechanical arm includes pedestal, and the pedestal is fixed
In the main body of the underwater robot, the waterproof vessel are connected with the pedestal in a rotatable way.
In the optimal technical scheme of above-mentioned submarine mechanical arm, the waterproof vessel are connect by shaft with the pedestal,
It is fixed with the waterproof vessel driven gear coaxial with the shaft on the pedestal, is provided on the waterproof vessel and prevents with described
The waterproof vessel driving gear of hydrophone ware driven gear engagement, the waterproof vessel driving gear is with the waterproof vessel can revolve
The mode turned connects.
In the optimal technical scheme of above-mentioned submarine mechanical arm, the submarine mechanical arm further includes control unit, the control
Unit processed is used to communicate with host computer drives the waterproof vessel, the arm component and the behaviour to control the driving unit
Make unit to control its athletic posture, wherein described control unit is set in the waterproof vessel.
In the optimal technical scheme of above-mentioned submarine mechanical arm, the submarine mechanical arm further includes power supply unit, the electricity
Source unit is used to provide electric energy to described control unit and the driving unit, wherein the power supply unit is set to described
In waterproof vessel.
It will be appreciated by persons skilled in the art that in the inventive solutions, submarine mechanical arm includes that driving is single
Member and arm component, arm component include forearm and postbrachium, and the output end of forearm is connected with operating unit, and submarine mechanical arm further includes
First gear unit and the second gear unit, driving unit are connect by the first gear unit with forearm and operating unit, driving
Unit is connect by the second gear unit with postbrachium, wherein the dead weight of the first gear unit is less than the second gear unit.The present invention
By way of mixed drive, the first smaller driving unit of weight is used for the transmission of forearm and operating unit, reduces water
The weight of lower mechanical arm front end, to reduce in submarine mechanical arm motion process self inertia to submarine mechanical arm operation precision
With the influence of flexibility.Preferably, the transmission accuracy of the second gear unit can be disposed above to the shape of the first gear unit
Formula.In this way, by by weight it is larger by higher second driving unit of precision for postbrachium be driven, ensure postbrachium transmission essence
Degree reduces influence of the movement cumulative errors to the operation precision of operating unit, to improve the action essence of submarine mechanical arm
Degree and flexibility.
In the preferred technical solution of the present invention, arm component further includes the middle arm being connected between forearm and postbrachium, forearm,
Middle arm and postbrachium are arranged to hollow structure and meet respective gravity equal to its buoyancy in water.Setting in this way, base
Originally eliminate submarine mechanical arm under water operation when gravity and buoyancy influence of the effect to its dexterity of action, therefore further
Operation precision when ground improves mechanical arm underwater operation and flexibility.
In addition, the driving unit of submarine mechanical arm, control unit and power supply unit may be contained in waterproof vessel, waterproof device
Ware is pivotally installed in the main body of underwater robot.By concentrating on above-mentioned component in waterproof vessel, submarine mechanical is realized
The modularized design of arm, the main body so as to which submarine mechanical arm to be installed on to various underwaters carry out corresponding underwater work
Industry.
Description of the drawings
The preferred embodiment of the present invention is described with reference to the accompanying drawings and in conjunction with a kind of submarine mechanical arm of five degree of freedom,
In attached drawing：
Fig. 1 is the structural schematic diagram of the submarine mechanical arm in orientation one of an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the submarine mechanical arm broken section of an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the submarine mechanical arm in orientation two of an embodiment of the present invention；
Fig. 4 is the local interior structural schematic diagram of the submarine mechanical arm in orientation two of an embodiment of the present invention；
Fig. 5 is the enlarged drawing of part A in Fig. 4；
Fig. 6 is the partial structural diagram of the submarine mechanical arm of an embodiment of the present invention；
Fig. 7 is the enlarged drawing of part B in Fig. 6；
Fig. 8 be an embodiment of the present invention submarine mechanical arm in arm and forearm connecting portion partial schematic diagram；
Fig. 9 is the structural schematic diagram one of the submarine mechanical arm manipulator of an embodiment of the present invention；
Figure 10 is the structural schematic diagram two of the submarine mechanical arm manipulator of an embodiment of the present invention；
Figure 11 is the structural schematic diagram three of the submarine mechanical arm manipulator of an embodiment of the present invention.
Reference numerals list：
1.1, waterproof vessel；1.2, waterproof vessel shaft；1.3, base ring；1.4, base seat lid；1.5, motor cabinet；1.6, it pushes up
Lid；1.7, waterproof vessel motor；1.8, waterproof vessel driving gear；1.9, waterproof vessel driven gear；2.1, postbrachium；2.2, after
The first connecting pin of arm；2.3, postbrachium second connection end；2.4, postbrachium shaft；2.5, postbrachium shaft seating；2.6, postbrachium motor；
2.7, postbrachium active worm screw；2.8, postbrachium driven turbine wheel；2.9, gear protective cover；2.10, rear shoulder joint water-proof curtain；2.11, whirlpool
Worm and gear protective cover；3.1, middle arm；3.2, the first connecting pin of middle arm；3.3, middle arm second connection end；3.4, middle arm shaft；3.5、
Middle arm motor；3.6, middle arm motor drive bevel gear；3.7, middle arm intermediate transmission bevel gear；3.8, middle arm drive link；3.9, in
Arm drive link first bevel gear；3.10, middle arm drive link second bevel gear；3.11, middle arm driven gear；3.12, middle shoulder joint
Waterproof cover；4.1, forearm；4.2, the first connecting pin of forearm；4.3, forearm second connection end；4.4, forearm shaft；4.5, forearm electricity
Machine；4.6, forearm active line wheel；4.7, the driven line wheel of forearm；4.8, the first forearm cable guide；4.9, the second forearm bracing wire is led
Pipe；4.10, forearm bracing wire；4.11, the first cable guide holder；5.0, manipulator；5.1, mechanical wrist part；5.2, manipulator core
Frame；5.3, the first side cover of manipulator；5.4, the second side cover of manipulator；5.5, first-hand finger assembly；5.6, second finger component；
5.7, manipulator motor；5.8, manipulator active line wheel；5.9, manipulator bracing wire；5.10, the first manipulator cable guide；
5.11, the second manipulator cable guide；5.12, the driven line wheel of manipulator；5.13, the second cable guide holder；5.14, finger electricity
Machine；5.15, finger active line wheel；5.16, finger bracing wire；5.17, the first cable guide of finger；5.18, the second bracing wire of finger is led
Pipe；5.19, the driven line wheel of finger；5.20, finger driving gear；5.21, the first finger driven gear；5.22, in second finger
Between transmission gear；5.23, second finger driven gear；6.1, harness ring；7.1, control unit；7.2, power supply unit；7.3, lead to
Use interface.
Specific implementation mode
It will be apparent to a skilled person that this section embodiment is used only for explaining the technical principle of the present invention,
It is not intended to limit protection scope of the present invention.For example, although the present invention is come to this hair with the submarine mechanical arm of five degree of freedom
It is bright that explanation is introduced, but the submarine mechanical arm of five degree of freedom is only exemplary description, therefore those skilled in the art
It can make adjustment as needed to it, to adapt to specific application scenario, the submarine mechanical arm of such as present invention can be four
The submarine mechanical arm of degree of freedom, correspondingly power source increase and decrease with the increase and decrease of the degree of freedom of mechanical arm with transmission mechanism, adjust
Technical solution afterwards will fall into protection scope of the present invention.
It should be noted that in the description of the present invention, term "upper", "lower", "inner", "outside" etc. indicate direction or position
The term of relationship is direction based on ... shown in the drawings or position relationship, this is intended merely to facilitate description, rather than is indicated or dark
Show that described device or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as to this
The limitation of invention.Also, term " first ", " second ", " third " are used for description purposes only, and are not understood to indicate or imply
Relative importance.
In addition it is also necessary to explanation, in the description of the present invention unless specifically defined or limited otherwise, term " peace
Dress ", " setting ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection；It can be machine
Tool connects, and can also be electrical connection；It can be directly connected, it can also be indirectly connected through an intermediary.For this field skill
For art personnel, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
It is the structural schematic diagram of the submarine mechanical arm in orientation one of an embodiment of the present invention referring to figs. 1 to Figure 11, Fig. 1,
Fig. 2 is the structural schematic diagram of the submarine mechanical arm broken section of an embodiment of the present invention, and Fig. 3 is an embodiment of the present invention
For submarine mechanical arm in the structural schematic diagram in orientation two, Fig. 4 is the office of the submarine mechanical arm in orientation two of an embodiment of the present invention
Portion's internal structure schematic diagram, Fig. 5 are the enlarged drawings of part A in Fig. 4, and Fig. 6 is the submarine mechanical arm of an embodiment of the present invention
Partial structural diagram, Fig. 7 are the enlarged drawings of part B in Fig. 6, Fig. 8 be an embodiment of the present invention submarine mechanical arm in arm
With the partial schematic diagram of forearm connecting portion, Fig. 9 is the structural representation of the submarine mechanical arm manipulator of an embodiment of the present invention
Figure one, Figure 10 are the structural schematic diagrams two of the submarine mechanical arm manipulator of an embodiment of the present invention, and Figure 11 is of the invention a kind of
The structural schematic diagram three of the submarine mechanical arm manipulator of embodiment.
As shown in Figures 1 to 8, in an embodiment of the present invention, submarine mechanical arm include pedestal, driving unit, arm component,
Operating unit, the first gear unit, the second gear unit, third gear unit and waterproof unit.Waterproof unit includes waterproof device
Ware 1.1, waterproof vessel 1.1 are connected to pedestal in a rotatable way, and arm component includes forearm 4.1, middle arm 3.1 and postbrachium 2.1,
Operating unit is the manipulator 5.0 for the output end for being connected to forearm 4.1.Driving unit passes through the first gear unit and forearm
4.1 and the connection of manipulator 5.0 to drive forearm 4.1 and manipulator 5.0 to execute specific action, driving unit passes through the second transmission
Unit is connect with postbrachium 2.1 to drive postbrachium 2.1 to execute specific action, and driving unit passes through third gear unit and middle arm
3.1 connections execute specific action with arm 3.1 in driving；Wherein, the dead weight of the first gear unit is both less than the second gear unit
Dead weight again less than third gear unit dead weight.Preferably, the transmission accuracy of the second gear unit and third gear unit is equal
Higher than the first gear unit.Gear unit smaller and that transmission accuracy is relatively low of conducting oneself with dignity, mechanical arm are used in mechanical arm front end
Rear end using larger and the higher gear unit of precision, the setting in this way of conducting oneself with dignity, reduce submarine mechanical arm front end
Weight, to reduce in submarine mechanical arm motion process self inertia to the shadow of submarine mechanical arm operation precision and flexibility
It rings, improves operation precision and the flexibility of submarine mechanical arm.In addition, the transmission accuracy by improving postbrachium 2.1, reduces fortune
Dynamic influence of the cumulative errors to operating unit operation precision, to improve the operation precision of manipulator 5.0.People in the art
Member is it is understood that manipulator 5.0 is only intended to illustrate the present invention's as a kind of operating unit only illustrative description
Principle, it is not intended that limit the scope of the invention, under conditions of without departing from the principle of the invention, any rational change is all
Fall among protection scope of the present invention, such as operating unit can also be welding gun, digging mechanism, drilling mechanism operating mechanism or
Person is other suitable operating mechanisms.
Specifically, pedestal includes the base ring 1.3 being arranged below waterproof vessel 1.1 and is arranged in waterproof vessel 1.1
The base seat lid 1.4 of top, entire submarine mechanical arm are fixed on the main body of underwater robot by base ring 1.3 and base seat lid 1.4.
Waterproof vessel 1.1 connect with 1.4 axis of base seat lid so that waterproof vessel 1.1 can be relative to base seat lid 1.4 around waterproof vessel shaft 1.2
Rotary motion.The top of waterproof vessel 1.1 is provided with motor cabinet 1.5, the top of motor cabinet 1.5 is provided with head cover 1.6, after
Arm 2.1 is connected pivotally to by the first connecting pin of postbrachium 2.2 on the postbrachium shaft seating 2.5 for being set to head cover 1.6, middle arm
3.1 are connected pivotally to the postbrachium second connection end 2.3 of postbrachium 2.1 by the first connecting pin of middle arm 3.2, before forearm 4.1 passes through
The first connecting pin of arm 4.2 is connected pivotally to the middle arm second connection end 3.3 of middle arm 3.1, and manipulator 5.0 passes through mechanical wrist part
5.1 are connected to the forearm second connection end 4.3 of forearm 4.1 in a rotatable way.Driving unit include postbrachium motor 2.6, in
Arm motor 3.8, forearm motor 4.5, manipulator motor 5.7, finger motor 5.14 and waterproof vessel motor 1.7.Wherein, postbrachium
Motor 2.6, middle arm motor 3.8, forearm motor 4.5, manipulator motor 5.7, finger motor 5.14 are set in waterproof vessel 1.1
And it is fixed on motor cabinet 1.5, waterproof vessel motor 1.7 is set in waterproof vessel 1.1 and is fixed on the bottom of waterproof vessel 1.1
Portion.The waterproof vessel driven gear 1.9 coaxial with the waterproof vessel shaft 1.2 of waterproof vessel 1.1 is fixed in base seat lid 1.4,
Waterproof vessel driving gear 1.8, waterproof vessel driving gear 1.8 and waterproof are fixed on the output shaft of waterproof vessel motor 1.7
Vessel driven gear 1.9 is meshed, and waterproof vessel motor 1.7 passes through waterproof vessel driving gear 1.8 and waterproof vessel driven tooth
The gearing of wheel 1.9 enables waterproof vessel 1.1 to rotate around waterproof vessel shaft 1.2, to expand mechanical arm
Motion range, the athletic posture of mechanical arm is enriched, to improve the job area and work capacity of mechanical arm.Pass through tooth
The kind of drive is taken turns to realize the rotation of waterproof vessel 1.1, can ensure the rotation precision of waterproof vessel 1.1, in certain journey
It ensure that the operation precision of arm component and manipulator 5.0 on degree.It will be appreciated by persons skilled in the art that waterproof vessel are actively
Gear 1.8 and waterproof vessel driven gear 1.9 can be spur gear, helical gear, involute gear etc.；Underwater operation main body can be with
It is the main body of the underwater robots such as AUV, submarine, can also be the main body of other any suitable underwater robots.
Second gear unit includes the postbrachium active worm screw 2.7 being fixed on the output shaft of postbrachium motor 2.6 and is fixed on
The postbrachium driven turbine wheel 2.8 being meshed in the rotation axis of postbrachium 2.1 and with postbrachium active worm screw 2.7.After postbrachium motor 2.6 passes through
Arm active worm screw 2.7 and the gearing of postbrachium driven turbine wheel 2.8 can make postbrachium 2.1 move pivotally around postbrachium shaft 2.4.
Waterproof unit further includes the rear shoulder joint water-proof curtain 2.10 being arranged in the pivoted position of postbrachium 2.1.Pass through the pivot in postbrachium 2.1
Shoulder joint water-proof curtain 2.10 after the setting of position, can play waterproof action in 2.1 pivot motion course of postbrachium, avoid internal junction
Structure is intake.The transmission between postbrachium motor 2.6 and postbrachium 2.1 is realized by turbine and worm transmission mechanism, can ensure postbrachium
2.1 precision to move pivotally around postbrachium shaft 2.4, to reduce shadow of the movement cumulative errors to the movement position of manipulator 5.0
It rings, further ensure that the operation precision of manipulator 5.0.
Third gear unit includes sequentially connected middle arm motor drive bevel gear 3.6, middle arm intermediate transmission bevel gear
3.7, middle arm drive link first bevel gear 3.9, middle arm drive link 3.8, middle arm drive link second bevel gear 3.10 and middle arm are driven
Gear 3.11.Middle arm motor drive bevel gear 3.6 is fixed on the output shaft of middle arm motor 3.8, middle arm intermediate transmission bevel gear 3.7
It is sheathed in the postbrachium shaft 2.4 of postbrachium 2.1 and bores tooth with middle arm motor drive bevel gear 3.6 and middle arm drive link first respectively
Wheel 3.9 is meshed, and middle arm drive link first bevel gear 3.9 is fixed on middle arm drive link 3.8 close to the end of waterproof vessel 1.1,
Middle arm drive link second bevel gear 3.10 is fixed on middle arm drive link 3.8 close to the end of manipulator 5.0, middle arm driven gear
3.11 are fixed on the middle arm shaft 3.4 of middle arm 3.1, and middle arm drive link 3.8 passes through postbrachium 2.1, middle arm drive link second bevel gear
3.10 are meshed with middle arm driven gear 3.11.Middle arm motor 3.8 among middle arm motor drive bevel gear 3.6, middle arm by passing
Dynamic bevel gear 3.7, middle arm drive link first bevel gear 3.9, middle arm drive link 3.8, middle 3.10 and of arm drive link second bevel gear
The gearing of middle arm driven gear 3.11 can be such that middle arm 3.1 is pivotally rotated around middle arm shaft 3.4.Waterproof unit further includes
Middle shoulder joint waterproof cover 3.12 in the pivoted position of middle arm 3.1 is set, 3.12 aligning arm 3.1 of middle shoulder joint waterproof cover is passed through
Pivoted position plays waterproof action.By the transmission of bevel gear pair, it ensure that middle arm 3.1 moved pivotally around middle arm shaft 3.4
Precision is extended by the combination of middle arm drive link 3.8 and middle arm drive link second bevel gear 3.10 and middle arm driven gear 3.11
Gear-driven transmission is away from avoiding multi-gear and engaged successively to realize long-distance transmission and increase mechanical arm weight to machinery
The harmful effect of arm kinematic dexterity improves the kinematic dexterity of mechanical arm indirectly.
As shown in Fig. 1, Fig. 6, Fig. 7, Fig. 8 and Fig. 9, the first gear unit includes three groups of line transmission mechanisms, specifically, packet
Include forearm line transmission mechanism, manipulator line transmission mechanism and manipulator finger transmission mechanism.
Forearm line transmission mechanism includes forearm active line wheel 4.6, the driven line wheel 4.7 of forearm, the first forearm cable guide
4.8, the second forearm cable guide 4.9 and forearm bracing wire 4.10.Wherein, forearm active line wheel 4.6 is fixed on forearm motor 4.5
Output shaft, the driven line wheel of forearm 4.7 is rotatably disposed in the middle arm second connection end 3.3 of middle arm 3.1, in middle arm
The both ends of 3.1 middle arm shaft 3.4 are respectively arranged with beam loop 6.1.First forearm cable guide 4.8 and the second forearm bracing wire are led
Pipe 4.9 passes through harness ring 6.1 and both ends are separately fixed on motor cabinet 1.5 and the first cable guide holder 4.11.Forearm is drawn
Line 4.10 is wound in forearm active line wheel 4.6 and the driven line wheel of forearm 4.7 and from the first forearm cable guide 4.8 and the second forearm
Cable guide 4.9 passes through.Forearm motor 4.5 is and driven in forearm bracing wire 4.10 and forearm by driving forearm active line wheel 4.6
Under the gearing of line wheel 4.7 forearm 4.1 can rotate around forearm shaft 4.4.
Manipulator line transmission mechanism includes that manipulator active line wheel 5.8, manipulator bracing wire 5.9, the first manipulator bracing wire are led
Pipe 5.10, the second manipulator cable guide 5.11 and the driven line wheel of manipulator 5.12.Wherein, manipulator active line wheel 5.8 is fixed
In the output shaft of manipulator motor 5.7, the driven line wheel of manipulator 5.12 is connected to the forearm of forearm 4.1 in a rotatable way
Two connecting pins 4.3 are simultaneously coaxial with forearm 4.1, and the driven line wheel of manipulator 5.0 and manipulator 5.12 is fixedly connected.In manipulator 5.0
On be fixed with the second cable guide holder 5.13.First manipulator cable guide 5.10 and the second manipulator cable guide 5.11 are worn
It crosses harness ring 6.1 and both ends is separately fixed on motor cabinet 1.5 and the second cable guide holder 5.13.Manipulator bracing wire 5.9
It is wound in manipulator active line wheel 5.8 and the driven line wheel of manipulator 5.12 and across the first manipulator cable guide 5.10 and the
Two manipulator cable guides 5.11.Manipulator motor 5.7 is by driving manipulator active line wheel 5.8 and in manipulator bracing wire 5.9
Gearing with the driven line wheel of manipulator 5.12 can make manipulator 5.0 rotate around the central shaft of forearm 4.1.
Manipulator finger transmission mechanism includes finger active line wheel 5.15, finger bracing wire 5.16, the first cable guide of finger
5.17, the driven line wheel of the second cable guide of finger 5.18, finger 5.19.The mechanical wrist part 5.1 of manipulator 5.0 is fixedly connected on
The driven line wheel 5.12 of manipulator, manipulator core frame 5.2 are fixedly connected on mechanical wrist part 5.1, on manipulator core frame 5.2 symmetrically
It is pivotally connected first-hand finger assembly 5.5 and second finger component 5.6, first-hand finger assembly 5.5 passes through the first finger driven tooth
Wheel 5.23 is connect with finger driving gear 5.20, and second finger component 5.6 passes sequentially through second finger intermediate drive gear 5.22
It is connect with finger driving gear 5.20 with second finger driven gear 5.23, the driven line wheel 5.19 of finger and finger driving gear
5.20 central shaft is fixedly connected.5.2 both sides of manipulator core frame are separately installed with the first side cover of manipulator 5.3 and manipulator second
Side cover 5.4.Finger active line wheel 5.15 is fixed on the output shaft of finger motor 5.14, and the driven line wheel of finger 5.19 is with rotatable
Mode is connected to manipulator 5.0.The first cable guide of finger 5.17 and the second cable guide of finger 5.18 pass through harness ring 6.1 simultaneously
And both ends are separately fixed on motor cabinet 1.5 and the second cable guide holder 5.13.Finger bracing wire 5.16 is wound on finger active line
On wheel 5.15 and the driven line wheel of finger 5.19 and pass through the first cable guide of finger 5.17 and the second cable guide of finger 5.18.
Finger motor 5.14 is by driving finger active line wheel 5.15 and in the transmission of finger bracing wire 5.16 and the driven line wheel of finger 5.19
Rotate finger driving gear 5.20 under effect, finger driving gear 5.20 is in the first finger driven gear 5.21, second finger
Make first-hand finger assembly 5.5 and second finger component under the action of intermediate drive gear 5.22 and second finger driven gear 5.23
5.6 do reversed pivoting action to realize crawl or put down object.
As can be seen that waterproof vessel motor 1.7 drives 1.1 rotary motion of waterproof vessel and makes mechanical arm from foregoing description
Entirety can rotary motion, postbrachium motor 2.6 can drive postbrachium 2.1 to move pivotally relative to waterproof vessel 1.1, middle arm electricity
Arm 3.1 moves pivotally relative to postbrachium 2.1 during machine 3.8 can drive, forearm motor 4.5 can drive forearm 4.1 relative to
Middle arm 3.1 moves pivotally, manipulator motor 5.7 can driving manipulator 5.0 rotate relative to forearm 4.1, respectively
The mechanical arm of five degree of freedom just can be made to make the actions of various complexity after movement synthesis, so as to mechanical arm neatly execute it is various
Task.Postbrachium 2.1 and middle arm 3.1 are close to pedestal, forearm 4.1 and manipulator 5.0 far from pedestal, the movement position of manipulator 5.0
It is influenced by postbrachium 2.1 and 3.1 movement position of middle arm, and the motion amplitude of manipulator 5.0 is big, kinematic dexterity is by inertia shadow
Maximum is rung, therefore, postbrachium 2.1 and middle arm 3.1 are using gear drive relatively large and that transmission accuracy is relatively high of conducting oneself with dignity
It is driven, ensure that the operation precision of postbrachium 2.1, middle arm 3.1, to reduce the movement position of postbrachium 2.1 and middle arm 3.1
Influence of the error to the positional precision of forearm 4.1 and manipulator 5.0, improves the action of forearm 4.1 and manipulator 5.0 indirectly
Precision.And forearm 4.1 and manipulator 5.0 are driven using relatively small line transmission mechanism of conducting oneself with dignity, before reducing mechanical arm
The quality in portion, therefore influence of the inertia to manipulator motion flexibility is reduced, the kinematic dexterity of mechanical arm is improved, accordingly
Ground improves the operation precision of mechanical arm, meets performance requirement when mechanical arm underwater operation.
It will be appreciated by persons skilled in the art that the transmission mechanism of forearm 4.1 and manipulator 5.0 is not limited solely to line
Transmission mechanism, and the transmission mechanism of postbrachium 2.1 is not limited solely to turbine and worm transmission, as forearm 4.1 and manipulator 5.0 can be with
It is driven by tape handler, postbrachium 2.1 can be driven by bevel gear transmission, can mitigate mechanical arm front end matter
It measures and ensures the transmission mechanism combination of mechanical arm rear-end transmission precision, can improve the action essence of mechanical arm to a certain extent
Degree and flexibility.In addition, middle arm motor drive bevel gear 3.6, middle 3.7 and of arm intermediate transmission bevel gear in third gear unit
The combination of middle arm drive link first bevel gear 3.9 could alternatively be shaft coupling with the output shaft of arm motor 3.8 in realizing and middle arm
The connection of drive link 3.8 is driven.Those skilled in the art will also be appreciated that waterproof vessel 1.1 can also be directly can revolve
The mode turned is connect with underwater human agent, at this point, the main body of the output shaft of waterproof vessel motor 1.7 and underwater robot is solid
Fixed connection, waterproof vessel motor 1.7 are fixedly connected with waterproof vessel 1.1, pass through turn of the output shaft of waterproof vessel motor 1.7
It is dynamic, so that waterproof vessel 1.1 is rotated relative to the main body of underwater robot.
Preferably, forearm 4.1, middle arm 3.1 and postbrachium 2.1 be all provided be set to hollow structure and meet gravity equal to its
Buoyancy in water.Forearm 4.1, middle arm 3.1 and postbrachium 2.1 are hollow tube body, and the buoyancy being respectively subject in water is equal to
Its gravity being subject to.By the setting of hollow structure, the quality and inertia of mechanical arm are further reduced, to reduce machine
Influence of the tool arm self inertia to its flexibility and operation precision, improves its kinematic dexterity and kinematic accuracy.In addition, passing through
Gravity be equal to buoyancy design, make mechanical arm under water operation when, make the shadow of buoyancy and gravity to its operation precision and flexibility
The degree of sound minimizes, and further improves operation precision and the flexibility of mechanical arm.It will be appreciated by those skilled in the art that
It is the part-structure in forearm 4.1, middle arm 3.1 and postbrachium 2.1 to be only arranged to hollow structure according to actual needs.
With continued reference to Fig. 4, mechanical arm further includes the control unit 7.1 being set to inside waterproof vessel 1.1, control unit
7.1 communicate with host computer (not shown) to control waterproof vessel motor 1.7, postbrachium motor 2.6, middle arm motor 3.8, forearm
The start and stop of motor 4.5, manipulator motor 5.7 and finger motor 5.14 and then the athletic posture of control machinery hand 5.0.Pass through control
The setting of unit, mechanical arm execute various operations without external control unit, need to carry out after eliminating external control unit
Constantly debugging and caused by trouble.It will be appreciated by persons skilled in the art that control unit can also may be used by manually controlling
To pass through built-in procedure auto-control.
With continued reference to Fig. 2, mechanical arm further includes the power supply unit 7.2 being set to inside waterproof vessel 1.1, power supply unit
7.2 to control unit 7.1 and driving unit for providing electric energy.It is additionally provided with general-purpose interface 7.3 on waterproof vessel 1.1, leads to
It can be used in connecting charging circuit with interface 7.3 to charge to power supply unit 7.2, general-purpose interface 7.3 can also connect
Communication line is to import pre-set control program to control unit 7.1.By the way that power supply unit 7.2 is arranged, make machinery
Arm without external power supply can under the control of control unit 7.1 by driving unit drive waterproof vessel 1.1, postbrachium 2.1, in
Arm 3.1, forearm 4.1 and manipulator 5.0 are acted accordingly.By the way that control unit 7.1 and power supply unit 7.2 are integrated in
In waterproof vessel 1.1, realize the modularization of mechanical arm, enable mechanical arm be installed on the main bodys of various underwater operation machines into
Row underwater operation eliminates trouble caused by external power supply and control device.In addition, power supply unit 7.2 is integrated in waterproof
Inside vessel 1.1, external power supply electric leakage risk that may be present is also eliminated, to improve operational security.
It can be seen from the above description that the arm component of submarine mechanical arm of the invention includes forearm 4.1,3.1 and of middle arm
The output end of postbrachium 2.1, forearm 1 is connected with manipulator 5.0, and postbrachium 2.1 is connected pivotally to waterproof vessel 1.1, waterproof device
Ware 1.1 is connected to pedestal in a rotatable way, and waterproof vessel 1.1, postbrachium 2.1 and middle arm 3.1 pass through engaged transmission machine respectively
Structure is driven, and forearm 4.1 and manipulator 5.0 are driven by line transmission mechanism respectively, will be conducted oneself with dignity relatively large and will be driven
The higher engagement transmission mechanism of precision is respectively used to the transmission of postbrachium 2.1 and middle arm 3.1, and relatively small line transmission mechanism of conducting oneself with dignity is used
In the transmission of forearm 4.1 and manipulator 5.0, the quality of mechanical arm front end is reduced, to reduce inertia to manipulator motion
The influence of precision and kinematic dexterity, and engaged transmission precision is higher, and stable drive reduces postbrachium 2.1 and middle arm 3.1
Influence of the kinematic error to 5.0 kinematic accuracy of forearm 4.1 and manipulator, further increases the kinematic accuracy of mechanical arm.It is excellent
Selection of land, forearm 4.1, middle arm 3.1 and postbrachium 2.1 are arranged to hollow structure, and respective gravity is equal to what it was subject in water
Buoyancy.By the setting of hollow structure, the quality of mechanical arm is reduced, further reduces inertia to manipulator motion precision
With the influence of kinematic dexterity.In addition, gravity is equal to the design of buoyancy, make buoyancy and gravity to its operation precision and flexibility
Influence degree minimizes, to further increase the kinematic accuracy and kinematic dexterity of mechanical arm.Further preferably,
Control unit 7.1 and power supply unit 7.2 are integrated in waterproof vessel 1.1, the modularization of mechanical arm is realized, enables mechanical arm
It is enough independently to carry out underwater operation, avoid trouble caused by external power supply and control device.
Therefore above example only expresses embodiments of the present invention, the description thereof is more specific and detailed, but can not be
And it is interpreted as the limitation to the scope of the claims of the present invention.It should be pointed out that for those of ordinary skill in the art, not
Under the premise of being detached from present inventive concept, various modifications and improvements can be made, these are all within the scope of protection of the present invention.Cause
This, protection scope of the present invention should be subject to claim.
Claims (10)
1. a kind of submarine mechanical arm based on mixed drive, which is characterized in that the submarine mechanical arm includes driving unit and arm
Component, the arm component include forearm and postbrachium, and the output end of the forearm is connected with operating unit,
The submarine mechanical arm further includes the first gear unit and the second gear unit, and the driving unit is passed by described first
Moving cell is connect with the forearm and the operating unit, and the driving unit passes through second gear unit and the postbrachium
Connection,
Wherein, the dead weight of first gear unit is less than second gear unit.
2. submarine mechanical arm according to claim 1, which is characterized in that the arm component further includes middle arm, the middle arm
It is connected between the forearm and the postbrachium, the submarine mechanical arm further includes third gear unit, and the driving unit is logical
The third gear unit is crossed to connect with the middle arm,
Wherein, the dead weight of first gear unit is less than the third gear unit.
3. submarine mechanical arm according to claim 2, which is characterized in that the forearm, the middle arm and the postbrachium
In one or more be arranged to hollow structure.
4. submarine mechanical arm according to claim 3, which is characterized in that the forearm, the middle arm and the postbrachium
It is all provided with to be set to hollow structure and meet respective gravity and is equal to its buoyancy in water.
5. submarine mechanical arm according to claim 4, which is characterized in that first gear unit includes multiple line transmissions
Mechanism；
Second gear unit is turbine and worm transmission mechanism；
The third gear unit includes two groups of bevel gear pairs, and passes through the biography through the postbrachium between two groups of bevel gear pairs
Lever is connected.
6. submarine mechanical arm according to any one of claim 1 to 5, which is characterized in that the submarine mechanical arm includes
Waterproof unit,
The waterproof unit includes waterproof vessel, and the driving unit is fixed in the waterproof vessel, the waterproof vessel with
Rotatably it is connected with the main body of underwater robot.
7. submarine mechanical arm according to claim 6, which is characterized in that the submarine mechanical arm includes pedestal, the base
Seat is fixed on the main body of the underwater robot, and the waterproof vessel are connected with the pedestal in a rotatable way.
8. submarine mechanical arm according to claim 7, which is characterized in that the waterproof vessel pass through shaft and the pedestal
Connection is fixed with the waterproof vessel driven gear coaxial with the shaft on the pedestal, be provided on the waterproof vessel with
The waterproof vessel driving gear of the waterproof vessel driven gear engagement, the waterproof vessel driving gear and the waterproof vessel
It connects in a rotatable way.
9. submarine mechanical arm according to claim 8, which is characterized in that the submarine mechanical arm further includes control unit,
Described control unit be used to communicate with host computer with control the driving unit drive the waterproof vessel, the arm component and
The operating unit to control its athletic posture,
Wherein, described control unit is set in the waterproof vessel.
10. submarine mechanical arm according to claim 9, which is characterized in that the submarine mechanical arm further includes power supply unit,
The power supply unit is used to provide electric energy to described control unit and the driving unit,
Wherein, the power supply unit is set in the waterproof vessel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810298501.0A CN108381542A (en) | 2018-04-04 | 2018-04-04 | Submarine mechanical arm based on mixed drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810298501.0A CN108381542A (en) | 2018-04-04 | 2018-04-04 | Submarine mechanical arm based on mixed drive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108381542A true CN108381542A (en) | 2018-08-10 |
Family
ID=63073372
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810298501.0A Pending CN108381542A (en) | 2018-04-04 | 2018-04-04 | Submarine mechanical arm based on mixed drive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108381542A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110641660A (en) * | 2019-10-21 | 2020-01-03 | 中国科学院自动化研究所 | Underwater operation robot for marine product fishing |
| CN111376279A (en) * | 2020-05-08 | 2020-07-07 | 重庆工商大学 | Micro-operation mechanical arm for underwater biological printing |
| CN112296992A (en) * | 2019-08-01 | 2021-02-02 | 梁梓恒 | Rope-driven multi-joint robot unit mechanism |
| WO2021175893A1 (en) * | 2020-03-03 | 2021-09-10 | Helmholtz-Zentrum Dresden - Rossendorf E.V. | Two-axis rotator |
| CN114271946A (en) * | 2022-01-19 | 2022-04-05 | 首都医科大学附属北京安贞医院 | Automatic positioning mechanical arm of interventional robot |
| CN114852290A (en) * | 2022-03-31 | 2022-08-05 | 广州大学 | Modular underwater pile foundation structure self-adaptive cleaning and damage detection mechanical arm |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4259876A (en) * | 1979-10-02 | 1981-04-07 | Belyanin Petr N | Mechanical arm |
| US20110206481A1 (en) * | 2008-11-04 | 2011-08-25 | King Fahd University Of Petroleum And Minerals | Anthropomorphic force-reflective master arm |
| EP2397279A1 (en) * | 2010-06-15 | 2011-12-21 | EB-invent GmbH | Articulated arm robot with arm drive |
| CN103223669A (en) * | 2013-05-14 | 2013-07-31 | 中国科学院自动化研究所 | Light mechanical arm mechanism |
| CN103753526A (en) * | 2013-12-30 | 2014-04-30 | 重庆交通大学 | Precise positionable and compensable heavy-load mechanical arm |
| CN104385296A (en) * | 2014-09-28 | 2015-03-04 | 浙江瀚镪自动化设备股份有限公司 | Manipulator |
| CN104723329A (en) * | 2015-04-17 | 2015-06-24 | 安徽工程大学 | Mechanical arm for assembly of fastening parts |
| US20150248121A1 (en) * | 2012-10-23 | 2015-09-03 | Cognibotics Ab | Method and system for determination of at least one property of a joint |
| CN105291134A (en) * | 2015-12-07 | 2016-02-03 | 佛山市广工大数控装备技术发展有限公司 | Flexible bionic manipulator |
| CN107225564A (en) * | 2017-05-17 | 2017-10-03 | 中国科学院自动化研究所 | A kind of Snakelike mechanical arm rolled up |
| CN107351121A (en) * | 2017-07-03 | 2017-11-17 | 东北大学 | A kind of robot driven by ropes human arm |
| CN208117851U (en) * | 2018-04-04 | 2018-11-20 | 中国科学院自动化研究所 | Submarine mechanical arm based on mixed drive |
-
2018
- 2018-04-04 CN CN201810298501.0A patent/CN108381542A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4259876A (en) * | 1979-10-02 | 1981-04-07 | Belyanin Petr N | Mechanical arm |
| US20110206481A1 (en) * | 2008-11-04 | 2011-08-25 | King Fahd University Of Petroleum And Minerals | Anthropomorphic force-reflective master arm |
| EP2397279A1 (en) * | 2010-06-15 | 2011-12-21 | EB-invent GmbH | Articulated arm robot with arm drive |
| US20150248121A1 (en) * | 2012-10-23 | 2015-09-03 | Cognibotics Ab | Method and system for determination of at least one property of a joint |
| CN103223669A (en) * | 2013-05-14 | 2013-07-31 | 中国科学院自动化研究所 | Light mechanical arm mechanism |
| CN103753526A (en) * | 2013-12-30 | 2014-04-30 | 重庆交通大学 | Precise positionable and compensable heavy-load mechanical arm |
| CN104385296A (en) * | 2014-09-28 | 2015-03-04 | 浙江瀚镪自动化设备股份有限公司 | Manipulator |
| CN104723329A (en) * | 2015-04-17 | 2015-06-24 | 安徽工程大学 | Mechanical arm for assembly of fastening parts |
| CN105291134A (en) * | 2015-12-07 | 2016-02-03 | 佛山市广工大数控装备技术发展有限公司 | Flexible bionic manipulator |
| CN107225564A (en) * | 2017-05-17 | 2017-10-03 | 中国科学院自动化研究所 | A kind of Snakelike mechanical arm rolled up |
| CN107351121A (en) * | 2017-07-03 | 2017-11-17 | 东北大学 | A kind of robot driven by ropes human arm |
| CN208117851U (en) * | 2018-04-04 | 2018-11-20 | 中国科学院自动化研究所 | Submarine mechanical arm based on mixed drive |
Non-Patent Citations (1)
| Title |
|---|
| 陶俊;袁建军;张伟军;万志成;: "钢丝绳传动四自由度机械臂的机构设计", 机械与电子, vol. 1, no. 01, pages 37 - 38 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112296992A (en) * | 2019-08-01 | 2021-02-02 | 梁梓恒 | Rope-driven multi-joint robot unit mechanism |
| CN110641660A (en) * | 2019-10-21 | 2020-01-03 | 中国科学院自动化研究所 | Underwater operation robot for marine product fishing |
| WO2021175893A1 (en) * | 2020-03-03 | 2021-09-10 | Helmholtz-Zentrum Dresden - Rossendorf E.V. | Two-axis rotator |
| US20230167879A1 (en) * | 2020-03-03 | 2023-06-01 | Helmholtz-Zentrum Dresden-Rossendorf E.V. | Two-axis rotator |
| US11835112B2 (en) * | 2020-03-03 | 2023-12-05 | Helmholtz-Zentrum Dresden-Rossendorf E.V. | Two-axis rotator |
| CN111376279A (en) * | 2020-05-08 | 2020-07-07 | 重庆工商大学 | Micro-operation mechanical arm for underwater biological printing |
| CN114271946A (en) * | 2022-01-19 | 2022-04-05 | 首都医科大学附属北京安贞医院 | Automatic positioning mechanical arm of interventional robot |
| CN114271946B (en) * | 2022-01-19 | 2023-06-23 | 首都医科大学附属北京安贞医院 | Automatic positioning mechanical arm of interventional robot |
| CN114852290A (en) * | 2022-03-31 | 2022-08-05 | 广州大学 | Modular underwater pile foundation structure self-adaptive cleaning and damage detection mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108381542A (en) | Submarine mechanical arm based on mixed drive | |
| CN208117851U (en) | Submarine mechanical arm based on mixed drive | |
| US11298816B2 (en) | Seven-degrees-of-freedom humanoid robotic arms | |
| CN102488554B (en) | Micro instrument terminal based on module joint and used for minimally invasive surgery robot | |
| KR20110034989A (en) | 4-dof parallel mechanism and needle insertion device using 4-dof parallel mechanism | |
| CN109048988A (en) | A kind of mechanical wrist constructional device | |
| CN108515516A (en) | A kind of high protection bispin articulated robot | |
| WO2023232163A1 (en) | Double-joint multi-degrees-of-freedom mechanical arm and driving method therefor | |
| CN207710796U (en) | A kind of seven degrees of freedom copy man mechanical arm | |
| CN111803328A (en) | Full upper limb exoskeleton rehabilitation robot | |
| CN111152244B (en) | Robot frogman and palm assembly | |
| CN1317109C (en) | Multiple joint human-imitating robot arm | |
| CN108608408A (en) | A kind of bionical jellyfish robot of multiple degrees of freedom | |
| CN206703063U (en) | Flexible manipulator for the disaster relief | |
| CN106363624A (en) | Flexible cable parallel mechanical arm system with self-weight balance device and control method of flexible cable parallel mechanical arm system | |
| CN103302678B (en) | A kind of wrist joint of robot | |
| CN207788942U (en) | A kind of preposition wrist structure of robot motor | |
| CN106826899A (en) | A kind of Apery manipulator based on axle transmission refers to structure | |
| CN107199550A (en) | The mechanical exoskeleton formula explosive-removal robot of display is worn based on FPV | |
| CN206019701U (en) | A kind of wearable device test device | |
| CN2892402Y (en) | Multiaxle rotary joint | |
| CN111633669B (en) | Modularized three-degree-of-freedom tendon rope transmission humanoid dexterous mechanical finger and control method | |
| CN116852336A (en) | Upper body teleoperation force feedback equipment for double-arm robot | |
| CN104161608B (en) | A kind of tendon transmission is done evil through another person | |
| CN103231386B (en) | Reconfigurable underwater robot mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |