CN108748125B - Snakelike industrial robot - Google Patents
Snakelike industrial robot Download PDFInfo
- Publication number
- CN108748125B CN108748125B CN201810562398.6A CN201810562398A CN108748125B CN 108748125 B CN108748125 B CN 108748125B CN 201810562398 A CN201810562398 A CN 201810562398A CN 108748125 B CN108748125 B CN 108748125B
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- Prior art keywords
- guide
- component
- movable joint
- driving
- joint
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- Expired - Fee Related
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
The invention provides a snakelike industrial robot, which comprises a substrate and a manipulator body arranged on the substrate; the manipulator body comprises a plurality of linked movable joints, two adjacent movable joints are hinged with each other and driven by a joint component arranged in each movable joint; the base body is internally provided with a control unit, and each joint component is in control connection with the control unit through a circuit. The invention can bend according to the snake strip structure, and can move even in narrow bending space.
Description
Technical Field
The invention relates to the field of mechanical equipment, in particular to a snake-shaped industrial robot.
Background
An industrial robot is a mechanical device with high degree of freedom and powerful functions, and is widely applied to industrial production. Most industrial robots are provided with a plurality of mechanical joints, imitate the limbs of human bodies, and can rotate and swing to realize various actions.
Industrial robots in the prior art do not have a serpentine structure, are single in action, require a large deployment space to move, and cannot move in a narrow space. Each joint is relatively bulky and cannot perform any motion once in a curved and narrow environment.
It is obvious that the prior art has certain defects.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a snake-shaped industrial robot which can perform bending movement by following a snake-shaped strip structure and can move even in a narrow bending space.
In order to achieve the purpose, the invention adopts the following technical scheme:
a snakelike industrial robot comprises a substrate and a manipulator body arranged on the substrate; the manipulator body comprises a plurality of linked movable joints, two adjacent movable joints are hinged with each other and driven by a joint component arranged in each movable joint; a control unit is arranged in the base body, and each joint component is in control connection with the control unit through a circuit;
the joint assembly comprises a unit motor, a driving member and a guide member; the unit motor is fixedly arranged in the movable joint at the next layer, the upper part of the unit motor is in transmission connection with a driving member, and the driving member is in mutual contact with the guide member to form a cam mechanism; the guide member is fixedly arranged at the tail part of the movable joint positioned on the upper layer and is hinged with the movable joint positioned on the lower layer, so that the guide member can rotate and swing left and right based on the movable joint of the lower layer, and two adjacent movable joints are hinged together; the driving component is in transmission connection with the guide component in a matching way, so that the driving component drives one side of the guide component to rise and drives the other side of the guide component to fall when rotating, and the guide component swings.
Furthermore, the driving member is spherical, a left moving rail and a right moving rail are obliquely arranged along the surface of the spherical surface, the moving rails on the left side and the right side are mutually mirror-symmetric, and the inclination angle is smaller than 45 degrees; two sides of the guide component are convexly provided with a left guide unit and a right guide unit towards the center, and the two guide units are respectively embedded into the two moving rails, so that the moving rails drive the guide component to rotate and swing when the driving component rotates leftwards or rightwards.
Furthermore, the guide member is sleeved on the periphery of the driving member, and the two guide units protrude inwards from two sides of the guide member and extend and are embedded into the moving rail; the hinge point of the guide member and the movable joint positioned at the next layer is positioned between the two guide units, the direction of the hinge shaft is orthogonal to the guide units, and the two guide units are opposite to the spherical center of the driving member.
Furthermore, the guide unit comprises a roller, the roller is installed through a roller shaft cantilever which protrudes and extends inwards from the guide member, and the roller is embedded in the moving rail and rolls freely.
Furthermore, driving parts which protrude outwards and extend are arranged at the front side and the rear side of the driving component; the front side and the rear side of the guide member are respectively provided with a first guide rail and a second guide rail, the first guide rail on one side is in an upper arch shape with the middle part arched upwards and the left side and the right side protruded downwards, the second guide rail on the other side is in a lower arch shape with the middle part arched downwards and the left side and the right side sunken upwards, and the two driving parts are respectively in contact transmission with the two guide rails, so that the driving parts drive the guide member to swing in a left-right rotating mode when the driving member rotates leftwards or rightwards.
Further, the guide member is mounted above the driving member; the hinge point of the guide member and the movable joint positioned at the next layer is positioned above the middle parts of the first guide rail and the second guide rail; the direction of the articulated shaft is orthogonal to the first guide rail and the second guide rail.
Further, the drive portion includes a roller cantilevered by a roller shaft extending outwardly from the drive member, the roller being free to roll in contact with the surface of the guide rail.
Furthermore, the head of the movable joint is provided with a hinged part which protrudes and extends towards the upper layer of movable joint, and the movable joint positioned at the next layer is mutually hinged with the tail part of the movable joint positioned at the previous layer through the hinged part.
Furthermore, two sides of the tail part of the movable joint are provided with baffle parts which protrude and extend towards the lower layer of movable joint, and the baffle parts are matched and meshed with the hinged parts, so that two sides of the hinged parts are shielded.
Furthermore, the hinge shaft directions of the heads of the two adjacent movable joints are orthogonal to each other, so that the swinging directions of the two adjacent joints are orthogonal to each other.
The snake-shaped industrial robot provided by the invention has the following advantages:
the snake-shaped structure is simulated, so that the plurality of movable joints realize special actions such as swinging, coiling and the like, present special forms and motion tracks and can be developed even in a narrow bending space;
the volume is smaller than that of the manipulator in the prior art, so that the space is easily saved;
the joint is controlled by a driving component mechanism, the motion amplitude is high in controllability, and the joint has certain load capacity;
the movable joints are tightly matched with each other, the shielding performance is good, and internal mechanical parts are not exposed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic overall structure diagram of a snake-shaped industrial robot.
Fig. 2 is an exploded view of the joint assembly according to the first embodiment.
Fig. 3 is a schematic internal view of the movable joint and the combined structure between the movable joints according to the first embodiment.
Fig. 4 is a schematic structural diagram of a driving member according to the first embodiment.
Fig. 5 is an exploded structural view of the joint assembly according to the second embodiment.
Fig. 6 is an internal schematic view of one side of the combined structure of the movable segments according to the second embodiment.
Fig. 7 is an internal view of the opposite side of fig. 6.
Description of reference numerals:
1. base body 2 and manipulator body
3. Movable joint 4 and joint assembly
5. Articulated shaft 6, unit motor
7. Drive member 8, guide member
9. Guide unit 10, roller
11. Roller shaft 12 and moving rail
13. Hinge part 14 and stopper part
15. Drive unit 16 and first guide rail
17. Second guide rail
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention and the accompanying drawings. It should be noted that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1 to 4, the present invention discloses a serpentine industrial robot, which includes a substrate 1, and a manipulator body 2 mounted on the substrate 1; the manipulator body 2 comprises a plurality of linked movable joints 3, two adjacent movable joints 3 are hinged with each other and are driven by a joint component 4 arranged in each movable joint 3; a control unit is arranged in the base body 1, and each joint component 4 is in control connection with the control unit through a circuit;
and joint assemblies 4 are arranged between two adjacent movable joints 3, and the control unit actually controls the action of each joint assembly 4 so as to control the action of the whole snake-shaped industrial robot. The connection lines between the joint assembly 4 and the control unit are not limited in particular, and are generally routed along the inside of the movable joint 3. Through every joint subassembly 4's cooperation activity, can realize that snakelike industrial robot holistic crooked, the coiling, a great deal of actions such as swing simulate like banding snakelike generally, the degree of freedom is high, conveniently carries out the multiple action in narrow and small crooked environment.
Referring to fig. 2 to 4, in particular, the joint assembly 4 preferably includes a unit motor 6, a driving member 7 and a guide member 8; the unit motor 6 is fixedly arranged in the movable joint 3 positioned at the next layer, the upper part of the unit motor 6 is in transmission connection with a driving member 7, and the driving member 7 and the guide member 8 are in mutual contact to form a cam mechanism; the guide member 8 is fixedly arranged at the tail part of the movable joint 3 positioned at the upper layer, and the guide member 8 is hinged with the movable joint 3 positioned at the lower layer, so that the guide member 8 can rotate and swing left and right based on the movable joint 3 positioned at the lower layer, and two adjacent movable joints 3 are hinged with each other; the driving member 7 is in transmission connection with the guide member 8 in a matching way, so that when the driving member 7 rotates, one side of the guide member 8 is driven to ascend, the other side of the guide member 8 is driven to descend, and the guide member 8 is driven to swing.
The joint component 4 adopts a cam mechanism, so that the control can be convenient, the movement amplitude of the joint component 4 can be correspondingly controlled as long as the rotation angle of the motor 6 of the control unit is controlled, and the controllability is high. Moreover, the driving component 7 belongs to a high pair and has a rather firm structure, so that the joint component 4 has a certain load capacity. It should be noted that the unit motor 6 is preferably a motor with a band-type brake locking function, so as to control and lock the swing amplitude of the joint at a specific position, and meet the control requirement.
In this embodiment, as a first preferred structure, the driving member 7 is spherical, and a left moving rail and a right moving rail 12 are obliquely arranged along the surface of the spherical surface, the left moving rail and the right moving rail 12 are mutually mirror-symmetric, and the inclination angle is smaller than 45 °; two sides of the guide member 8 are provided with a left guide unit 9 and a right guide unit 9 in a protruding manner towards the center, and the two guide units 9 are respectively embedded into the two moving rails 12, so that the moving rails 12 drive the guide member 8 to rotate and swing when the driving member 7 rotates leftwards or rightwards.
When the driving member 7 is rotated by the unit motor 6, the moving rail 12 is also rotated accordingly, so that the guide unit 9 can be moved up and down since the moving rail 12 is inclined. The moving rails 12 on both sides are arranged in a mirror-image manner, which means that when the driving member 7 rotates in one direction, the moving rail 12 on one side drives the guiding unit 9 to ascend, and the moving rail 12 on the other side drives the guiding unit 9 to descend, so that the rotating and swinging actions of the guiding member 8 are realized.
The reason why the driving member 7 is spherical is that the guiding unit 9 performs an arc-shaped movement track during the swinging of the guiding member 8, and the movement track needs to be arranged on a spherical surface in order to ensure that the guiding unit 9 and the movement rail 12 always keep a fitting function.
As a further preference, the guide member 8 is sleeved on the periphery of the driving member 7, and the two guide units 9 protrude inwards from two sides of the guide member 8 and are embedded in the moving rail 12; the hinge point of the guide member 8 with the movable joint 3 located at the next level is located between two guide units 9, and the hinge shaft 5 is oriented orthogonally to the guide units 9, and both are directed toward the center of the sphere of the driving member 7.
As shown in the drawings, the guide member 8 may be of annular configuration, with the central portion not interfering with the action of the drive member 7, but other configurations are not excluded. And as mentioned above, the guide member 8 is oscillating, its oscillating trajectory depends on the driving member 7, then in practice the centre of the oscillating trajectory must pass through the centre of sphere of the driving member 7, so there is a corresponding limit to the position of the hinge axis 5. In addition, the design of the guide member 8 can be convenient to install, and only the guide member 8 needs to be installed firstly, then the guide units 9 are fixed from two sides and the movement performance of the guide units is adjusted, and then the movable joint 3 positioned on the upper layer is installed.
Still further, the guide unit 9 includes a roller 10, the roller 10 is cantilevered by a roller shaft 11 extending from the guide member 8, and the roller 10 is embedded in the moving rail 12 to freely roll.
The roller 10 can be operated more smoothly due to the friction of the driving member 7. The specific roller 10 can directly adopt a small-size bearing to save the volume, so that the whole snake-shaped industrial robot can be conveniently made to be smaller.
As for the specific structure of the movable joint 3, it is preferable that the head of the movable joint 3 is provided with a hinge 13 protruding and extending toward the upper layer of the movable joint 3, and the movable joint 3 located at the lower layer is hinged to the tail of the movable joint 3 located at the upper layer via the hinge 13. Two sides of the tail part of the movable joint 3 are provided with baffle parts 14 which protrude and extend towards the lower layer of the movable joint 3, and the baffle parts 14 are matched and meshed with the hinge part 13, so that two sides of the hinge part 13 are shielded.
The protruding hinge part 13 can be hinged with the guide member 8, and the protruding blocking piece part 14 can be fixedly connected and installed with the guide member 8, so that the matching degree between the two movable joints 3 is improved. And the structure makes the guide member 8 face to the inner side of the hinge part 13 and the baffle part 14 on one hand, so that the guide member 8 is convenient to be arranged; meanwhile, parts such as the guide component 8, the unit motor 6 and the like are shielded to the maximum extent to avoid exposure, the appearance of the product is improved while dust is prevented, the safety of the product is improved, and external objects are prevented from being clamped in the joint component 4.
In addition, the directions of the hinge shafts 5 of the heads of the two adjacent movable joints 3 are orthogonal to each other, and the swinging directions of the two adjacent joints are orthogonal to each other. With this construction, the structure of the movable joint 3 may be modified correspondingly, and specifically, the orientation of the hinge portion 13 and the catch portion 14 may be adjusted correspondingly. When the directions of the hinge shafts 5 of the heads of two adjacent movable joints 3 are parallel to each other, the swinging directions of the two adjacent joints are consistent, and the implemented actions are correspondingly reduced; when the directions of the hinge shafts 5 of the heads of the two adjacent movable joints 3 are orthogonal to each other, the swinging directions of the two adjacent joints are different from each other, so that swinging degrees of freedom in two different directions are realized, and more actions can be performed.
Example two
The only difference between this embodiment and the first embodiment is: the joint assembly 4 takes a different configuration.
Referring to fig. 5 to 7, preferably, the driving member 7 is provided with driving portions 15 protruding outward at front and rear sides thereof; the front side and the rear side of the guide member 8 are respectively provided with a first guide rail 16 and a second guide rail 17, the first guide rail 16 on one side is in an upper arch shape with the middle part arched upwards and the left side and the right side protruded downwards, the second guide rail 17 on the other side is in a lower arch shape with the middle part arched downwards and the left side and the right side sunken upwards, and the two driving parts 15 are respectively in contact transmission with the two guide rails, so that the driving parts 15 drive the guide member 8 to swing in a left-right rotating mode when the driving member 7 rotates leftwards or rightwards.
In this embodiment, the structures of the driving member 7 and the guiding member 8 are changed, and the combination between the two is an open structure, so that the processing and production are easier compared with the solution of the first embodiment. Moreover, the driving member 7, the guide member 8 and the movable joint 3 of the previous layer can be installed in sequence during installation, and assembly is further simplified compared with the first embodiment. The working principle is very simple, when the driving member 7 rotates, because the first guide rail 16 and the second guide rail 17 respectively process ascending and descending tracks, the driving part 15 on one side jacks up the first guide rail 16 which is in an upper arch shape leftwards or rightwards, and the driving member 8 rotates and swings rightwards or leftwards; the driving part 15 on the other side is embedded in a second guide rail 17 which is arched downwards, and drives the guide member 8 to rotate and swing rightwards or leftwards. However, the tracks of the two guide rails are different, so that the stress is not balanced, and the mechanical property is not as good as that of the scheme of the first embodiment.
As for the guide member 8, it is preferable that the guide member 8 is mounted on the driving member 7; the hinge point of the guide member 8 and the movable joint 3 at the next layer is positioned above the middle parts of the first guide rail 16 and the second guide rail 17; the hinge shaft 5 is oriented orthogonally to the first guide rail 16 and the second guide rail 17. More specifically, the drive portion 15 includes a roller 10, the roller 10 is cantilevered by a roller shaft 11 extending outwardly from the drive member 7, and the roller 10 is free to roll in contact with the surface of the guide rail.
The snake-shaped industrial robot provided by the invention imitates a snake-shaped structure, so that the plurality of movable joints 3 realize special actions such as swinging, coiling and the like, present special forms and motion tracks and can be applied even in a narrow space with bending. Because of the strip shape, the volume is much smaller than that of the mechanical hand in the prior art. The joint is controlled by a driving component 7 mechanism, the motion amplitude is high in controllability, and the joint has certain load capacity. The movable joint 3 is tightly matched with the movable joint 3, the shape design has good shielding performance, and internal mechanical parts are not exposed.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (9)
1. A serpentine industrial robot, characterized by: comprises a base body and a manipulator body arranged on the base body; the manipulator body comprises a plurality of linked movable joints, two adjacent movable joints are hinged with each other and driven by a joint component arranged in each movable joint; a control unit is arranged in the base body, and each joint component is in control connection with the control unit through a circuit;
the joint assembly comprises a unit motor, a driving member and a guide member; the unit motor is fixedly arranged in the movable joint at the next layer, the upper part of the unit motor is in transmission connection with a driving member, and the driving member is in mutual contact with the guide member to form a cam mechanism; the guide member is fixedly arranged at the tail part of the movable joint positioned on the upper layer and is hinged with the movable joint positioned on the lower layer, so that the guide member can rotate and swing left and right based on the movable joint of the lower layer, and two adjacent movable joints are hinged together; the driving component is in transmission connection with the guide component in a matching way, so that the driving component drives one side of the guide component to rise and drives the other side of the guide component to fall when rotating, and the guide component swings;
the driving member is spherical, a left moving rail and a right moving rail are obliquely arranged along the surface of the spherical surface, the moving rails on the left side and the right side are mutually mirror-symmetric, and the inclination angle is smaller than 45 degrees; two sides of the guide component are convexly provided with a left guide unit and a right guide unit towards the center, and the two guide units are respectively embedded into the two moving rails, so that the moving rails drive the guide component to rotate and swing when the driving component rotates leftwards or rightwards.
2. The serpentine industrial robot of claim 1, wherein: the guide member is sleeved on the periphery of the driving member, and the two guide units protrude inwards from two sides of the guide member and extend and are embedded into the moving rail; the hinge point of the guide member and the movable joint positioned at the next layer is positioned between the two guide units, the direction of the hinge shaft is orthogonal to the guide units, and the two guide units are opposite to the spherical center of the driving member.
3. The serpentine industrial robot of claim 2, wherein: the guide unit comprises a roller, the roller is installed through a roller shaft cantilever which protrudes and extends inwards from the guide component, and the roller is embedded in the moving rail and rolls freely.
4. A serpentine industrial robot, characterized by: comprises a base body and a manipulator body arranged on the base body; the manipulator body comprises a plurality of linked movable joints, two adjacent movable joints are hinged with each other and driven by a joint component arranged in each movable joint; a control unit is arranged in the base body, and each joint component is in control connection with the control unit through a circuit;
the joint assembly comprises a unit motor, a driving member and a guide member; the unit motor is fixedly arranged in the movable joint at the next layer, the upper part of the unit motor is in transmission connection with a driving member, and the driving member is in mutual contact with the guide member to form a cam mechanism; the guide member is fixedly arranged at the tail part of the movable joint positioned on the upper layer and is hinged with the movable joint positioned on the lower layer, so that the guide member can rotate and swing left and right based on the movable joint of the lower layer, and two adjacent movable joints are hinged together; the driving component is in transmission connection with the guide component in a matching way, so that the driving component drives one side of the guide component to rise and drives the other side of the guide component to fall when rotating, and the guide component swings;
the front side and the rear side of the driving component are provided with driving parts which protrude outwards and extend; the front side and the rear side of the guide member are respectively provided with a first guide rail and a second guide rail, the first guide rail on one side is in an upper arch shape with the middle part arched upwards and the left side and the right side protruded downwards, the second guide rail on the other side is in a lower arch shape with the middle part arched downwards and the left side and the right side sunken upwards, and the two driving parts are respectively in contact transmission with the two guide rails, so that the driving parts drive the guide member to swing in a left-right rotating mode when the driving member rotates leftwards or rightwards.
5. The serpentine industrial robot of claim 4, wherein: the guide member is arranged above the driving member; the hinge point of the guide member and the movable joint positioned at the next layer is positioned above the middle parts of the first guide rail and the second guide rail; the direction of the articulated shaft is orthogonal to the first guide rail and the second guide rail.
6. The serpentine industrial robot of claim 5, wherein: the drive portion includes a roller mounted in cantilever relationship by a roller shaft extending outwardly from the drive member, the roller being free to roll in contact with the surface of the guide rail.
7. The serpentine industrial robot according to claim 1 or 4, characterized in that: the head of the movable joint is provided with a hinged part which protrudes and extends towards the upper layer of movable joint, and the movable joint positioned at the next layer is mutually hinged with the tail part of the movable joint positioned at the previous layer through the hinged part.
8. The serpentine industrial robot of claim 7, wherein: the two sides of the tail part of the movable joint are provided with baffle parts which protrude and extend towards the lower layer of the movable joint, and the baffle parts are matched and meshed with the hinged parts to enable the two sides of the hinged parts to be shielded.
9. The serpentine industrial robot according to claim 1 or 4, characterized in that: the direction of the articulated shaft of the head of two adjacent movable joints is orthogonal, so that the swinging direction of two adjacent joints is orthogonal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810562398.6A CN108748125B (en) | 2018-06-04 | 2018-06-04 | Snakelike industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810562398.6A CN108748125B (en) | 2018-06-04 | 2018-06-04 | Snakelike industrial robot |
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| CN108748125A CN108748125A (en) | 2018-11-06 |
| CN108748125B true CN108748125B (en) | 2021-10-01 |
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| CN201810562398.6A Expired - Fee Related CN108748125B (en) | 2018-06-04 | 2018-06-04 | Snakelike industrial robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112109111B (en) * | 2020-08-24 | 2024-01-23 | 同济大学 | Three-dimensional mechanical joint, mechanical arm and control method for chamfer cylindrical connection |
| CN116897098A (en) * | 2021-02-26 | 2023-10-17 | 环球城市电影有限责任公司 | Segmented bending system for amusement park scenic spots |
| CN116945227A (en) * | 2022-04-19 | 2023-10-27 | 北京小米移动软件有限公司 | Driving mechanism and robot |
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| CN106214258A (en) * | 2016-07-12 | 2016-12-14 | 天津大学 | A kind of dexterous wrist mechanism for single hole minimally invasive robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US8151660B2 (en) * | 2007-02-23 | 2012-04-10 | RPY Motion, Inc. | Three axes rotational motion-positioning apparatus |
| US10094367B2 (en) * | 2012-02-22 | 2018-10-09 | Technion Research & Development Foundation Limited | Method and system for generating mechanical waves |
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| CN102029614A (en) * | 2011-01-24 | 2011-04-27 | 哈尔滨工业大学 | Three-degree-of-freedom spherical space robot wrist |
| JP2012240191A (en) * | 2011-05-16 | 2012-12-10 | Korea Inst Of Science & Technology | Gravity compensation mechanism, and robot arm using the same |
| CN104602618A (en) * | 2012-06-28 | 2015-05-06 | 伊西康内外科公司 | Rotary support joint assemblies for coupling a first portion of a surgical instrument to a second portion of a surgical instrument |
| CN103317524A (en) * | 2013-06-04 | 2013-09-25 | 北京航空航天大学 | Wrist joint structure of underwater mechanical arm |
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| CN108748125A (en) | 2018-11-06 |
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