CN108908314B - Linkage joint group and mechanical arm - Google Patents
Linkage joint group and mechanical arm Download PDFInfo
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- CN108908314B CN108908314B CN201810768797.8A CN201810768797A CN108908314B CN 108908314 B CN108908314 B CN 108908314B CN 201810768797 A CN201810768797 A CN 201810768797A CN 108908314 B CN108908314 B CN 108908314B
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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
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Abstract
The invention discloses a linkage joint group and a mechanical arm, wherein the linkage joint group comprises a first arm section, a second arm section and a third arm section which are sequentially connected in series, and a first connecting piece and a second connecting piece are sequentially and rotatably connected between the adjacent arm sections from the first arm section to the third arm section; the two first short linkage ropes are symmetrically distributed along the pitching direction, two ends of each first short linkage rope are respectively fixed on the first connecting piece and the second connecting piece, and the two first short linkage ropes are crossed at the position between the first connecting piece and the second connecting piece; the two first long linkage ropes are symmetrically distributed along the yaw direction, two ends of each first long linkage rope are fixed to the first arm section and the third arm section respectively, and the positions of the two first long linkage ropes at the first arm section, the second arm section and the first connecting piece and the second connecting piece are crossed. The invention is beneficial to shortening the length of the linkage rope and is convenient for the accurate control of the joint group.
Description
Technical Field
The invention relates to the field of robots, in particular to a linkage joint set and a flexible mechanical arm applying the linkage joint set.
Background
Currently, industrial robots with high efficiency and high precision have been widely applied in the manufacturing fields of electrical, chemical and mechanical industries, but the traditional industrial robots are limited by overlarge structures or overhigh rigidity, and cannot adapt to extremely narrow and dangerous working environments, such as pipeline cleaning and the like.
Compared with the traditional mechanical arm, the flexible mechanical arm can realize bending, stretching and twisting of a plurality of continuous parts due to the inherent super-redundancy characteristic, and the motion and operation capability in a limited space are far higher than that of the traditional multi-joint rigid connecting rod robot. In order to enable the bending precision of the flexible mechanical arm to be more controllable, the conventional flexible mechanical arm is generally formed by sequentially connecting a plurality of joint groups, each arm section in each joint group is generally linked through a linkage rope, and the joint groups are also linked through the linkage rope.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a linkage joint set which is used for solving the problems that in the prior art, the number of arm sections required by the joint set to work normally is large, and a linkage rope needs to span a long distance, so that the accurate control of the joint set is influenced.
The invention also provides a mechanical arm applying the joint group.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a linkage joint set is provided with a joint body,
the device comprises a first arm section, a second arm section and a third arm section which are sequentially connected in series, wherein a first connecting piece and a second connecting piece are sequentially connected between the adjacent arm sections in a rotating manner from the first arm section to the third arm section;
the two first short linkage ropes are symmetrically distributed along the pitching direction, two ends of each first short linkage rope are respectively fixed on the first connecting piece and the second connecting piece, and the two first short linkage ropes are crossed at the position between the first connecting piece and the second connecting piece;
the two first long linkage ropes are symmetrically distributed along the yaw direction, two ends of each first long linkage rope are fixed to the first arm section and the third arm section respectively, and the positions of the two first long linkage ropes at the first arm section, the second arm section and the first connecting piece and the second connecting piece are crossed.
As a further improvement mode of the above scheme, a first rope groove is formed in one side, close to the first arm section, of the first connecting piece along the yaw direction, and a second rope groove is formed in one side, close to the third arm section, of the second connecting piece along the yaw direction;
the head end of the first long linkage rope is fixedly connected with the first arm section, the tail end of the first long linkage rope winds around the first rope groove and then stretches out of the other side, opposite to the head end, of the first rope groove, then winds around the second rope groove from the same side of the second rope groove and the head end, stretches out of the other side, opposite to the head end, of the second rope groove, and finally is fixedly connected with the third arm section.
As a further improvement of the above solution, the first connecting piece and the second connecting piece are provided with arc-shaped arched portions on the sides facing the first arm section and the third arm section, and the first rope groove and the second rope groove are provided on the arched portions of the first connecting piece and the second connecting piece.
As a further improvement of the above solution, the first rope groove is arranged along the direction of the pitch rotation axis of the first connecting member, and the second rope groove is arranged along the direction of the pitch rotation axis of the second connecting member.
As a further improvement mode of the scheme, the robot further comprises a fourth arm section, a third connecting piece, two second short linkage ropes symmetrically distributed along the yaw direction and two second long linkage ropes symmetrically distributed along the pitch direction, wherein the fourth arm section is rotationally connected with the third arm section through the third connecting piece, the fourth arm section is linked with the third arm section in the yaw direction through the second short linkage ropes, and the fourth arm section is linked with the third arm section in the pitch direction through the second long linkage ropes.
As a further improvement of the above scheme, the second connecting piece is provided with a third rope groove along the pitching direction at one side close to the second arm section, and the third connecting piece is provided with a fourth rope groove along the pitching direction at one side close to the fourth arm section;
the head end of the second long linkage rope is fixedly connected with the second arm section, the tail end of the second long linkage rope winds around the third rope groove and then stretches out of the other side, opposite to the head end of the second long linkage rope, of the third rope groove, then winds around the fourth rope groove from the same side of the fourth rope groove and the head end of the second long linkage rope, stretches out of the other side, opposite to the head end of the second long linkage rope, of the fourth rope groove, and finally is fixedly connected with the fourth arm section.
As a further improvement mode of the above scheme, the first arm section, the second arm section, the third arm section and the fourth arm section are all provided with a threaded seat, a threaded connecting piece is screwed on the threaded seat, and a through hole through which an axis runs is arranged in the threaded connecting piece;
the head end and the tail end of the first long linkage rope respectively pass through holes in the threaded connecting pieces on the first arm section and the third arm section, and the head end and the tail end of the second long linkage rope respectively pass through holes in the threaded connecting pieces on the second arm section and the fourth arm section;
the head ends and the tail ends of the first long linkage rope and the second long linkage rope are respectively fixed with a ball head, and the ball heads are fixedly abutted against corresponding threaded connecting pieces.
As a further improvement of the above scheme, two ends of the second short linkage rope are respectively fixed to the second connecting member and the third connecting member, and the two second short linkage ropes cross at a position between the second connecting member and the third connecting member.
As a further improvement mode of the scheme, the device further comprises a hose which is covered on the outer sides of the first long linkage rope and the second long linkage rope.
The mechanical arm comprises a driving rope and a plurality of linkage joint groups which are sequentially connected in series, wherein the driving rope is fixedly connected with a first arm section of each linkage joint group.
The invention has the beneficial effects that:
according to the invention, the first connecting piece and the second connecting piece are connected through the short linkage rope, and the first arm section and the third arm section are connected through the long linkage rope, so that the linkage joint group can be formed only by at least three arm sections, the length of the linkage rope is favorably shortened, and the accurate control of the joint group is facilitated.
In the preferred embodiment of the invention, the connecting piece is provided with the rope groove, so that the long linkage rope has a larger winding angle, and the joint group has a larger linkage angle.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic perspective view of one embodiment of a connector of the present invention;
FIG. 2 is an elevational view of a first embodiment of the linkage joint set of the present invention;
FIG. 3 is a right side view of the first embodiment of the linkage joint set of the present invention;
FIG. 4 is a schematic perspective view of a first embodiment of a linkage joint set of the present invention;
FIG. 5 is a partial schematic view of the connection of a first long linkage rope with a first connector, a first arm segment, and a second arm segment in accordance with the present invention;
FIG. 6 is an elevational view of a second embodiment of the linkage joint set of the present invention;
FIG. 7 is a right side view of a second embodiment of the linkage joint set of the present invention;
FIG. 8 is a perspective view of a linkage joint set according to a second embodiment of the present invention.
Detailed Description
The conception, the specific structure and the technical effects of the present invention will be clearly and completely described in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the schemes and the effects of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, the descriptions of up, down, left, right, front, rear, etc. used in the present invention are only relative to the positional relationship of the respective components of the present invention with respect to each other in the drawings.
Furthermore, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any combination of one or more of the associated listed items.
Referring to fig. 1, there is shown a perspective view of one embodiment of the connector of the present invention. The connecting piece is used for realizing the rotary connection between adjacent arm sections, and comprises a rectangular main body structure 101, wherein a reel 102 is fixed on the periphery of the main body structure 101, a rope groove 103 is formed in the axial direction of the reel 102, a rotating shaft hole 104 with a through axis is formed in the center of the reel 102, two sides of the main body structure 101 are respectively provided with an arch part 105, as shown in the figure, each arch part is of a convex arc-shaped structure, and the surface of each arch part is provided with a rope groove 106. The two side arches 105 are located at the center of the main body structure 101 and are perpendicular to each other.
Referring to fig. 2 to 4, a front view, a right side view and a perspective view of the linkage joint set according to the first embodiment of the present invention are respectively shown, the rear view is the same as the front view, the left side view is the same as the right side view, and the direction of the arrow in fig. 2 is defined as a pitch direction, and the direction of the arrow in fig. 3 is defined as a yaw direction. As shown in the figures, the linkage joint group includes a plurality of arm sections and a plurality of connecting pieces, specifically, the linkage joint group includes a first arm section 11, a second arm section 12 and a third arm section 13 connected in series in sequence, and a first connecting piece 21 and a second connecting piece 22 are connected between adjacent arm sections in turn in the direction from the first arm section 11 to the third arm section 13.
The embodiment comprises a rope set for realizing linkage of the joint set in the pitch direction and the yaw direction. Specifically, the rope group for realizing the joint group linkage in the pitch direction includes two first short linkage ropes, the connection modes of the two first short linkage ropes are similar, and the two first short linkage ropes are symmetrically distributed along the pitch direction, so that the specific description is given by taking one of the first short linkage ropes 31 as an example. Referring to fig. 2, the head end of the first short linkage rope 31 is fixed to the left side of the first connecting member 21, the tail end thereof extends out from the right side of the rope groove 103 after passing through the rope groove 103 of the side of the first connecting member 21 to the right, then passes through the rope groove 103 of the side of the second connecting member 22 from the left side of the second connecting member 22, and finally extends out from the right side of the rope groove 103 and is fixedly connected with the second connecting member 22, and since the head end and the tail end of the first short linkage rope 31 are respectively located at the left and right sides, the two first short linkage ropes 31 cross at the position between the first connecting member 21 and the second connecting member 22. Thus, when the first arm section 11 rotates clockwise in the figure, the first connecting piece 21 rotates clockwise synchronously, the first short linkage rope 31 pulls the second connecting piece 22 to rotate counterclockwise, the second connecting piece 22 drives the third arm section 23 to rotate counterclockwise, so that the joint group is bent in one direction as a whole, and the rotation amount of the first connecting piece 21 is completely transmitted to the second connecting piece 22 through the linkage rope, so that the curvature of the arm section is the same, the linkage is realized, the linkage is based on the principle, and detailed description is omitted later.
As used herein, "leading end" refers to a direction toward the first arm segment, and "trailing end" refers to a direction away from the first arm segment.
The rope set for realizing the joint set linkage in the yaw direction comprises two first long linkage ropes, the connection mode of the two first long linkage ropes is similar, and the two first long linkage ropes are symmetrically distributed along the yaw direction, so for the sake of description, the rope groove 106 facing the first arm section 11 on the first connecting piece 21 is named as a first rope groove 106a, and the rope groove 106 facing the third arm section 13 on the second connecting piece 22 is named as a second rope groove 106 b. The first rope groove 106a is parallel to the pitch rotation axis of the first connecting member 21, and the second rope groove 106b is parallel to the pitch rotation axis of the second connecting member 22, i.e. the first rope groove 106a and the second rope groove 106b are both arranged to extend in the yaw direction.
Referring to fig. 3, the head end of the first long linking rope 32 is fixedly connected to the right side of the first arm section 11, and the tail end thereof firstly passes through the first rope groove 106a and then extends out from the left side of the first rope groove 106a, then passes through the second rope groove 106b from the right side of the second rope groove 106b and extends out from the left side of the second rope groove 106b, and finally is fixedly connected to the left side of the third arm section 13. Since the two first long linking ropes are symmetrically distributed in the pitch direction, the two first long linking ropes cross each other at the position of the first arm section 11 (shown in the drawing position a), the position of the second arm section 12 (shown in the drawing position b), and the position between the first link 21 and the second link 22 (shown in the drawing position c).
According to the invention, the first connecting piece and the second connecting piece are connected through the short linkage rope, and the first arm section and the third arm section are connected through the long linkage rope, so that the linkage joint group can be formed by only three arm sections, the length of the linkage rope is favorably shortened, and the accurate control of the joint group is facilitated.
In addition, another main invention of the present invention is the arrangement of the rope groove 106 on the connecting member, since the linkage angle of the joint group is related to the angle of the long linkage rope passing through the rope groove 106, the present invention enables the long linkage rope to have a larger winding angle and the joint group to have a larger linkage angle by arranging the rope groove 106.
In order to enable the first long linking rope 32 to extend out from the right side of the first rope groove 106a and then bend towards the left side of the second rope groove 106b, a hose 35 is sleeved on the outer side of the first long linking rope 32, and the hose 35 is used for guiding the first long linking rope 32 and can protect the exposed part of the first long linking rope 32.
Referring to fig. 5, a partial schematic view of the connection of the first long linkage rope with the first link member, the first arm segment, and the second arm segment of the present invention is shown. As shown, the center of the arm segment has an axially through passage, and the wall of the arm segment is provided with a rope hole (not shown) connecting the passage. The two first long linkage ropes are crossed in the channel of the first arm section 11, and the head ends of the two first long linkage ropes penetrate through the rope holes and then extend out and are fixed on the outer side of the first arm section 11.
The head end of the second arm segment 12 extends to form a hinge seat 121 (the tail end of the second arm segment and both ends of the other arm segments are provided with the same hinge seat, which is not described in detail herein), and the hinge seat 121 is rotatably connected to the rotating shaft hole 104 of the first connecting member 21 through the rotating shaft 36. An axial rope hole 122 is arranged on the outer side of the hinge seat 121, the rope hole 122 extends upwards and penetrates through a flange at the head end of the second arm section 12, a wire outlet hole 123 is arranged on the flange corresponding to the rope hole, and the wire outlet hole 123 is connected with the hose 35. The first long linking rope 32 extending from the right side of the first rope groove 106a is inserted into the rope hole 122, passes through the wire outlet hole 123 upward, and enters the hose 35. The exposed part of the long linkage rope is protected by the hose, and other parts are positioned inside the arm section or restrained by structures such as the rope hole 122, so that the linkage rope can be effectively prevented from being damaged by the outside, and meanwhile, the interference between the linkage ropes can be avoided.
In addition, the end of the rotating shaft 36 is provided with two symmetrical bulges, a gap is formed between the bulges, the linkage rope passes through the gap, and the parts of the bulges, which are in contact with the linkage rope, are provided with arc surfaces, so that the linkage rope is prevented from being damaged due to friction.
The first arm section 11 is provided with a threaded seat 111 (the other arm sections are provided with the same threaded seats, which are not described in detail herein), a threaded connector 112 is screwed on the threaded seat 111, and a through hole through which an axis passes is formed in the threaded connector 112. The head end of the first long linkage rope (the first long linkage rope herein refers to another first long linkage rope symmetrically arranged with the first long linkage rope 32) extends out of the rope hole on the first arm section 11, passes through the through hole on the threaded connecting piece 112, and abuts against the threaded connecting piece 112 through the ball head 113 fixed at the head end, so that the head end of the first long linkage rope is fixed on the first arm section 11, and the tail end of the first long linkage rope and the fixing modes of the other long linkage ropes are the same.
Referring to fig. 6 to 8, a front view, a right side view and a perspective view of a linkage joint set according to a second embodiment of the present invention are respectively shown. As shown in the drawing, the present embodiment is different from the first embodiment in that a fourth arm segment 14, a third connecting member 23, two second short link ropes symmetrically distributed in the yaw direction, and two second long link ropes symmetrically distributed in the pitch direction are further provided.
The fourth arm section 14 is rotatably connected with the third arm section 13 through a third connecting piece 23, and the fourth arm section and the third arm section are linked in the yaw direction through a second short linkage rope, namely the linkage of the whole joint group in the yaw direction is realized under the combined action of the first long linkage rope and the second short linkage rope. The fourth arm section and the third arm section are linked in the pitching direction through the second long linkage rope, namely the linkage of the whole joint group in the pitching direction is realized under the combined action of the first short linkage rope and the second long linkage rope.
Specifically, the rope groove 106 on the second connecting member 22 facing the second arm section 12 is named a third rope groove 106c, the rope groove 106 on the third connecting member 23 facing the fourth arm section is named a fourth rope groove 106d, and both the third rope groove 106c and the fourth rope groove 106d extend in the pitch direction.
The two second long linkage ropes are connected in a similar manner and are symmetrically distributed along the pitch direction, so that, taking one of the second long linkage ropes 33 as an example for specific description, referring to fig. 6, the head end of the second long linkage rope 33 is fixedly connected to the left side of the second arm section 12, and the tail end thereof firstly bypasses the third rope groove 106c and then extends out from the right side of the third rope groove 106c, then bypasses the fourth rope groove 106d from the left side of the fourth rope groove 106d and extends out from the right side of the fourth rope groove 106d, and finally is fixedly connected to the right side of the fourth arm section 14. As can be seen from the above description, when the second connecting element 22 in the first embodiment drives the third arm section 23 to rotate in the counterclockwise direction, the second connecting element 22 can also drive the fourth arm section 14 to rotate in the counterclockwise direction relative to the third connecting element 23 through the second long linking rope 33, so as to implement the rotation of the whole joint set in the same direction in the second embodiment.
The two second short linkage ropes are connected in a similar manner and are symmetrically distributed along the yaw direction, so that, taking one of the second short linkage ropes 34 as an example for specific description, referring to fig. 7, the head end of the second short linkage rope 34 is fixed to the right side of the second connecting member 22, the tail end of the second short linkage rope extends out from the left side of the rope groove 103 after passing through the rope groove 103 on the side of the second connecting member 22 to the left, then passes through the rope groove 103 on the side of the third connecting member 23 from the right side of the third connecting member 23, and finally extends out from the left side of the rope groove 103 to be fixedly connected with the third connecting member 23.
The invention also discloses a mechanical arm, which comprises a driving rope not shown and a plurality of linkage joint groups which are sequentially connected in series, wherein the driving rope is fixedly connected with the first arm section of each linkage joint group, the driving rope drives the first arm section to rotate, and then the linkage ropes realize the equidirectional rotation of the whole arm section.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A linkage joint group is characterized in that,
the robot arm comprises a first arm section, a second arm section and a third arm section which are sequentially connected in series, and a first connecting piece and a second connecting piece are sequentially connected between adjacent arm sections in a rotating mode from the first arm section to the third arm section;
the two first short linkage ropes are symmetrically distributed along the pitching direction, two ends of each first short linkage rope are respectively fixed on the first connecting piece and the second connecting piece, and the two first short linkage ropes are crossed at the position between the first connecting piece and the second connecting piece;
the two first long linkage ropes are symmetrically distributed along the yaw direction, two ends of each first long linkage rope are fixed to the first arm section and the third arm section respectively, and the positions of the first arm section, the second arm section and the first connecting piece and the second connecting piece are crossed.
2. The linkage joint set according to claim 1, wherein a first rope groove is formed in one side of the first connecting piece, which is close to the first arm section, along a yaw direction, and a second rope groove is formed in one side of the second connecting piece, which is close to the third arm section, along the yaw direction;
the head end of the first long linkage rope is fixedly connected with the first arm section, the tail end of the first long linkage rope passes through the first rope groove and then extends out of the other side, opposite to the head end, of the first rope groove, then passes through the second rope groove from the same side of the second rope groove and the head end, extends out of the other side, opposite to the head end, of the second rope groove, and finally is fixedly connected with the third arm section.
3. The linkage joint set according to claim 2, wherein the first connecting piece is provided with an arc-shaped arch portion on one side of the first arm section and the second connecting piece is provided with an arc-shaped arch portion on one side of the third arm section, and the first rope groove and the second rope groove are provided on the arch portions of the first connecting piece and the second connecting piece.
4. The set of claim 2, wherein the first cable groove is disposed in a direction of a pitch rotation axis of the first link, and the second cable groove is disposed in a direction of a pitch rotation axis of the second link.
5. The linkage joint set according to any one of claims 2 to 4, further comprising a fourth arm section, a third connecting member, two second short linkage ropes symmetrically distributed along a yaw direction, and two second long linkage ropes symmetrically distributed along a pitch direction, wherein the fourth arm section is rotatably connected to the third arm section through the third connecting member, the fourth arm section and the third arm section are linked in the yaw direction through the second short linkage ropes, and the fourth arm section and the third arm section are linked in the pitch direction through the second long linkage ropes.
6. The linkage joint set according to claim 5, wherein the second connecting member is provided with a third rope groove in the pitch direction on a side close to the second arm section, and the third connecting member is provided with a fourth rope groove in the pitch direction on a side close to the fourth arm section;
the head end of the second long linkage rope is fixedly connected with the second arm section, the tail end of the second long linkage rope passes through the third rope groove and then extends out of the other side, opposite to the head end of the second long linkage rope, of the third rope groove, then passes through the fourth rope groove from the same side as the head end of the fourth rope groove and the second long linkage rope, extends out of the other side, opposite to the head end of the second long linkage rope, of the fourth rope groove, and finally is fixedly connected with the fourth arm section.
7. The linkage joint group according to claim 6, wherein the first arm section, the second arm section, the third arm section and the fourth arm section are all provided with a threaded seat, a threaded connecting piece is screwed on the threaded seat, and a through hole with a through axis is arranged in the threaded connecting piece;
the head end and the tail end of the first long linkage rope respectively penetrate through holes in the threaded connecting pieces on the first arm section and the third arm section, and the head end and the tail end of the second long linkage rope respectively penetrate through holes in the threaded connecting pieces on the second arm section and the fourth arm section;
the head ends and the tail ends of the first long linkage rope and the second long linkage rope are respectively fixed with a ball head, and the ball heads are fixedly abutted against the corresponding threaded connecting pieces.
8. The linkage joint set according to claim 5, wherein both ends of the second short linkage rope are fixed to the second connecting member and the third connecting member, respectively, and the two second short linkage ropes cross at a position between the second connecting member and the third connecting member.
9. The linkage joint set according to claim 5, further comprising a hose covering the outside of the first long linkage rope and the second long linkage rope.
10. A robot arm comprising a drive rope, and further comprising a plurality of linkage joint groups according to any one of claims 1 to 9 connected in series in sequence, wherein the drive rope is fixedly connected to the first arm segment of each linkage joint group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810768797.8A CN108908314B (en) | 2018-07-13 | 2018-07-13 | Linkage joint group and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810768797.8A CN108908314B (en) | 2018-07-13 | 2018-07-13 | Linkage joint group and mechanical arm |
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| Publication Number | Publication Date |
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| CN108908314A CN108908314A (en) | 2018-11-30 |
| CN108908314B true CN108908314B (en) | 2020-07-24 |
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| CN201810768797.8A Active CN108908314B (en) | 2018-07-13 | 2018-07-13 | Linkage joint group and mechanical arm |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113386119B (en) * | 2021-06-30 | 2022-05-27 | 哈尔滨工业大学（深圳） | Rope-driven flexible mechanical arm joint capable of realizing stretching and deflection |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR92845E (en) * | 1966-07-13 | 1969-01-03 | Siersatom S A | Arm has multiple orientations. |
| NO137351C (en) * | 1976-01-30 | 1978-02-22 | Trallfa Nils Underhaug As | FLEXIBLE ROBOT ARM. |
| CN106826907B (en) * | 2017-02-28 | 2019-11-26 | 深圳源创智能机器人有限公司 | A kind of single-degree-of-freedom linkage flexible charging joint of robot group |
| CN106625638B (en) * | 2017-02-28 | 2019-04-12 | 深圳源创智能机器人有限公司 | A kind of fast changeable linkage flexible charging robot based on rope driving |
| CN108177160B (en) * | 2017-12-29 | 2019-12-31 | 哈尔滨工业大学深圳研究生院 | Linkage joint group and mechanical arm capable of realizing continuous equal-curvature bending |
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2018
- 2018-07-13 CN CN201810768797.8A patent/CN108908314B/en active Active
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| CN108908314A (en) | 2018-11-30 |
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