CN109849054A - Mechanical arm anti-shake apparatus and anti-fluttering method - Google Patents
Mechanical arm anti-shake apparatus and anti-fluttering method Download PDFInfo
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- CN109849054A CN109849054A CN201910123347.8A CN201910123347A CN109849054A CN 109849054 A CN109849054 A CN 109849054A CN 201910123347 A CN201910123347 A CN 201910123347A CN 109849054 A CN109849054 A CN 109849054A
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Abstract
The present invention provides a kind of mechanical arm anti-shake apparatus and anti-fluttering methods, the mechanical arm anti-shake apparatus includes: robot assemblies, robot assemblies include actuator, the first transmission mechanism and at least two support arms, at least two support arms include actuating arm and load bearing arm, actuating arm is rotatably connected with load bearing arm, first transmission mechanism is arranged between actuating arm and load bearing arm, and actuator is drivingly connected by the first transmission mechanism and load bearing arm, and load bearing arm is used for place apparatus；Brake is arranged on load bearing arm, and brake is for limiting load bearing arm with respect to actuating arm activity；Detection piece, detection piece moves integrally state for detection mechanical arm component, and when robot assemblies are in moving condition, brake is to limit load bearing arm activity；When robot assemblies remain static, brake releases braking.By technical solution provided by the present application, it is able to solve the problem of mechanical arm in the prior art is easily shaken.
Description
Technical field
The present invention relates to mechanical arm technical fields, in particular to a kind of mechanical arm anti-shake apparatus and anti-fluttering method.
Background technique
Currently, mechanical arm is usually used in multiple fields, mechanical arm can cooperate running gear to realize rotation, lifting and crawl etc.
Operation.But in the prior art, the running gear equipped with mechanical arm is in moving process, because of Uneven road, mechanical arm meeting
Jitter phenomenon occurs, influences smoothly completing for operation.
Summary of the invention
The present invention provides a kind of mechanical arm anti-shake apparatus and anti-fluttering method, is easily shaken with solving mechanical arm in the prior art
The problem of.
According to an aspect of the invention, there is provided a kind of mechanical arm anti-shake apparatus, mechanical arm anti-shake apparatus include: machinery
Arm component, robot assemblies include actuator, the first transmission mechanism and at least two support arms, and at least two support arms include driving
Arm and load bearing arm, actuating arm are rotatably connected with load bearing arm, and the first transmission mechanism is arranged between actuating arm and load bearing arm, driving
Part is drivingly connected by the first transmission mechanism and load bearing arm, and load bearing arm is used for place apparatus；Brake is arranged on load bearing arm,
Brake is for limiting load bearing arm with respect to actuating arm activity；Detection piece, detection piece move integrally shape for detection mechanical arm component
State, when robot assemblies are in moving condition, brake is to limit load bearing arm activity；When robot assemblies are in static
When state, brake releases braking.
Further, mechanical arm anti-shake apparatus further include: running gear, actuating arm are fixed on running gear.
Further, running gear includes motor and walking mechanism, and motor and walking mechanism are drivingly connected, and detection piece is used for
The magnitude of current for detecting motor, when the magnitude of current of detection is greater than preset value, brake is to limit load bearing arm activity.
Further, the first transmission mechanism includes synchronous belt and belt wheel, the driving end of actuator and actuating arm and carrying
It is provided with belt wheel in shaft between arm, brake and drive to drive load bearing arm movable are cooperated by synchronous belt and belt wheel
Shaft connection between swing arm and load bearing arm.
Further, mechanical arm anti-shake apparatus further include: the second transmission mechanism is arranged between brake and shaft, system
Dynamic device is rotated by the second transmission mechanism control shaft.
Further, the second transmission mechanism includes reduction gear component, and the input gear setting in reduction gear component exists
On the output end of brake, the output gear in reduction gear component is arranged in shaft.
Further, mechanical arm anti-shake apparatus further includes transmission arm, and one end and the actuating arm of transmission arm are rotatably connected, and is passed
The other end of swing arm is rotatably connected with load bearing arm, and actuating arm is connect by transmission arm with load bearing arm, actuating arm, transmission arm and
The both ends of load bearing arm are provided with belt wheel, and for two on same support arm belt wheel by a synchronous band connection, mechanical arm is anti-
Jitter apparatus further includes carrying platform, and carrying platform is arranged on the free end of load bearing arm, and be located at free end band wheel drive
Connection, actuator passes through the first transmission mechanism so that carrying platform is rotated relative to load bearing arm.
According to another aspect of the present invention, a kind of mechanical arm anti-fluttering method is provided, it is anti-using the mechanical arm of above-mentioned offer
Jitter apparatus, mechanical arm anti-fluttering method include: the moving condition of detection mechanical arm component；According to moving condition control brake work
Make；Wherein, when robot assemblies are in moving condition, brake is to limit load bearing arm activity；At robot assemblies
When stationary state, brake releases braking.
Further, mechanical arm anti-shake apparatus includes motor and walking mechanism, the moving condition tool of detection mechanical arm component
Body includes: the magnitude of current for detecting motor；When the magnitude of current is greater than preset value, brake is to limit load bearing arm activity.
Further, preset value is equal to 0, and when the magnitude of current is equal to 0, brake releases braking, and detects motor again
The magnitude of current.
It applies the technical scheme of the present invention, which includes robot assemblies, brake and detection piece.
Wherein, robot assemblies include actuator, the first transmission mechanism and at least two support arms, specifically, at least two support arm packets
Actuating arm and load bearing arm are included, and actuating arm is rotatably connected with load bearing arm, the first transmission mechanism is arranged in actuating arm and load bearing arm
Between, actuator is drivingly connected by the first transmission mechanism and load bearing arm, and load bearing arm is used for place apparatus.Using the above structure,
Actuator transfers power to the load bearing arm connecting with actuating arm by the first transmission mechanism, and load bearing arm is made to rotate, in turn
The equipment being placed on load bearing arm is set to rotate.Since device is in moving condition, robot assemblies are easily shaken, and pass through
Brake is arranged on load bearing arm, brake limitation load bearing arm can be made with respect to actuating arm activity.Specifically, utilizing detection group
The moving condition of part detection mechanical arm component entirety, when robot assemblies are in moving condition, brake is held with limiting
Load arm activity；When robot assemblies remain static, brake releases braking, in this way, being capable of cancellation element
The shake that robot assemblies generate when moving guarantees smoothly completing for operation.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 shows the structural schematic diagram of the mechanical arm anti-shake apparatus provided according to embodiments of the present invention；
Fig. 2 shows the installation diagrams of brake and reduction gear component in Fig. 1；
Fig. 3 shows the cross-sectional view of Fig. 2；
Fig. 4 shows the schematic diagram of the mechanical arm anti-fluttering method provided according to embodiments of the present invention.
Wherein, the above drawings include the following reference numerals:
11, actuator；12, actuating arm；13, load bearing arm；14, synchronous belt；15, belt wheel；16, shaft；
20, brake；
30, reduction gear component；
40, transmission arm；
50, carrying platform.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment be it is illustrative, never as to the present invention and its application or make
Any restrictions.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
As shown in Figure 1 to Figure 3, the embodiment of the present invention provides a kind of mechanical arm anti-shake apparatus, the mechanical arm anti-shake apparatus packet
Include robot assemblies, brake 20 and detection piece.Wherein, robot assemblies include actuator 11, the first transmission mechanism and
At least two support arms.Specifically, at least two support arms include actuating arm 12 and load bearing arm 13 in the present embodiment, and actuating arm 12
It is rotatably connected, the first transmission mechanism is arranged between actuating arm 12 and load bearing arm 13, actuator 11 passes through with load bearing arm 13
First transmission mechanism and load bearing arm 13 are drivingly connected, and load bearing arm 13 is used for place apparatus.Using the above structure, actuator 11 is utilized
Power is transmitted to load bearing arm 13 by the first transmission mechanism, so that load bearing arm 13 be made to rotate, and then makes to be placed on carrying
Equipment on arm 13 rotates.Wherein, brake 20 is arranged on load bearing arm 13, and brake 20 is for limiting load bearing arm 13
Opposite 12 activity of actuating arm.Specifically, detection piece moves integrally state for detection mechanical arm component, when robot assemblies are in
When moving condition, the braking of brake 20 is to limit 13 activity of load bearing arm；When robot assemblies remain static, brake 20
Release braking.By the moving condition of detection components detection mechanical arm, making device, only load bearing arm 13 could be opposite when static
Actuating arm 12 rotates, and then eliminates the shake of device mechanical arm when moving.
Using technical solution provided by the present application, the mechanical arm anti-shake apparatus include robot assemblies, brake 20 and
Detection piece.Power is transmitted to the load bearing arm 13 being rotatablely connected with actuating arm 12 using actuator 11 by the first transmission mechanism
On, so that load bearing arm 13 be made to drive equipment carry out activity, and then realize the operations such as lifting, crawl.It is detected by detection components
The moving condition for surveying robot assemblies makes the braking of brake 20 to limit load bearing arm when robot assemblies are in moving condition
13 opposite actuating arms 12 rotate, to eliminate the shake of device mechanical arm when moving, and then can guarantee load bearing arm
Equipment on 13 is in stable state always, improves the stability of device.
For the movement of realization device, in the present embodiment, mechanical arm anti-shake apparatus further includes running gear, and actuating arm
12 are fixed on running gear.
Specifically, running gear includes motor and walking mechanism, and motor and walking mechanism are drivingly connected, and utilize motor pair
Walking mechanism provides power, thus the movement of realization device.Wherein, detection piece is used to detect the magnitude of current of motor, when detection
When the magnitude of current is greater than preset value, the braking of brake 20 is to limit 13 activity of load bearing arm, and load bearing arm 13 is solid with respect to actuating arm 12 at this time
It is fixed, and then the shake of load bearing arm 13 is eliminated, improve the stability of device.
Specifically, the first transmission mechanism includes synchronous belt 14 and belt wheel 15, and the driving end of actuator 11 and actuating arm
It is provided with belt wheel 15 in shaft between 12 and load bearing arm 13, is cooperated by synchronous belt 14 and belt wheel 15 to drive load bearing arm
13 activities, and then realize the movement of equipment.In the present embodiment, the shaft between brake 20 and actuating arm 12 and load bearing arm 13
16 connections are braked, to realize the fixation of load bearing arm 13 using this structure convenient for brake 20.
In the present embodiment, mechanical arm anti-shake apparatus further includes the second transmission mechanism, and the setting of the second transmission mechanism is being braked
Between device 20 and shaft 16, brake 20 is rotated by the second transmission mechanism control shaft 16.When detection device detects machinery
When arm component is mobile, brake 20 is braked, and brake force, which is transmitted to shaft 16 by the second transmission mechanism, makes it stop operating, thus
Realize limitation load bearing arm 13 effect mobile relative to actuating arm 12.
Specifically, the second transmission mechanism includes reduction gear component 30, wherein the input gear in reduction gear component 30
It is arranged on the output end of brake 20, the output gear in reduction gear component 30 is arranged in shaft 16.Also, in order to mention
Brake 20 is risen to the braking effect of load bearing arm 13, in the present embodiment, reduction gear component 30 includes 2 groups of gears, and is inputted
The outer diameter of gear is less than the outer diameter of output gear.By the way that the structure of multi-stage gear is arranged, reduction gear component 30 can use
Increase torsion when braking, and then improves the braking effect of brake 20.
Specifically, mechanical arm anti-shake apparatus further includes transmission arm 40, wherein one end of transmission arm 40 can turn with actuating arm 12
Dynamic connection, the other end and the load bearing arm 13 of transmission arm 40 are rotatably connected, and actuating arm 12 is connected by transmission arm 40 and load bearing arm 13
It connects.Also, the both ends of actuating arm 12, transmission arm 40 and load bearing arm 13 are provided with belt wheel 15, and are located on same support arm
Two belt wheels 15 are connected by a synchronous belt 14.Wherein, mechanical arm anti-shake apparatus further includes carrying platform 50, carrying platform 50
It is arranged on the free end of load bearing arm 13, and is drivingly connected with the belt wheel 15 for being located at free end, actuator 11 passes through the first transmission
Mechanism is so that carrying platform 50 is rotated relative to load bearing arm 13.Using the above structure, when actuator 11 rotates, actuator 11 can band
Shaft between dynamic actuator 11 and actuating arm 12 rotates, due to being provided with synchronous belt 14 between transmission arm 40 and actuating arm 12,
When the shaft rotation between actuator 11 and actuating arm 12, transmission arm 40 can rotate.And then when transmission arm 40 rotates,
Shaft 16 can rotate, due to being provided with synchronous belt 14 between transmission arm 40 and load bearing arm 13, under the drive of synchronous belt 14
Load bearing arm 13 can rotate.It is connected due to being provided with belt wheel 15 at the both ends shaft of load bearing arm 13, and by synchronous belt 14,
When load bearing arm 13 rotates, under the drive of synchronous belt 14, carrying platform 50 can remain horizontal, so can lifting device
Stability.
In the present embodiment, brake 20 is electricity cut-off type electromagnetic brake brake, but is not limited only to electricity cut-off type electromagnetic brake
Brake can also be the other kinds of brakes such as upper electric-type electromagnetic brake brake.
As shown in figure 4, further embodiment of this invention provides a kind of mechanical arm anti-fluttering method, this method applies above-mentioned offer
Mechanical arm anti-shake apparatus.Specifically, mechanical arm anti-fluttering method includes: the moving condition of detection mechanical arm component；According to movement
State control brake 20 works；Wherein, when robot assemblies are in moving condition, brake 20 is braked to limit load bearing arm
13 activities；When robot assemblies remain static, brake 20 releases braking.It can be with by this mechanical arm anti-fluttering method
According to the moving condition of robot assemblies, controlling load bearing arm 13 can only can opposite 12 turns of actuating arm when robot assemblies are static
It is dynamic, and then the problem of eliminate device mechanical arm is easily shaken when moving.
Specifically, mechanical arm anti-shake apparatus includes motor and walking mechanism, the moving condition of detection mechanical arm component is specific
It include: the magnitude of current for detecting motor, when the magnitude of current is greater than preset value, the braking of brake 20 is made with limiting 13 activity of load bearing arm
Load bearing arm 13 is static with respect to actuating arm 12.
It is tested by the motor to 24V, 100W, when device remains static, the electric current of motor is 0；Work as dress
When setting in unloaded walking states, the electric current of motor is T1；When the trolley that gross weight is 80KG is walked on level land, the electricity of motor
Stream is T2；When device is in the walking states of overload, the electric current of motor is T3.By above data, as long as can sum up
For device in moving condition, electric current T1, T2 and T3 of motor are all larger than 0, and therefore, in the present embodiment, preset value is arranged
It is 0, when the magnitude of current is equal to 0, brake 20 releases braking, and detects the magnitude of current of motor again, when the electricity for detecting motor
When flow is not 0, then brake 20 is braked, to limit the rotation of load bearing arm 13.
Embodiment provided by the present application has the advantage that compared with prior art
(1) pass through the electric current of real-time detection motor, when robot assemblies integrally occur mobile, the electric current of motor is greater than 0,
Brake at this time to limit movement of the load bearing arm relative to actuating arm, and then eliminates the shake of mechanical arm, improves device
Stability；
(2) by the structure of setting multi-stage gear, it can use gear assembly to increase torsion when brake, into
And improve the braking effect of brake.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
It is not limited the scope of the invention up to formula and numerical value.Simultaneously, it should be appreciated that for ease of description, each portion shown in attached drawing
The size divided not is to draw according to actual proportionate relationship.For technology, side known to person of ordinary skill in the relevant
Method and equipment may be not discussed in detail, but in the appropriate case, and the technology, method and apparatus should be considered as authorizing explanation
A part of book.In shown here and discussion all examples, any occurrence should be construed as merely illustratively, and
Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should also be noted that similar label
Similar terms are indicated in following attached drawing with letter, therefore, once it is defined in a certain Xiang Yi attached drawing, then subsequent attached
It does not need that it is further discussed in figure.
In the description of the present invention, it is to be understood that, the noun of locality such as " front, rear, top, and bottom, left and right ", " it is laterally, vertical,
Vertically, orientation or positional relationship indicated by level " and " top, bottom " etc. is normally based on orientation or position shown in the drawings and closes
System, is merely for convenience of description of the present invention and simplification of the description, in the absence of explanation to the contrary, these nouns of locality do not indicate that
It must have a particular orientation or be constructed and operated in a specific orientation with the device or element for implying signified, therefore cannot manage
Solution is limiting the scope of the invention；The noun of locality " inside and outside " refers to inside and outside the profile relative to each component itself.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
In addition, it should be noted that, limiting components using the words such as " first ", " second ", it is only for be convenient for
Corresponding components are distinguished, do not have Stated otherwise such as, there is no particular meanings for above-mentioned word, therefore should not be understood as to this
The limitation of invention protection scope.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of mechanical arm anti-shake apparatus, which is characterized in that the mechanical arm anti-shake apparatus includes:
Robot assemblies, the robot assemblies include actuator (11), the first transmission mechanism and at least two support arms, at least
Two support arms include actuating arm (12) and load bearing arm (13), and the actuating arm (12) is rotatably connected with the load bearing arm (13),
First transmission mechanism is arranged between the actuating arm (12) and the load bearing arm (13), and the actuator (11) passes through institute
It states the first transmission mechanism and the load bearing arm (13) is drivingly connected, the load bearing arm (13) is used for place apparatus；
Brake (20) is arranged on the load bearing arm (13), and the brake (20) is for limiting the load bearing arm (13) phase
To the actuating arm (12) activity；
Detection piece, the detection piece moves integrally state for detecting the robot assemblies, when the robot assemblies are in
When moving condition, brake (20) braking is to limit the load bearing arm (13) activity；When the robot assemblies are in quiet
Only when state, the brake (20) releases braking.
2. mechanical arm anti-shake apparatus according to claim 1, which is characterized in that the mechanical arm anti-shake apparatus further include:
Running gear, the actuating arm (12) are fixed on the running gear.
3. mechanical arm anti-shake apparatus according to claim 2, which is characterized in that the running gear includes motor and walking
Mechanism, the motor and the walking mechanism are drivingly connected, and the detection piece is used to detect the magnitude of current of the motor, work as detection
Magnitude of current when being greater than preset value, the brake (20) braking is to limit the load bearing arm (13) activity.
4. mechanical arm anti-shake apparatus according to claim 1, which is characterized in that first transmission mechanism includes synchronous belt
(14) and belt wheel (15), between the driving end and the actuating arm (12) and the load bearing arm (13) of the actuator (11)
Shaft on be provided with belt wheel (15), cooperated by the synchronous belt (14) and the belt wheel (15) to drive the load bearing arm
(13) movable, the brake (20) connect with the shaft (16) between the actuating arm (12) and the load bearing arm (13).
5. mechanical arm anti-shake apparatus according to claim 4, which is characterized in that the mechanical arm anti-shake apparatus further include:
Second transmission mechanism is arranged between the brake (20) and the shaft (16), and the brake (20) passes through institute
State shaft described in the second transmission mechanism control (16) rotation.
6. mechanical arm anti-shake apparatus according to claim 5, which is characterized in that second transmission mechanism includes reducing gear
Wheel assembly (30), the input gear in the reduction gear component (30) are arranged on the output end of the brake (20), institute
The output gear stated in reduction gear component (30) is arranged on the shaft (16).
7. mechanical arm anti-shake apparatus according to claim 4, which is characterized in that the mechanical arm anti-shake apparatus further includes passing
Swing arm (40), one end and the actuating arm (12) of the transmission arm (40) are rotatably connected, the transmission arm (40) it is another
End is rotatably connected with the load bearing arm (13), and the actuating arm (12) passes through the transmission arm (40) and the load bearing arm (13)
Connection, the both ends of the actuating arm (12), the transmission arm (40) and the load bearing arm (13) are provided with the belt wheel
(15), two belt wheels (15) on the same support arm pass through synchronous belt (14) connection, the machinery
Arm anti-shake apparatus further includes carrying platform (50), and the carrying platform (50) is arranged on the free end of the load bearing arm (13),
And be located at the free end the belt wheel (15) be drivingly connected, the actuator (11) by first transmission mechanism with
Rotate the carrying platform (50) relative to the load bearing arm (13).
8. a kind of mechanical arm anti-fluttering method, which is characterized in that using mechanical arm stabilization described in any one of claims 1 to 7
Device, the mechanical arm anti-fluttering method include:
The moving condition of detection mechanical arm component；
It is worked according to the moving condition control brake (20)；
Wherein, when the robot assemblies are in moving condition, brake (20) braking is living to limit load bearing arm (13)
It is dynamic；When the robot assemblies remain static, the brake (20) releases braking.
9. mechanical arm anti-fluttering method according to claim 8, which is characterized in that the mechanical arm anti-shake apparatus includes motor
And walking mechanism, the moving condition of detection mechanical arm component specifically include:
Detect the magnitude of current of the motor；
When the magnitude of current is greater than preset value, brake (20) braking is to limit the load bearing arm (13) activity.
10. mechanical arm anti-fluttering method according to claim 9, which is characterized in that the preset value is equal to 0, when the electricity
When flow is equal to 0, the brake (20) releases braking, and detects the magnitude of current of the motor again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910123347.8A CN109849054B (en) | 2019-02-18 | 2019-02-18 | Mechanical arm anti-shaking device and anti-shaking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910123347.8A CN109849054B (en) | 2019-02-18 | 2019-02-18 | Mechanical arm anti-shaking device and anti-shaking method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109849054A true CN109849054A (en) | 2019-06-07 |
| CN109849054B CN109849054B (en) | 2021-02-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910123347.8A Active CN109849054B (en) | 2019-02-18 | 2019-02-18 | Mechanical arm anti-shaking device and anti-shaking method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102026783A (en) * | 2008-06-06 | 2011-04-20 | 松下电器产业株式会社 | Robot, robot control device, control method and control program |
| CN105982679A (en) * | 2015-02-04 | 2016-10-05 | 深圳迈瑞生物医疗电子股份有限公司 | X-ray photography system and rocker arm mechanism thereof |
| CN208117831U (en) * | 2018-04-09 | 2018-11-20 | 浙江大华技术股份有限公司 | A kind of mechanical arm and robot |
| US20180353055A1 (en) * | 2014-11-05 | 2018-12-13 | Aktormed Gmbh | Operation assistance system |
| CN109009440A (en) * | 2012-08-15 | 2018-12-18 | 直观外科手术操作公司 | The removable mounting platform of having an operation controlled by the manual movement of robot arm |
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2019
- 2019-02-18 CN CN201910123347.8A patent/CN109849054B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102026783A (en) * | 2008-06-06 | 2011-04-20 | 松下电器产业株式会社 | Robot, robot control device, control method and control program |
| CN109009440A (en) * | 2012-08-15 | 2018-12-18 | 直观外科手术操作公司 | The removable mounting platform of having an operation controlled by the manual movement of robot arm |
| US20180353055A1 (en) * | 2014-11-05 | 2018-12-13 | Aktormed Gmbh | Operation assistance system |
| CN105982679A (en) * | 2015-02-04 | 2016-10-05 | 深圳迈瑞生物医疗电子股份有限公司 | X-ray photography system and rocker arm mechanism thereof |
| CN208117831U (en) * | 2018-04-09 | 2018-11-20 | 浙江大华技术股份有限公司 | A kind of mechanical arm and robot |
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| Publication number | Publication date |
|---|---|
| CN109849054B (en) | 2021-02-26 |
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