CN109849050B - Hydraulic mechanical arm double-freedom-degree joint based on double cross shaft matching - Google Patents
Hydraulic mechanical arm double-freedom-degree joint based on double cross shaft matching Download PDFInfo
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Abstract
The invention discloses a double-freedom-degree joint of a hydraulic mechanical arm based on double cross shaft matching, which comprises a right oil cylinder assembly, a left oil cylinder assembly, a mechanical arm front end assembly and an arm body; the front end component of the mechanical arm comprises a right end connecting cross shaft, a left end connecting cross shaft and a bracket flange; a horizontal rotation center line of the right end connecting cross shaft and the tail end of the right piston rod form a rotation pair, and a vertical rotation center line and a right vertical rotation center line of the bracket flange form a rotation pair; a first horizontal rotation center line of the left end connecting cross shaft is connected with the left piston rod through a revolute pair, a second horizontal rotation center line and the arm body form a revolute pair, and a vertical rotation center line and a left vertical rotation center line of the bracket flange form a revolute pair; the invention can simultaneously realize the two-degree-of-freedom rotation around two shafts by hydraulically driving the front end of the mechanical arm, inherits the oil circuit in the cross shaft, can realize flexible action under the heavy-load working condition, and has the advantages of integration, large force-weight ratio, flexible and stable action.
Description
Technical Field
The invention relates to the field of hydraulic mechanical arms, in particular to a double-freedom-degree joint of a hydraulic mechanical arm based on double-cross-shaft matching.
Background
The mechanical arm is a mechanical device which is most widely applied in the field of robots at present, is used for replacing manual operation in industries such as automobile manufacturing, electronics and electricity and the like, greatly reduces labor cost, improves production efficiency and effectively improves product production quality. The application of single form is considered more in traditional arm design, generally only for accomplishing specific task, and the variable ability of specific joint and degree of freedom is relatively poor, and adopts the mode of motor with the speed reducer more, and bearing capacity is less relatively, therefore the urgent need develops the arm that has great bearing capacity of a novel drive mode.
In order to meet the requirements, the design of the hydraulic drive mechanical arm joint is carried out, the hydraulic transmission has the outstanding advantages of large output force, light weight, small inertia and high output rigidity, meanwhile, the hydraulic system can improve the output power by improving the pressure of the system, and the force-weight ratio of the hydraulic system has great advantages, particularly the mechanical arm with large bearing capacity.
Disclosure of Invention
The invention aims to provide a double-cross-shaft-matching-based hydraulic mechanical arm double-freedom-degree joint, which can realize double-freedom-degree rotation around two shafts simultaneously by hydraulically driving the front end of a mechanical arm, inherits an oil circuit in a cross shaft, can realize flexible action under the heavy-load working condition, and has the advantages of integration, large force-weight ratio, and flexible and stable action.
The purpose of the invention is realized by the following technical scheme: a hydraulic mechanical arm double-freedom-degree joint based on double cross shaft matching comprises a right oil cylinder assembly, a left oil cylinder assembly, a mechanical arm front end assembly and an arm body;
the right oil cylinder assembly is an oil cylinder system adopting a servo valve, a right piston rod of the right oil cylinder assembly is connected with a front end assembly of the mechanical arm through a rotating pair, and a right cylinder barrel of the right oil cylinder assembly is connected with the arm body through a spherical hinge;
the left oil cylinder assembly is an oil cylinder system adopting a servo valve, a left piston rod of the left oil cylinder assembly is connected with a front end assembly of the mechanical arm through a rotating pair, and a left cylinder barrel of the left oil cylinder assembly is connected with the arm body through a rotating pair;
the front end component of the mechanical arm comprises a right end connecting cross shaft, a left end connecting cross shaft and a support flange;
the bracket flange is provided with two vertical rotation center lines;
the right end connecting cross shaft is provided with a vertical rotary central line and a horizontal rotary central line, the horizontal rotary central line and the tail end of the right piston rod form a rotary pair, and the vertical rotary central line and the right vertical rotary central line of the bracket flange form a rotary pair;
the left end connecting cross shaft is provided with a vertical rotary center line and two horizontal rotary center lines, the first horizontal rotary center line is connected with the left piston rod through a revolute pair, the second horizontal rotary center line and the arm body form a revolute pair, and the vertical rotary center line of the revolute pair and the left vertical rotary center line of the bracket flange form a revolute pair;
when the right piston rod extends or shortens, the right end connecting cross shaft and the bracket flange rotate around the vertical rotation center line of the left end connecting cross shaft, so that the joint moves leftwards or rightwards;
when the left piston rod extends or shortens, the right end connecting cross shaft and the bracket flange rotate around a second horizontal rotation center line of the left end connecting cross shaft, so that the joint moves upwards or downwards;
the right piston rod and the left piston rod run simultaneously, so that the joint moves in a space angle.
Furthermore, the upper end and the lower end of the right end connecting cross shaft are respectively provided with a built-in oil way which can be communicated with an oil way of a hydraulic mechanical arm.
Furthermore, a first horizontal revolution center line and a second horizontal revolution center line of the left end connecting cross shaft are in the same plane, and the first horizontal revolution center line E-E is right below the second horizontal revolution center line.
Furthermore, a first encoder is arranged on the end face of the vertical rotary central line of the left end connecting cross shaft and used for measuring the rotation angle and angular speed of the joint around the vertical rotary central line of the left end connecting cross shaft; and a second encoder is arranged on the end surface of a second horizontal rotation central line of the left end connecting cross shaft and is used for measuring the rotation angle and the angular speed of the joint around the second horizontal rotation central line.
Further, the bracket flange comprises an upper support plate and a lower support plate which are parallel to each other, and an actuating mechanism mounting plate which is connected with the upper support plate and the lower support plate.
Furthermore, the joint also comprises a first gland, a first bearing and a fourth bearing, wherein the first gland fixes the first bearing on an upper support plate of the bracket flange, and the upper end of a vertical rotary center line of the left end connecting cross shaft penetrates through the first bearing; the fourth bearing is installed on the lower support plate, and the lower end of the vertical rotary center line of the left end connecting cross shaft penetrates through the fourth bearing.
Furthermore, the joint also comprises a second gland, a second bearing and a third bearing, wherein the second gland fixes the second bearing on an upper support plate of the bracket flange, and the upper end of a vertical rotary central line of the right end connecting cross shaft penetrates through the second bearing; the third gland fixes the third bearing on the lower support plate of the support flange, and the lower end of the vertical rotary central line of the right end connecting cross shaft penetrates through the third bearing.
Furthermore, the joint also comprises a fourth gland, a fifth bearing, a fifth gland and a sixth bearing, wherein the fifth bearing is fixed on the arm body by the fourth gland, and the left end of the second horizontal rotation center line of the left end connecting cross shaft penetrates through the fifth bearing; and the fifth gland fixes the sixth bearing on the arm body, and the right end of the second horizontal rotation central line of the left end connecting cross shaft penetrates through the sixth bearing.
Furthermore, the joint further comprises a seventh bearing, an eighth bearing and a pin shaft, wherein the seventh bearing and the eighth bearing are respectively installed at two ends of a horizontal rotation center line of the right end connecting cross shaft, and the pin shaft sequentially penetrates through the seventh bearing, the right piston rod and the eighth bearing.
The beneficial results of the invention are: the hydraulic mechanical arm double-freedom-degree joint can adjust the lengths of the two piston rods according to different requirements, realizes the motion of the mechanical arm under a space angle, meets different application occasions, and realizes the flexible motion of the mechanical arm; the hydraulic oil circuit has the advantages of being integrated with an oil circuit, adopting an integrated design, integrating machinery and hydraulic pressure into a whole, and having the characteristic of high energy density.
Drawings
FIG. 1 is a right cylinder assembly view;
FIG. 2 is a left cylinder assembly view;
FIG. 3 is a view of a hidden scaffold flange robot arm;
FIG. 4 is a diagram of a front end assembly of the robot arm;
FIG. 5 is a stent flange view;
FIG. 6 is a right end connection cross;
FIG. 7 is a left end connection cross;
figure 8 is a view of the complete arm.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
The invention provides a double-cross-shaft-matching-based double-freedom-degree joint of a hydraulic mechanical arm, which comprises a right oil cylinder assembly 1, a left oil cylinder assembly 2, a mechanical arm front end assembly 3 and an arm body 4;
as shown in fig. 1 and 3, the right cylinder assembly 1 is a cylinder system using a servo valve, a right piston rod 1.11 of the cylinder system is connected with the front end assembly 3 of the mechanical arm through a revolute pair, and a right cylinder barrel 1.10 of the cylinder system is connected with the arm body 4 through a spherical hinge 1.9 to prevent over-constraint;
as shown in fig. 2 and 3, the left cylinder assembly 2 is a cylinder system using a servo valve, a left piston rod 2.11 of the cylinder system is connected with the front end assembly 3 of the mechanical arm through a revolute pair, and a left cylinder barrel 2.7 of the cylinder system is connected with the arm body 4 through a revolute pair;
as shown in fig. 4, the arm front end assembly 3 includes a right end connection cross 3.6, a left end connection cross 3.7, and a bracket flange 3.5;
as shown in fig. 5, the bracket flange 3.5 has two vertical centre lines of revolution: A-A and B-B;
as shown in fig. 6, the right end connection cross 3.6 has a vertical rotation center line a1-a1 and a horizontal rotation center line C-C, the horizontal rotation center line C-C forms a rotation pair with the end of the right piston rod 1.11, and the vertical rotation center line a1-a1 forms a rotation pair with the right vertical rotation center line a-a of the bracket flange 3.5;
as shown in FIG. 7, the left end connecting cross 3.7 has a vertical centerline of revolution B1-B1 and two horizontal centerlines of revolution: D-D and E-E, the first horizontal centre line of gyration E-E and left piston rod 2.11 are connected through revolute pair, the second horizontal centre line of gyration D-D and arm body 4 form revolute pair, its vertical centre line of gyration B1-B1 and left side vertical centre line of gyration B-B of the support flange 3.5 form revolute pair;
the complete robot arm is shown in fig. 8;
when the right piston rod 1.11 is extended or shortened, the right end connecting cross shaft 3.6 and the bracket flange 3.5 rotate around the vertical rotation center line B1-B1 of the left end connecting cross shaft 3.7, so that the joint moves leftwards or rightwards;
when the left piston rod 2.11 is extended or shortened, the right end connecting cross shaft 3.6 and the bracket flange 3.5 rotate around a second horizontal rotation center line D-D of the left end connecting cross shaft 3.7, so that the joint moves upwards or downwards;
the right piston rod 1.11 and the left piston rod 2.11 run simultaneously, so that the joint moves in a spatial angle.
As shown in fig. 6, the upper and lower ends of the right end connection cross shaft 3.6 are respectively provided with a built-in oil passage which can be communicated with the oil passage of the hydraulic mechanical arm, so that the installation space can be saved, and the arrangement of oil pipes is convenient.
As shown in FIG. 7, the first horizontal turning center line E-E and the second horizontal turning center line D-D of the left end connection cross 3.7 are in the same plane, and the first horizontal turning center line E-E is right below the second horizontal turning center line D-D.
As shown in fig. 4, the first encoder 3.3.1 is arranged on the end face of the vertical rotation center line B1-B1 of the left end connection cross 3.7 and is used for measuring the rotation angle and angular speed of the joint around the vertical rotation center line of the left end connection cross 3.7; and a second encoder 3.3.2 is arranged on the end surface of a second horizontal rotation central line D-D of the left end connecting cross shaft 3.7 and used for measuring the angle and the angular speed of the joint rotating around the second horizontal rotation central line.
As shown in fig. 5, the bracket flange 3.5 includes an upper support plate 3.5.1 and a lower support plate 3.5.2 parallel to each other, and an actuator mounting plate 3.5.3 connecting the upper support plate 3.5.1 and the lower support plate 3.5.2.
As shown in fig. 4, the joint further comprises a first gland 3.1.1, a first bearing 3.4.1 and a fourth bearing 3.4.4, wherein the first gland 3.1.1 fixes the first bearing 3.4.1 on an upper supporting plate 3.5.1 of a bracket flange 3.5, and the upper end of a vertical revolution center line B1-B1 of the left end connecting cross shaft 3.7 passes through the first bearing 3.4.1; the fourth bearing 3.4.4 is mounted on the lower support plate 3.5.2, and the lower end of a vertical rotation center line B1-B1 of the left end connecting cross shaft 3.7 penetrates through the fourth bearing 3.4.4.
As shown in fig. 4, the joint further comprises a second gland 3.1.2, a second bearing 3.4.2 and a third bearing 3.4.3, wherein the second gland 3.1.2 fixes the second bearing 3.4.2 on an upper supporting plate 3.5.1 of the bracket flange 3.5, and the upper end of a vertical revolution center line a1-a1 of the right end connecting cross shaft 3.6 passes through the second bearing 3.4.2; the third gland 3.1.3 fixes the third bearing 3.4.3 on the lower support plate 3.5.2 of the support flange 3.5, and the lower end of the vertical rotation center line A1-A1 of the right end connecting cross shaft 3.6 passes through the third bearing 3.4.3.
As shown in fig. 3, the joint further includes a fourth gland 4.1.1, a fifth bearing 4.2.1, a fifth gland 4.1.2 and a sixth bearing 4.2.2, the fifth bearing 4.2.1 is fixed on the arm body 4 by the fourth gland 4.1.1, and the left end of a second horizontal rotation center line D-D of the left end connecting cross shaft 3.7 passes through the fifth bearing 4.2.1; the fifth gland 4.1.2 fixes the sixth bearing 4.2.2 on the arm body 4, and the right end of the second horizontal rotation central line D-D of the left end connecting cross shaft 3.7 passes through the sixth bearing 4.2.2.
As shown in fig. 3, the joint further includes a seventh bearing 4.2.3, an eighth bearing 4.2.4 and a pin 4.4, the seventh bearing 4.2.3 and the eighth bearing 4.2.4 are respectively installed at two ends of a horizontal rotation center line C-C of the right end connection cross shaft 3.6, and the pin 4.4 sequentially passes through the seventh bearing 4.2.3, the right piston rod 1.11 and the eighth bearing 4.2.4.
The working process of the invention is as follows:
(1) mounting a joint on a hydraulic mechanical arm;
(2) the hydraulic mechanical arm is connected with a power system and a control system of the hydraulic mechanical arm;
(3) after debugging, testing the hydraulic mechanical arm joint;
(4) when the control system controls the right piston rod 1.11 of the right oil cylinder assembly 1 to extend or shorten, the right end connecting cross shaft 3.6 and the support flange 3.5 rotate around the vertical rotation center line B1-B1 of the left end connecting cross shaft 3.7, so that the joint moves leftwards or rightwards;
(5) when the control system controls the left piston rod 2.11 of the left oil cylinder assembly 2 to extend or shorten, the right end connecting cross shaft 3.6 and the support flange 3.5 rotate around a second horizontal rotation center line D-D of the left end connecting cross shaft 3.7, so that the joint moves upwards or downwards;
(6) the right piston rod 1.11 and the left piston rod 2.11 run simultaneously, so that the movement of the joint in a space angle is realized, different application occasions are met, and the flexible movement of the mechanical arm is realized.
Finally, it should be noted that the above description is only one specific application example of the present invention, and many types of front end and revolute pair of the mechanical arm can be designed according to the needs, and it is obvious that other application examples similar to the basic principle of the present invention also belong to the protection scope of the present invention.
Claims (9)
1. The utility model provides a two degree of freedom joints of hydraulic pressure arm based on two cross axle cooperations which characterized in that: comprises a right oil cylinder component (1), a left oil cylinder component (2), a mechanical arm front end component (3) and an arm body (4);
the right oil cylinder assembly (1) is an oil cylinder system adopting a servo valve, a right piston rod (1.1.1) of the right oil cylinder assembly is connected with a front end assembly (3) of a mechanical arm through a revolute pair, and a right cylinder barrel (1.10) of the right oil cylinder assembly is connected with an arm body (4) through a spherical hinge (1.9);
the left oil cylinder assembly (2) is an oil cylinder system adopting a servo valve, a left piston rod (2.1.1) of the left oil cylinder assembly is connected with a front end assembly (3) of a mechanical arm through a revolute pair, and a left cylinder barrel (2.7) of the left oil cylinder assembly is connected with an arm body (4) through a revolute pair;
the mechanical arm front end component (3) comprises a right end connecting cross shaft (3.6), a left end connecting cross shaft (3.7) and a support flange (3.5);
the bracket flange (3.5) has two vertical centre lines of revolution;
the right end connecting cross shaft (3.6) is provided with a vertical rotary central line and a horizontal rotary central line, the horizontal rotary central line and the tail end of the right piston rod (1.1.1) form a revolute pair, and the vertical rotary central line and the right vertical rotary central line of the bracket flange (3.5) form a revolute pair;
the left end connecting cross shaft (3.7) is provided with a vertical rotary center line and two horizontal rotary center lines, the first horizontal rotary center line is connected with the left piston rod (2.1.1) through a revolute pair, the second horizontal rotary center line and the arm body (4) form a revolute pair, and the vertical rotary center line of the revolute pair and the left vertical rotary center line of the bracket flange (3.5) form a revolute pair;
when the right piston rod (1.1.1) extends or shortens, the right end connecting cross shaft (3.6) and the support flange (3.5) rotate around the vertical rotation center line of the left end connecting cross shaft (3.7), so that the joint moves leftwards or rightwards;
when the left piston rod (2.1.1) extends or shortens, the right end connecting cross shaft (3.6) and the support flange (3.5) rotate around a second horizontal rotation center line of the left end connecting cross shaft (3.7), so that the joint moves upwards or downwards;
the right piston rod (1.1.1) and the left piston rod (2.1.1) run simultaneously, so that the joint moves in a space angle.
2. The two-degree-of-freedom joint of the hydraulic mechanical arm based on the double-cross-shaft fit is characterized in that: the upper end and the lower end of the right end connecting cross shaft (3.6) are respectively provided with a built-in oil way which is communicated with an oil way of the hydraulic mechanical arm.
3. The two-degree-of-freedom joint of the hydraulic mechanical arm based on the double-cross-shaft fit is characterized in that: the first horizontal rotation center line and the second horizontal rotation center line of the left end connecting cross shaft (3.7) are in the same plane, and the first horizontal rotation center line is right below the second horizontal rotation center line.
4. The two-degree-of-freedom joint of the hydraulic mechanical arm based on the double-cross-shaft fit is characterized in that: the end face of the vertical rotary center line of the left end connecting cross shaft (3.7) is provided with a first encoder (3.3.1) for measuring the angle and angular speed of the joint rotating around the vertical rotary center line of the left end connecting cross shaft (3.7); and a second encoder (3.3.2) is arranged on the end surface of a second horizontal rotation center line of the left end connecting cross shaft (3.7) and is used for measuring the angle and the angular speed of the joint rotating around the second horizontal rotation center line.
5. The two-degree-of-freedom joint of the hydraulic mechanical arm based on the double-cross-shaft fit is characterized in that: the bracket flange (3.5) comprises an upper support plate (3.5.1) and a lower support plate (3.5.2) which are parallel to each other, and an actuator mounting plate (3.5.3) which connects the upper support plate (3.5.1) and the lower support plate (3.5.2).
6. The two-degree-of-freedom joint of the hydraulic mechanical arm based on the double-cross-shaft fit is characterized in that: the joint further comprises a first gland (3.1.1), a first bearing (3.4.1) and a fourth bearing (3.4.4), wherein the first gland (3.1.1) fixes the first bearing (3.4.1) on an upper supporting plate (3.5.1) of a bracket flange (3.5), and the upper end of a vertical rotation center line of a left end connecting cross shaft (3.7) penetrates through the first bearing (3.4.1); the fourth bearing (3.4.4) is mounted on the lower support plate (3.5.2), and the lower end of the vertical rotary central line of the left end connecting cross shaft (3.7) penetrates through the fourth bearing (3.4.4).
7. The two-degree-of-freedom joint of the hydraulic mechanical arm based on the double-cross-shaft fit is characterized in that: the joint further comprises a second gland (3.1.2), a third gland (3.1.3), a second bearing (3.4.2) and a third bearing (3.4.3), wherein the second gland (3.1.2) fixes the second bearing (3.4.2) on an upper supporting plate (3.5.1) of the bracket flange (3.5), and the upper end of the vertical rotation center line of the right end connecting cross shaft (3.6) penetrates through the second bearing (3.4.2); the third bearing (3.4.3) is fixed on the lower support plate (3.5.2) of the support flange (3.5) by the third gland (3.1.3), and the lower end of the vertical rotary central line of the right end connecting cross shaft (3.6) penetrates through the third bearing (3.4.3).
8. The two-degree-of-freedom joint of the hydraulic mechanical arm based on the double-cross-shaft fit is characterized in that: the joint further comprises a fourth gland (4.1.1), a fifth bearing (4.2.1), a fifth gland (4.1.2) and a sixth bearing (4.2.2), wherein the fifth bearing (4.2.1) is fixed on the arm body (4) by the fourth gland (4.1.1), and the left end of a second horizontal rotation center line of the left end connecting cross shaft (3.7) penetrates through the fifth bearing (4.2.1); the fifth gland (4.1.2) fixes the sixth bearing (4.2.2) on the arm body (4), and the right end of the second horizontal rotation center line of the left end connecting cross shaft (3.7) passes through the sixth bearing (4.2.2).
9. The two-degree-of-freedom joint of the hydraulic mechanical arm based on the double-cross-shaft fit is characterized in that: the joint further comprises a seventh bearing (4.2.3), an eighth bearing (4.2.4) and a pin shaft (4.4), wherein the seventh bearing (4.2.3) and the eighth bearing (4.2.4) are respectively installed at two ends of a horizontal rotation center line of the right end connecting cross shaft (3.6), and the pin shaft (4.4) sequentially penetrates through the seventh bearing (4.2.3), the right piston rod (1.1.1) and the eighth bearing (4.2.4).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910029490.0A CN109849050B (en) | 2019-01-13 | 2019-01-13 | Hydraulic mechanical arm double-freedom-degree joint based on double cross shaft matching |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910029490.0A CN109849050B (en) | 2019-01-13 | 2019-01-13 | Hydraulic mechanical arm double-freedom-degree joint based on double cross shaft matching |
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| CN109849050A CN109849050A (en) | 2019-06-07 |
| CN109849050B true CN109849050B (en) | 2020-09-15 |
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| CN201910029490.0A Active CN109849050B (en) | 2019-01-13 | 2019-01-13 | Hydraulic mechanical arm double-freedom-degree joint based on double cross shaft matching |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110271036B (en) * | 2019-06-26 | 2022-03-29 | 哈尔滨工业大学 | Hose-free internal oil circuit of hydraulic pressure wheel leg humanoid robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60141497A (en) * | 1983-12-28 | 1985-07-26 | 日立産機エンジニアリング株式会社 | Joint mechanism |
| JPS60238236A (en) * | 1984-05-09 | 1985-11-27 | Mitsubishi Electric Corp | Universal arm |
| CN101224581A (en) * | 2008-01-30 | 2008-07-23 | 哈尔滨工程大学 | Submarine manipulator shoulder joint |
| WO2013061868A1 (en) * | 2011-10-24 | 2013-05-02 | Thk株式会社 | Articular structure for robot and robot with incorporated articular structure |
| CN107336221A (en) * | 2017-08-09 | 2017-11-10 | 上海大学 | A kind of Novel two-freedom-degree parallel robot in apery elbow joint |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003170381A (en) * | 2001-11-30 | 2003-06-17 | Seiko Epson Corp | Operating device |
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2019
- 2019-01-13 CN CN201910029490.0A patent/CN109849050B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60141497A (en) * | 1983-12-28 | 1985-07-26 | 日立産機エンジニアリング株式会社 | Joint mechanism |
| JPS60238236A (en) * | 1984-05-09 | 1985-11-27 | Mitsubishi Electric Corp | Universal arm |
| CN101224581A (en) * | 2008-01-30 | 2008-07-23 | 哈尔滨工程大学 | Submarine manipulator shoulder joint |
| WO2013061868A1 (en) * | 2011-10-24 | 2013-05-02 | Thk株式会社 | Articular structure for robot and robot with incorporated articular structure |
| CN107336221A (en) * | 2017-08-09 | 2017-11-10 | 上海大学 | A kind of Novel two-freedom-degree parallel robot in apery elbow joint |
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