CN109050304A - Multi-degree-of-freemechanical mechanical arm and automatic charge device - Google Patents
Multi-degree-of-freemechanical mechanical arm and automatic charge device Download PDFInfo
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- CN109050304A CN109050304A CN201810913742.1A CN201810913742A CN109050304A CN 109050304 A CN109050304 A CN 109050304A CN 201810913742 A CN201810913742 A CN 201810913742A CN 109050304 A CN109050304 A CN 109050304A
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Abstract
The invention discloses a kind of multi-degree-of-freemechanical mechanical arm and automatic charge devices, the mechanical arm includes several rod pieces and cradle head, the rotation of the cradle head is driven by the first driving rope and the second driving rope, first connecting rod is vertically installed on rod piece above cradle head, the second connecting rod is vertically installed on rod piece below cradle head, on the fixed point at the both ends that the first driving rope and the second driving rope are fixedly installed in first connecting rod respectively, and respectively by the second rod piece both ends by being connected after point with external drive structure.Multi-degree-of-freemechanical mechanical arm and automatic charge device are suitable for all charge port poses in the present invention, while can reduce the requirement to charge port positioning accuracy, convenient in flexible pipette tips insertion charge port.
Description
Technical field
The present invention relates to electric tool charging equipment technical fields, more particularly to a kind of multi-degree-of-freemechanical mechanical arm and automatically
Charging unit.
Background technique
Along with electric car fast development, electric car is just quickly popularized, and electric vehicle rapid charging becomes automobile work
The emphasis of industry and energy industry development.With the maturation of automatic parking technology, can the electric car of autonomous parking have begun and answer
With the demand to automatic rapid charging device is more more and more urgent.
Automatic charge device in the prior art, which relies on, determines the pose of Vehicular charging mouth, realizes accurate grafting, but by
In vehicle attitude variation or environmental change, it is larger to will cause charge port pose decision errors, can not autopatching, need to be by artificial
Auxiliary carries out auxiliary grafting.
Therefore, in view of the above technical problems, it is necessary to which a kind of multi-degree-of-freemechanical mechanical arm and automatic charge device are provided.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of multi-degree-of-freemechanical mechanical arm and automatic charge device, to realize
The automatic charging of electric tool with charge port.
To achieve the goals above, the technical solution that one embodiment of the invention provides is as follows:
A kind of multi-degree-of-freemechanical mechanical arm, the mechanical arm include several rod pieces and cradle head, and the cradle head turns
It is dynamic to be driven by the first driving rope and the second driving rope, the first connection is vertically installed on the rod piece above cradle head
Bar, is vertically installed with the second connecting rod on the rod piece below cradle head, the first driving rope and the second driving rope fixed peace respectively
On the fixed point at the both ends loaded on first connecting rod, and respectively by the second connecting rod both ends by after point with external drive knot
Structure is connected.
As a further improvement of the present invention, the mechanical arm include the first rod piece successively installed, the first cradle head,
Second rod piece, the second cradle head, third rod piece, third cradle head and the 4th rod piece, first cradle head, second turn
Movable joint and third cradle head are arranged in parallel along the y axis respectively, and first cradle head and the second cradle head provide
The one-movement-freedom-degree of X-direction and Z-direction, third cradle head provide the rotational freedom around Y direction.
The technical solution that one embodiment of the invention provides is as follows:
A kind of automatic charge device, the automatic charge device include pedestal, along Y-axis are slidably mounted on moving on pedestal
Platform, the mechanical arm being installed on mobile platform and the flexible pipette tips for being installed on mechanical arm tail end, the flexibility pipette tips are along X-axis
Direction setting, the mobile platform have an one-movement-freedom-degree along the y axis, the flexibility pipette tips mechanical arm tail end have around
X-axis, three rotational freedoms around Y-axis, about the z axis on direction, the mechanical arm includes several bars being connected on mobile platform
Part and cradle head.
As a further improvement of the present invention, the first driving motor, first driving are fixedly installed on the pedestal
Motor drives mobile platform to slide on the base along Y-axis by straight-line motion mechanism.
As a further improvement of the present invention, the mechanical arm includes successively being fixedly installed in mobile platform and flexible pipette tips
Between the first rod piece, the first cradle head, the second rod piece, the second cradle head, third rod piece, third cradle head and the 4th
Rod piece, first cradle head, the second cradle head and third cradle head are arranged in parallel along the y axis respectively, and described
One rod piece is installed vertically on mobile platform.
As a further improvement of the present invention, first cradle head and the second cradle head provide X-direction and Z axis
The one-movement-freedom-degree in direction, third cradle head provide the rotational freedom around Y direction.
As a further improvement of the present invention, several driving motors are fixedly installed on the mobile platform, be respectively used to
Drive the rotation of the first cradle head, the second cradle head and third cradle head.
As a further improvement of the present invention, the rotation of the cradle head by first driving rope and second driving restrict into
Row drives, and is vertically installed with first connecting rod on the rod piece above cradle head, right angle setting on the rod piece below cradle head
There is the second connecting rod, the first driving rope and second drive on the fixed point at the both ends for being fixedly installed in first connecting rod respectively of restricting,
And respectively by the second connecting rod both ends by being connected after point with the driving motor on mobile platform.
As a further improvement of the present invention, several second driving motors, third are fixedly installed on the mobile platform
Driving motor and the 4th driving motor, the first driving rope and the second driving are restricted, and at least one passes through linear motion machine
Structure is connected with the second driving motor, third driving motor or the 4th driving motor.
As a further improvement of the present invention, the second driving motor, two there are two being fixedly mounted on the mobile platform
Third driving motor and two the 4th driving motors, two the second driving motors, two third driving motors and two the 4th
Driving motor is connected with one end of corresponding first driving rope and the second driving rope respectively.
As a further improvement of the present invention, second driving motor, one are fixedly installed on the mobile platform
Third driving motor and the 4th driving motor, the second driving motor, third driving motor and the 4th driving motor difference
It is connected with corresponding first driving rope one end, one end of the second driving rope is connected with elastic component, and the elastic component is fixed on
On the mobile platform.
As a further improvement of the present invention, the elastic component is spring or elastic string.
As a further improvement of the present invention, first cradle head, the second cradle head and third cradle head end
Portion is directly fixedly mounted with the rotary shaft of driving motor, and driving motor directly drives first cradle head, the second rotation is closed
Section and the rotation of third cradle head.
As a further improvement of the present invention, it is fixedly installed linkage mechanism between the adjacent cradle head, passed through
Linkage mechanism realizes interlocking with the rotation for cradle head.
The beneficial effects of the present invention are:
Flexible pipette tips have around X-axis in mechanical arm tail end, three rotational freedoms around Y-axis, about the z axis on direction；
Movement of the mobile platform along vehicle commander direction provides the one-movement-freedom-degree of Y direction, the cradle head in mechanical arm
Provide the one-movement-freedom-degree of X-direction and Z-direction and the rotational freedom around Y-axis；
Multi-degree-of-freemechanical mechanical arm and automatic charge device are suitable for all charge port poses, while can reduce to charge port
The requirement of positioning accuracy, in order in flexible pipette tips insertion charge port.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in invention, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of multiple degrees of freedom automatic charge device in the embodiment of the present invention 1；
Fig. 2 is the structural schematic diagram of the first cradle head driving method in the embodiment of the present invention 1；
Fig. 3 is the structural schematic diagram of the first cradle head driving method in the embodiment of the present invention 2.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, below in conjunction with of the invention real
The attached drawing in example is applied, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without making creative work, all should belong to protection of the present invention
Range.
The term of the representation spaces relative position such as such as " left side " used herein, " left side ", " right side ", " right side " is for just
A unit as shown in the drawings or feature are described relative to another unit or the relationship of feature in the purpose of explanation.It is empty
Between the term of relative position can be intended to include different direction of the equipment in use or work other than orientation as shown in the figure.
For example, the unit for being described as being located at other units or feature " left side " will be located at other if the equipment in figure overturn
Unit or feature " right side ".Therefore, exemplary term " left side " can include both orientation of left and right side.Equipment can be with
Other modes are directed (be rotated by 90 ° or other directions), and are interpreted accordingly used herein with space correlation description language.
A kind of multi-degree-of-freemechanical mechanical arm is disclosed in one embodiment of the invention, which includes that several rod pieces and rotation are closed
The rotation of section, cradle head is driven by the first driving rope and the second driving rope, vertical on the rod piece above cradle head
First connecting rod is installed, the second connecting rod is vertically installed on the rod piece below cradle head, the first driving rope and second drive
Running rope is fixedly installed in respectively on the fixed point at the both ends of first connecting rod, and passing through a little by the second connecting rod both ends respectively
It is connected afterwards with external drive structure.
Preferably, mechanical arm includes the first rod piece successively installed, the first cradle head, the second rod piece, the second rotation pass
Section, third rod piece, third cradle head and the 4th rod piece, the first cradle head, the second cradle head and third cradle head point
It is not arranged in parallel along the y axis, the first cradle head and the second cradle head provide the freedom of movement of X-direction and Z-direction
Degree, third cradle head provide the rotational freedom around Y direction.
A kind of automatic charge device is also disclosed in another embodiment of the present invention, which includes pedestal, along Y
Mobile platform that axis is slidably mounted on pedestal, the mechanical arm being installed on mobile platform and it is installed on the soft of mechanical arm tail end
Property pipette tips, flexible pipette tips are arranged along the x axis, and mobile platform has one-movement-freedom-degree along the y axis, and flexible pipette tips are in machinery
Arm end has around X-axis, three rotational freedoms around Y-axis, about the z axis on direction, mechanical arm include it is several be connected to it is mobile flat
Rod piece and cradle head on platform.
It elaborates below in conjunction with specific embodiment to the present invention.
Embodiment 1:
Automatic charge device in the present embodiment, be slidably mounted on including pedestal 10, along Y-axis mobile platform 20 on pedestal,
The mechanical arm that is installed on mobile platform and the flexible pipette tips 30 for being installed on mechanical arm tail end, flexible pipette tips are set along the x axis
Set, mobile platform 20 has an one-movement-freedom-degree along the y axis, flexible pipette tips 30 mechanical arm tail end have around X-axis, around Y-axis,
Three rotational freedoms on direction about the z axis, mechanical arm include several rod pieces being connected on mobile platform and cradle head.
Due to flexible pipette tips 30 have around X-axis in mechanical arm tail end, three around Y-axis, about the z axis on direction it is rotatably mounted
Degree, is suitable for all charge port poses, while can reduce the requirement to charge port positioning accuracy, in order to which flexible pipette tips 30 are inserted
Enter in charge port 90.
Wherein, the first driving motor 61 is fixedly installed on pedestal 10, the first driving motor 61 passes through straight-line motion mechanism
Driving mobile platform 20 (not shown) slides on pedestal 10 along Y-axis, and the first driving motor 61 is realized by straight-line motion mechanism
Mobile platform 20 is moved along vehicle commander direction.
Mechanical arm in the present embodiment includes first be successively fixedly installed between mobile platform 20 and flexible pipette tips 30
Rod piece 41, the first cradle head 51, the second rod piece 42, the second cradle head 52, third rod piece 43, third cradle head 53 and
Four rod pieces 44, the first cradle head 51, the second cradle head 52 and third cradle head 53 are arranged in parallel along the y axis respectively,
First rod piece 41 is installed vertically on mobile platform 20.
In the present embodiment, the movement of the first cradle head 51 and the second cradle head 52 offer X-direction and Z-direction is certainly
By spending, third cradle head 53 provides the rotational freedom around Y direction.
In addition, being fixedly installed with several driving motors on mobile platform, it is respectively used to the first cradle head 51, second of driving
The rotation of cradle head 52 and third cradle head 53.Second there are two being fixedly mounted on mobile platform 20 in the present embodiment
Driving motor 621,622, for driving the first cradle head 51 to rotate around Y-axis, two third driving motors 631,632 are used for
The second cradle head 52 is driven to rotate around Y-axis, two the 4th driving motors 641,642, for driving third cradle head 53 around Y
Axis rotation.
The scheme that above-mentioned mechanical arm is combined with flexible pipette tips 30 is suitable for various possible pose (position and the appearances of charge port
State), specific manifestation are as follows: movement of the mobile platform 20 along vehicle commander direction provides the one-movement-freedom-degree in Y direction (vehicle commander direction),
First cradle head 51 and the second cradle head 52 provide the shifting of X-direction (vehicle width direction) and Z-direction (overall height direction)
Dynamic freedom degree, third cradle head 53 provide the rotational freedom around Y-axis, the flexibility of flexible pipette tips 30 provide around X-axis, around
Three rotational freedoms in Y-axis and about the z axis direction.
As shown in connection with fig. 2, it is carried out so that two the second driving motors 621,622 drive the rotation of the first cradle head 51 as an example
It is described in detail.
The rotation of first cradle head 51 is driven by the first driving rope 71 and the second driving rope 72, and the first rotation is closed
First connecting rod 421, the first rod piece 41 of 51 lower section of the first cradle head are vertically installed on second rod piece 42 of 51 top of section
On be vertically installed with the second connecting rod 411, the first driving rope 71 and the second driving rope 72 are fixedly installed in first connecting rod respectively
Both ends fixed point A and B on, and respectively by 411 both ends of the second connecting rod by after point C and D and on mobile platform
Second driving motor 621,622 is connected.Preferably, linear motion is respectively equipped in the drive shaft of the second driving motor 621,622
Mechanism 623,624, the first driving rope 71 and the second driving rope 72 are connected on straight-line motion mechanism 623,624.
The first cradle head 51 in the present embodiment is restricted by two drivings of Relative distribution to be controlled, and one end of rope is driven to fix
Fixed point on the rod piece that it is controlled, by its neighbouring rod piece close to pedestal by point after, the other end with directly
Line movement mechanism connection.The fixed point line and hung down by line and the axis of its controlled cradle head that two drivings are restricted
Directly, specific as shown in Figure 2.
Since driving rope can only transmit pulling force, driving rope should be kept in tensioning during controlling joint motions
State；The movement of driving rope includes recovery movement and releasing movement；When controlling articulation, a driving rope is made to withdraw fortune
Dynamic, another driving rope is made to release movement, and two kinds of movements should keep constantly synchronous, otherwise will lead to driving rope and excessively tightens and drive
Running rope relaxation；The folding and unfolding campaign of driving rope realizes that straight-line motion mechanism is by corresponding driving motor by straight-line motion mechanism
Control.
Accordingly, the driving of the driving method of the second cradle head 52 and third cradle head 53 and the first cradle head 51
Mode is similar, is no longer illustrated one by one herein.
Embodiment 2:
Only different in the driving method from embodiment 1 of cradle head in the present embodiment, remaining structure is identical as embodiment.
621, third driving motors 631 of second driving motor and one are fixedly installed on mobile platform 20
4th driving motor 641, the second driving motor 621, third driving motor 631 and the 4th driving motor 641 respectively with it is corresponding
First driving rope one end is connected, and one end of the second driving rope is connected with elastic component, and elastic component is fixed on mobile platform.
Join shown in Fig. 3, by taking the driving of the first cradle head 51 as an example, the driving of driving rope 71 and complete phase in embodiment 1
Together, it is moved by the recovery movement and releasing of the first driving motor 621 and the control driving of straight-line motion mechanism 624 rope 71, and with
Unlike in embodiment 1, one end of driving rope 72 is directly fixed with 65 phase of elastic component being fixed on mobile platform 20, elasticity
Part can be spring or elastic string etc..
Since driving rope 72 is directly fixed by elastic component, reduce the quantity of motor and straight-line motion mechanism, only
Need a driving motor that the rotation of a cradle head can be realized.
Similarly, the driving method of the second cradle head 52 and third cradle head 53 can also using the above scheme into
Row, in this way, the driving of three cradle heads can be realized by 3 driving motors.
Embodiment 3:
In the present embodiment the first cradle head 51, the second cradle head 52 and 53 end of third cradle head directly with drive
The rotary shaft of dynamic motor is fixedly mounted, and driving motor directly drives the first cradle head 51, the second cradle head 52 and third and turns
Movable joint 53 rotates.
In this way, can control cradle head without driving rope, and three driving motors are only needed, reduces drive
The quantity of dynamic motor.
Embodiment 4:
It is fixedly installed linkage mechanism between the adjacent cradle head of the present embodiment, cradle head is realized by linkage mechanism
Interlock with the rotation.
If the driving method of the first cradle head 51 can be identical as the driving method in embodiment 1 and embodiment 2, and second
Cradle head 52 is no longer controlled by driving motor, but configured between the second cradle head 52 and the first cradle head 51 it is all as
Rotation of second cradle head 52 with the first cradle head 51 in proportionate relationship can be realized in the linkage mechanism for walking band.
Similarly, connection also can be set between third cradle head 53 and the second cradle head 52 or the first cradle head 51
It is dynamic, it is in the rotation of proportionate relationship to realize third cradle head 53 with the second cradle head 52 or the first cradle head 51.
It should be understood that the mechanical arm in above-described embodiment is illustrated by taking 3 cradle heads and 4 rod pieces as an example,
In other embodiments, the cradle head quantity and rod piece quantity of mechanical arm can be changed according to the actual situation, herein not
Another one illustrates.
Above embodiments be to the explanation carried out for entire automatic charge device, for mechanical arm specific embodiment simultaneously
Explanation is not listed individually, and the embodiment of independent mechanical arm can join the mechanical arm partial content in the various embodiments described above, herein not
Explanation is enumerated again.
Present invention can apply to the electric tools with charge port, real by multi-degree-of-freemechanical mechanical arm and automatic charge device
The automatic charging of existing electric tool, electric tool may include electric car etc..
As can be seen from the above technical solutions, the invention has the following beneficial effects:
Flexible pipette tips have around X-axis in mechanical arm tail end, three rotational freedoms around Y-axis, about the z axis on direction；
Movement of the mobile platform along vehicle commander direction provides the one-movement-freedom-degree of Y direction, the cradle head in mechanical arm
Provide the one-movement-freedom-degree of X-direction and Z-direction and the rotational freedom around Y-axis；
Multi-degree-of-freemechanical mechanical arm and automatic charge device are suitable for all charge port poses, while can reduce to charge port
The requirement of positioning accuracy, in order in flexible pipette tips insertion charge port.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (14)
1. a kind of multi-degree-of-freemechanical mechanical arm, which is characterized in that the mechanical arm includes several rod pieces and cradle head, the rotation
The rotation in joint is driven by the first driving rope and the second driving rope, and the is vertically installed on the rod piece above cradle head
One connecting rod is vertically installed with the second connecting rod, the first driving rope and the second driving rope difference on the rod piece below cradle head
Be fixedly installed on the fixed point at the both ends of first connecting rod, and respectively by the second connecting rod both ends by after point with outside
Driving structure is connected.
2. multi-degree-of-freemechanical mechanical arm according to claim 1, which is characterized in that the mechanical arm includes successively installed
One rod piece, the first cradle head, the second rod piece, the second cradle head, third rod piece, third cradle head and the 4th rod piece, institute
It states the first cradle head, the second cradle head and third cradle head to be arranged in parallel along the y axis respectively, first rotation
Joint and the second cradle head provide the one-movement-freedom-degree of X-direction and Z-direction, and third cradle head provides around Y-axis side
To rotational freedom.
3. a kind of automatic charge device, which is characterized in that the automatic charge device includes pedestal, along Y-axis is slidably mounted on base
Mobile platform on seat, the mechanical arm being installed on mobile platform and the flexible pipette tips for being installed on mechanical arm tail end, the flexibility
Pipette tips are arranged along the x axis, and the mobile platform has one-movement-freedom-degree along the y axis, and the flexibility pipette tips are in mechanical arm
End has around X-axis, three rotational freedoms around Y-axis, about the z axis on direction, and the mechanical arm includes several being connected to movement
Rod piece and cradle head on platform.
4. automatic charge device according to claim 3, which is characterized in that be fixedly installed with the first driving on the pedestal
Motor, first driving motor drive mobile platform to slide on the base along Y-axis by straight-line motion mechanism.
5. automatic charge device according to claim 3, which is characterized in that the mechanical arm includes successively being fixedly installed in
The first rod piece, the first cradle head, the second rod piece, the second cradle head, third rod piece between mobile platform and flexible pipette tips,
Third cradle head and the 4th rod piece, first cradle head, the second cradle head and third cradle head are respectively along Y-axis
Direction is arranged in parallel, and first rod piece is installed vertically on mobile platform.
6. automatic charge device according to claim 5, which is characterized in that first cradle head and the second rotation are closed
Section provides the one-movement-freedom-degree of X-direction and Z-direction, and third cradle head provides the rotational freedom around Y direction.
7. automatic charge device according to claim 5, which is characterized in that be fixedly installed on the mobile platform several
Driving motor is respectively used to the rotation of driving the first cradle head, the second cradle head and third cradle head.
8. automatic charge device according to claim 7, which is characterized in that the rotation of the cradle head is driven by first
Running rope and the second driving rope are driven, and first connecting rod are vertically installed on the rod piece above cradle head, under cradle head
The second connecting rod is vertically installed on the rod piece of side, the first driving rope and the second driving rope are fixedly installed in first connecting rod respectively
Both ends fixed point on, and respectively by the second connecting rod both ends by after point with driving motor phase on mobile platform
Even.
9. automatic charge device according to claim 8, which is characterized in that be fixedly installed on the mobile platform several
Second driving motor, third driving motor and the 4th driving motor, it is described first driving rope and second driving rope at least within it
One is connected by straight-line motion mechanism with the second driving motor, third driving motor or the 4th driving motor.
10. automatic charge device according to claim 9, which is characterized in that be fixedly installed with two on the mobile platform
A second driving motor, two third driving motors and two the 4th driving motors, two the second driving motors, two thirds
Driving motor and two the 4th driving motors are connected with one end of corresponding first driving rope and the second driving rope respectively.
11. automatic charge device according to claim 9, which is characterized in that be fixedly installed with one on the mobile platform
A second driving motor, a third driving motor and the 4th driving motor, the second driving motor, third driving motor,
And the 4th driving motor respectively with it is corresponding first driving rope one end be connected, it is described second driving rope one end and elastic component phase
Even, the elastic component is fixed on the mobile platform.
12. automatic charge device according to claim 11, which is characterized in that the elastic component is spring or elastic string.
13. automatic charge device according to claim 5, which is characterized in that first cradle head, the second rotation are closed
Section and third cradle head end are directly fixedly mounted with the rotary shaft of driving motor, and driving motor directly drives described first
Cradle head, the second cradle head and the rotation of third cradle head.
14. automatic charge device according to claim 5, which is characterized in that fixed between the adjacent cradle head
It is provided with linkage mechanism, interlocking with the rotation for cradle head is realized by linkage mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810913742.1A CN109050304A (en) | 2018-08-10 | 2018-08-10 | Multi-degree-of-freemechanical mechanical arm and automatic charge device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810913742.1A CN109050304A (en) | 2018-08-10 | 2018-08-10 | Multi-degree-of-freemechanical mechanical arm and automatic charge device |
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| CN109050304A true CN109050304A (en) | 2018-12-21 |
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| CN201810913742.1A Pending CN109050304A (en) | 2018-08-10 | 2018-08-10 | Multi-degree-of-freemechanical mechanical arm and automatic charge device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150193A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Ultra-redundancy flexible mechanical arm based on closed-loop rope driving |
| CN106274544A (en) * | 2016-09-14 | 2017-01-04 | 天津市松正电动汽车技术股份有限公司 | A kind of electric motor car automatic charging mechanical arm mechanism |
| CN106826907A (en) * | 2017-02-28 | 2017-06-13 | 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 |
| CN108155700A (en) * | 2018-02-09 | 2018-06-12 | 遨博（北京）智能科技有限公司 | A kind of charging robot and its charging mechanical arm |
| CN108327573A (en) * | 2018-04-25 | 2018-07-27 | 广州市君望机器人自动化有限公司 | Mobile self charger |
-
2018
- 2018-08-10 CN CN201810913742.1A patent/CN109050304A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150193A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Ultra-redundancy flexible mechanical arm based on closed-loop rope driving |
| CN106274544A (en) * | 2016-09-14 | 2017-01-04 | 天津市松正电动汽车技术股份有限公司 | A kind of electric motor car automatic charging mechanical arm mechanism |
| CN106826907A (en) * | 2017-02-28 | 2017-06-13 | 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 |
| CN108155700A (en) * | 2018-02-09 | 2018-06-12 | 遨博（北京）智能科技有限公司 | A kind of charging robot and its charging mechanical arm |
| CN108327573A (en) * | 2018-04-25 | 2018-07-27 | 广州市君望机器人自动化有限公司 | Mobile self charger |
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Application publication date: 20181221 |