CN109877809A - A kind of bidirectional self-adaptive telescopic mechanical arm - Google Patents
A kind of bidirectional self-adaptive telescopic mechanical arm Download PDFInfo
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- CN109877809A CN109877809A CN201910283030.0A CN201910283030A CN109877809A CN 109877809 A CN109877809 A CN 109877809A CN 201910283030 A CN201910283030 A CN 201910283030A CN 109877809 A CN109877809 A CN 109877809A
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- mechanical arm
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- scissor linkage
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- scissors
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Abstract
The present invention relates to mechanical arms, specifically a kind of bidirectional self-adaptive telescopic mechanical arm, mechanical arm includes multiple joint units, each joint unit includes middle studdle and the scissor linkage for being connected to the middle studdle two sides, it is hinged positioned at ipsilateral scissor linkage, the scissor linkage of every side is connected separately with independent drive control mechanism in bottommost joint unit, drive control mechanism is mounted on the base, it is connected with upper backup pad positioned at the joint unit of top, end manipulator is installed on upper backup pad；It is located at ipsilateral scissor linkage in each joint unit to drive by independent drive control mechanism, realizes that two scissors outwardly or inwardly relatively rotate in ipsilateral each scissor linkage, and then realizes dilatation or the lateral bending of mechanical arm.Structure of the invention dexterity, kinematic accuracy is high, and flexibly, the adaptive deformability of mechanical arm can realize crawl or be relied in a variety of situations such as barrier and itself be clasped for movement.
Description
Technical field
The present invention relates to mechanical arm, specifically a kind of bidirectional self-adaptive telescopic mechanical arm.
Background technique
With the fast development of robot technology, to the particular kind of machine Man's Demands day that can execute task under complex environment
Benefit increases.The control of tradition machinery arm is complicated, structure is lengthy and tedious, at high cost, and most of is Rigid Robot Manipulator, different without adapting to
The ability of environment and operating condition.The robot of various configuration is had developed both at home and abroad, but the robot about flexible arm is considerably less, this
So that being limited property of machine man-based development, working environment are also limited.
Summary of the invention
In order to solve the above problem existing for tradition machinery arm, the purpose of the present invention is to provide a kind of bidirectional self-adaptives to stretch
Contracting mechanical arm.
The purpose of the present invention is achieved through the following technical solutions:
The present invention includes pedestal, drive control mechanism, mechanical arm, upper backup pad and end manipulator, wherein mechanical arm packet
Multiple joint units are included, each joint unit includes middle studdle and the scissors rod machine for being connected to the middle studdle two sides
Structure is hinged positioned at ipsilateral scissor linkage, and the scissor linkage of every side is separately connected in bottommost joint unit
There is independent drive control mechanism, the drive control mechanism is mounted on the base, and the joint unit positioned at top is connected with
Upper backup pad is equipped with the end manipulator on the upper backup pad；It is located at ipsilateral scissors rod machine in each joint unit
Structure is driven by independent drive control mechanism, realizes outwardly or inwardly opposite turn of two scissors in ipsilateral each scissor linkage
It is dynamic, and then realize dilatation or the lateral bending of the mechanical arm；
Wherein: the scissor linkage of each joint unit middle studdle two sides is parallel to each other, and passes through support rod
Connection；
The scissor linkage includes scissors rod A, scissors rod B, hinge and slide bar, and scissors rod A and scissors rod B are in " X "
Shape is articulated with one end of the middle studdle, and the both ends of the scissors rod A and the both ends of scissors rod B are hinged with hinge, position
Slide bar is slidably connected between scissors rod A and two hinges of the same end scissors rod B；It is every in bottommost joint unit
The hinged hinge of side scissors rod A and the lower end scissors rod B is connect with independent drive control mechanism, by the independent drive control machine
The slide bar reverse movement that structure drives edge is slidably connected；
The slide bar of two sides scissor linkage lower end is mounted on the base in bottommost joint unit, the cunning of upper end
It is connected between bar by support rod；Two sides scissor linkage is same in remaining joint unit in addition to being located at bottommost joint unit
It is connected between the slide bar of one end by support rod；
Adjacent scissors rod A hinged hinge is affixed in the ipsilateral scissor linkage or adjacent scissors rod A between share one
A hinge, adjacent scissors rod B hinged hinge is affixed or adjacent scissors rod B between share a hinge；
Spring is connected between the middle studdle of the adjacent joint unit；
The spring is two, and the lower end of two springs is all connected to underlying joint unit in adjacent segment unit
Middle studdle on, upper end is connected to the two of the middle studdle for the joint unit being located above in adjacent segment unit
End；
The drive control mechanism includes bearing block, screw rod, nut, driving mechanism and transmission mechanism, the both ends of the screw rod
It is equipped with the bearing block being mounted on the base, the both ends of the screw rod are rotationally connected with respectively on the bearing block at both ends, should
Screw rod is equipped with two sections of reverse threads, and every section of screw thread is respectively connected with the nut to form screw thread pair, two nuts on the screw rod
It is connected respectively with two scissors rods for being located at side scissor linkage in bottommost joint unit；The driving mechanism is mounted on bottom
On seat, output shaft is connect by the transmission mechanism with screw rod, is driven the screw rod to rotate, is passed through the screw thread of screw rod and two nuts
Pair realizes the reverse movement of two nuts, and then realizes the dilatation of the scissor linkage；
The driving mechanism includes the motor and retarder being separately mounted on pedestal, the output shaft and retarder of the motor
Connection；The transmission mechanism is gear drive, including gear A and gear B, the output axis connection of the gear A and retarder,
The gear B is connected to one end of screw rod, and with gear A engaged transmission；
In the joint unit of bottommost, in the Liang Ge drive control mechanism that the scissor linkage of two sides is connected
Screw rod be parallel to each other.
Advantages of the present invention and good effect are as follows:
1. structure of the invention is dexterous, driving method is simple, and kinematic accuracy is high, and control is simple, and flexibly, mechanical arm is appointed for movement
The movement of meaning position keeps crawl position more extensive, and the adaptive deformability of mechanical arm can be real in a variety of situations such as barrier
It now grabs or relies on and itself clasped.
2. the present invention controls two scissor linkages by two motors respectively, make mechanical arm may be implemented lateral bending or
Dilatation, and can guarantee to be produced from adaptive deformation when contacting object, so as to allow end to reach predetermined position,
The manipulator is set to reach desired location to complete to grab；It is also possible to be clasped by the adaptive deformation of mechanical arm itself
The object of certain size.
3. the present invention designs a kind of bionical trunk flexible mechanical arm mechanism by bionical trunk.
4. the present invention breaks the limitation of traditional Joint Manipulator, keep the development range of mechanical arm broader.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of joint unit of the present invention；
Fig. 3 is bending schematic diagram of the invention；
Fig. 4 is the structural schematic diagram of drive control mechanism of the present invention；
Fig. 5 is the structural schematic diagram that drive control mechanism of the present invention is connect with scissor linkage；
Wherein: 1 is bearing block A, and 2 be screw rod, and 3 be nut A, and 4 be bottom plate, and 5 be motor, and 6 be nut B, and 7 be retarder, 8
For bearing block B, 9 be gear A, and 10 be gear B, and 11 be support frame, and 12 be slide bar A, and 13 be intermediate support plate, and 14 be hinge A, 15
For scissors rod A, 16 be middle studdle A, and 17 be scissors rod B, and 18 be hinge B, and 19 be support rod, and 20 be middle studdle B, 21
It is spring A for slide bar B, 22,23 be spring B, and 24 be upper backup pad, and 25 be end manipulator.
Specific embodiment
The invention will be further described with reference to the accompanying drawing.
As shown in Figure 1, the present invention includes pedestal, drive control mechanism, mechanical arm, upper backup pad 24 and end manipulator
25, wherein pedestal includes bottom plate 4, intermediate support plate 13 and support frame 11, which is located at the top of bottom plate 4, in
Between connected between support plate 13 and bottom plate 4 by multiple (the present embodiment be two) support frames 11；It is opened up on intermediate support plate 13
There are two square holes, are connected for mechanical arm with drive control mechanism.Drive control mechanism is mounted in pedestal (in being mounted on
Between between support plate 13 and bottom plate 4), mechanical arm is mounted on intermediate support plate and connect with drive control mechanism, upper backup pad
24 are mounted on the end of mechanical arm, and end manipulator 25 is set on upper backup pad 24.Mechanical arm may be implemented lateral bending or
Dilatation, and can guarantee to be produced from adaptive deformation when contacting object, so as to allow end to reach predetermined position,
Manipulator is set to reach desired location to complete to grab；It is also possible to clasp setting by the adaptive deformation of mechanical arm itself
The object of size.
Mechanical arm includes multiple joint units, and each joint unit includes middle studdle and is connected to the intermediate supports
The scissor linkage of the scissor linkage of bar two sides, each joint unit middle studdle two sides is parallel to each other, and passes through support
Bar 19 connects.It is hinged positioned at ipsilateral scissor linkage, the scissor linkage of every side point in bottommost joint unit
It is not connected with independent drive control mechanism, Liang Ge drive control mechanism is symmetrically arranged on pedestal, positioned at the joint of top
Unit is connected with upper backup pad 24, is equipped with end manipulator 25 on the upper backup pad 24.
As shown in Figure 1, Figure 2 and shown in Fig. 5, scissor linkage includes scissors rod A15, scissors rod B17, hinge and slide bar, this is cut
Fork arm A15 and the one end in " X " shape for being articulated with middle studdle scissors rod B17, the both ends of scissors rod A15 and scissors rod B17's
Both ends are hinged with hinge, slidably connect cunning between scissors rod A15 and two hinges of the same end scissors rod B17
Bar；The hinged hinge of every side scissors rod A15 and the lower end scissors rod B17 is by intermediate support plate 13 in bottommost joint unit
The square hole opened up is passed through and is connect with independent drive control mechanism, and by the independent drive control mechanism, drives edge is slided
The slide bar reverse movement of dynamic connection.The slide bar of two sides scissor linkage lower end is mounted on pedestal in bottommost joint unit
On intermediate support plate 13, it is connected between the slide bar of upper end by support rod 19；Except be located at bottommost joint unit in addition to remaining
It is connected between the slide bar of two sides scissor linkage the same end by support rod 19 in joint unit.It is adjacent in ipsilateral scissor linkage
Scissors rod A15 hinged hinge is affixed or adjacent scissors rod A15 between share a hinge, adjacent scissors rod B17 hinged hinge
Chain is affixed or adjacent scissors rod B17 between share a hinge；The present embodiment is to share a hinge, i.e. the both ends difference of hinge
It is carried out with the scissors rod in adjacent two scissors linkage hinged.
By taking a joint unit in Fig. 2 as an example, the scissor linkage of the every side of the joint unit includes slide bar A12, hinge
A14, scissors rod A15, scissors rod B17, hinge B18 and slide bar B21, scissors rod A15 and scissors rod B17 are in " X " shape, centre intersection
Position by pin shaft it is hinged, the both ends of scissors rod A15 are hinged with hinge A14, and the both ends of scissors rod B17 are hinged with hinge
B18, scissors rod A15 and the one end scissors rod B17 corresponding hinge A14 and hinge B18 are slidably connected with slide bar A12, another
Corresponding hinge A14 and hinge B18 is held to be slidably connected with slide bar B21.Two slide bar A12 in the scissor linkage of two sides
Corresponding end and two corresponding ends slide bar B21 pass through support rod 19 and connect.
Spring is connected between the middle studdle of two neighboring joint unit.Spring is two, the lower end of two springs
It is all connected in adjacent segment unit on the middle studdle of underlying joint unit, upper end is connected to adjacent segment
The both ends of the middle studdle for the joint unit being located above in unit.To be located at bottommost and second joint unit in Fig. 1
For, it is used between the middle studdle B20 in middle studdle A16 and second joint unit in bottommost joint unit
Two springs are attached, and the lower end of spring A22 and spring B 23 is all connected to the middle part of middle studdle A16, and upper end connects respectively
It is connected to the both ends of middle studdle B20.Spring is when in a compressed state, due to the flexible deformation of spring, therefore can support two sides
Scissor keep setting shape；When encountering barrier, spring will further occurrence deformation, and then play its and adaptive make
With making end manipulator 25 continue to be moved to predetermined position, or meet the needs of the shape for the object clasped.
As shown in Fig. 1, Fig. 4 and Fig. 5, drive control mechanism of the invention is two, is respectively driven in control joint unit
The scissor linkage of the same side is deformed.Drive control mechanism includes bearing block, screw rod 2, nut, driving mechanism and driver
Structure, the both ends of the screw rod 2 are equipped with the bearing block being mounted on the base, and the both ends of screw rod 2 are rotationally connected with the axis at both ends respectively
It holds on seat, which is equipped with two sections of reverse threads, and every section of screw thread is respectively connected with the nut to form screw thread pair, and two on screw rod 2
A nut is connected with two scissors rods for being located at side scissor linkage in bottommost joint unit respectively；Driving mechanism is mounted on
On pedestal, output shaft is connect by transmission mechanism with screw rod 2, is driven the screw rod 2 to rotate, is passed through the spiral shell of screw rod 2 and two nuts
Line pair realizes the reverse movement of two nuts, and then realizes the dilatation of scissor linkage.Driving mechanism includes installing respectively
Motor 5 and retarder 7 on pedestal, the output shaft of the motor 5 are connect with retarder 7；Transmission mechanism is gear drive,
Including gear A 9 and gear B 10, the output axis connection of the gear A 9 and retarder 7, gear B 10 is connected to one end of screw rod 2, and
With 9 engaged transmission of gear A.In the joint unit of bottommost, two drive controls that the scissor linkage of two sides is connected
Screw rod 2 in mechanism is parallel to each other.The present embodiment is symmetrically arranged with the bearing block A1 and axis being fixed on pedestal at the both ends of screw rod 2
A B8 is held, the both ends of screw rod 2 are installed in rotation on bearing block A1 and bearing block B8, and screw rod 2 is equipped with two sections of reverse threads,
This two sections of reverse threads form screw thread pair with nut A3 and nut B6 respectively.Motor 5 is connect with retarder 7, the output of retarder 7
Axis is sequentially connected by gear assembly and screw rod 2, and nut A3 and nut B6 are pierced by by the square hole on intermediate support plate 13, position
The hinged hinge in two scissors rod lower ends in bottommost joint unit in side scissor linkage respectively with nut A3, nut
B6 is connected, and by the opposite or counter motion of nut A3 and nut B6, realizes the dilatation of scissor linkage.
The operation principle of the present invention is that:
Telescopic mechanical arm of the invention is completed the movement of mechanical arm, principle by the length control of two sides scissor linkage
It is the movement by hinge along slide bar length direction, so that scissors rod is done scissor movement, side scissor linkage is shunk, another
Side scissor linkage stretches, then mechanical arm bends；Two sides scissor linkage stretches simultaneously, then mechanical arm does stretching, extension fortune
It is dynamic；Two sides scissor linkage does contractile motion, then mechanical arm does contractile motion.
The principle that mechanical arm bends: as shown in Fig. 2, when driving the elongation of side scissor linkage, i.e. hinge A14 and hinge
Chain B18 is drawn close to centre, and slide bar A12 and slide bar B21 distance are pulled open；Other side scissor linkage is driven to shrink simultaneously, i.e. hinge
A14 and hinge B18 is separated outward, and trapezium structure will be presented apart from close in slide bar A12 and slide bar B21.As shown in figure 3, AB stretches
Long, A ' B ' shortening, because bidirectional-movement telescopic manipulator is integrally attached to connect, then the entirety of mechanical arm will be presented bending and become
Shape.
As shown in figure 4, drive control mechanism include two groups of leadscrew-nut mechanisms, two groups of leadscrew-nut mechanisms respectively with one
The scissor linkage connection of two sides in joint unit, and respectively drive scissor linkage connected to it and be deformed.
As shown in figure 5, realizing the flexible change of scissor linkage by the opposite or counter motion of nut A3 and nut B6
Shape.
Screw rod 2 in Liang Zu drive control mechanism is arranged in parallel, so that the scissor linkage parallel with two groups is adapted.
The present invention is completed by the control to two motors 5, and by the control to motor 5, motor 5 rotates, and is slowed down
Device 7 transmits the motion to gear A 9, and gear A 9 transmits the motion to gear B 10, and gear B 10 transmits the motion to screw rod 2.It is right on screw rod 2
Claim to be equipped with two sections of direction screw threads, screw rod 2, which rotates, makes nut A3 on screw rod 2 and nut B6 do front and back along the length direction of screw rod 2
Movement, nut A3 and nut B6 movement drive hinge B18, hinge A14 to move forward and backward along the length direction of screw rod 2, and realization is cut
The dilatation of fork arm mechanism.
Since the screw thread on screw rod 2 is symmetrical structure, then symmetric form is also presented in the movement of nut A3 and nut B6, in this way
Be conducive to averagely undertake the torque that scissors rod is passed over.The movement of nut A3 and nut B6 drive hinge B18 and hinge A14
Movement, hinge B18 and hinge A14 movement drive scissors rod B17 and scissors rod A15 movement, scissors rod B17 and scissors rod A15 fortune
The dynamic hinge movement for driving next joint unit, in this way movement drive a section that mechanical arm is made to generate due deformation with regard to a section.
End manipulator 25 of the invention is commercial products, is purchased in the symmetrical of Beijing soft robot Science and Technology Ltd.
Adjustable type clamping jaw, model SFG-FMA2.End manipulator 25 is by individual motor driven, after mechanical arm completes movement
So that manipulator reaches desired location, being driven by motor grabs manipulator to target, or can also be by ontology
Self-deformation clasps object of different shapes.
Claims (10)
1. a kind of bidirectional self-adaptive telescopic mechanical arm, it is characterised in that: including pedestal, drive control mechanism, mechanical arm, upper support
Plate (24) and end manipulator (25), wherein mechanical arm includes multiple joint units, and each joint unit includes intermediate supports
Bar and the scissor linkage for being connected to the middle studdle two sides, are hinged positioned at ipsilateral scissor linkage, are located at most bottom
The scissor linkage of every side is connected separately with independent drive control mechanism, the drive control mechanism installation in portion's joint unit
In on pedestal, upper backup pad (24) are connected with positioned at the joint unit of top, the end is installed on the upper backup pad (24)
It holds manipulator (25)；It is located at ipsilateral scissor linkage in each joint unit to drive by independent drive control mechanism,
It realizes that two scissors outwardly or inwardly relatively rotate in ipsilateral each scissor linkage, and then realizes the flexible change of the mechanical arm
Shape or lateral bending.
2. bidirectional self-adaptive telescopic mechanical arm according to claim 1, it is characterised in that: among each joint unit
The scissor linkage of support rod two sides is parallel to each other, and is connected by support rod (19).
3. bidirectional self-adaptive telescopic mechanical arm according to claim 1, it is characterised in that: the scissor linkage includes cutting
Fork arm A (15), scissors rod B (17), hinge and slide bar, scissors rod A (15) and scissors rod B (17) it is in " X " shape be articulated with it is described
One end of middle studdle, the both ends of the scissors rod A (15) and the both ends of scissors rod B (17) are hinged with hinge, positioned at cutting
Slide bar is slidably connected between fork arm A (15) and two hinges of scissors rod B (17) the same end；Positioned at bottommost joint unit
In the hinged hinge of every side scissors rod A (15) and scissors rod B (17) lower end connect with independent drive control mechanism, by the independence
Drive control mechanism drives edge be slidably connected slide bar reverse movement.
4. bidirectional self-adaptive telescopic mechanical arm according to claim 3, it is characterised in that: be located in bottommost joint unit
The slide bar of two sides scissor linkage lower end is mounted on the base, and is connected between the slide bar of upper end by support rod (19)；It removes
Pass through support between the slide bar of two sides scissor linkage the same end in remaining joint unit except bottommost joint unit
Bar (19) is connected.
5. bidirectional self-adaptive telescopic mechanical arm according to claim 3, it is characterised in that: in the ipsilateral scissor linkage
The hinged hinge of adjacent scissors rod A (15) is affixed or adjacent scissors rod A (15) between share a hinge, adjacent scissors rod B
(17) hinged hinge is affixed or adjacent scissors rod B (17) between share a hinge.
6. bidirectional self-adaptive telescopic mechanical arm according to claim 1, it is characterised in that: in the adjacent joint unit
Between be connected with spring between support rod.
7. bidirectional self-adaptive telescopic mechanical arm according to claim 6, it is characterised in that: the spring is two, two
The lower end of spring is all connected in adjacent segment unit on the middle studdle of underlying joint unit, and upper end is separately connected
The both ends of the middle studdle for the joint unit being located above in adjacent segment unit.
8. bidirectional self-adaptive telescopic mechanical arm according to claim 1, it is characterised in that: the drive control mechanism includes
Bearing block, screw rod (2), nut, driving mechanism and transmission mechanism, the both ends of the screw rod (2), which are equipped with, to be mounted on the base
Bearing block, the both ends of the screw rod (2) are rotationally connected with respectively on the bearing block at both ends, the screw rod (2) be equipped with two sections it is anti-
To screw thread, every section of screw thread is respectively connected with the nut to form screw thread pair, and two nuts on the screw rod (2) are respectively and positioned at most bottom
Two scissors rods of side scissor linkage are connected in portion's joint unit；The driving mechanism is mounted on the base, and output shaft is logical
It crosses the transmission mechanism to connect with screw rod (2), the screw rod (2) is driven to rotate, by the screw thread pair of screw rod (2) and two nuts,
It realizes the reverse movement of two nuts, and then realizes the dilatation of the scissor linkage.
9. bidirectional self-adaptive telescopic mechanical arm according to claim 8, it is characterised in that: the driving mechanism includes difference
The motor (5) and retarder (7) being mounted on the base, the output shaft of the motor (5) are connect with retarder (7)；The driver
Structure is gear drive, including gear A (9) and gear B (10), the output axis connection of the gear A (9) and retarder (7), institute
State one end that gear B (10) is connected to screw rod (2), and with gear A (9) engaged transmission.
10. bidirectional self-adaptive telescopic mechanical arm according to claim 8, it is characterised in that: positioned at the pass of bottommost
It saves in unit, the screw rod (2) in Liang Ge drive control mechanism that the scissor linkage of two sides is connected is parallel to each other.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910283030.0A CN109877809A (en) | 2019-04-10 | 2019-04-10 | A kind of bidirectional self-adaptive telescopic mechanical arm |
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|---|---|---|---|
| CN201910283030.0A CN109877809A (en) | 2019-04-10 | 2019-04-10 | A kind of bidirectional self-adaptive telescopic mechanical arm |
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| CN201910283030.0A Pending CN109877809A (en) | 2019-04-10 | 2019-04-10 | A kind of bidirectional self-adaptive telescopic mechanical arm |
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| CN111037546A (en) * | 2019-12-30 | 2020-04-21 | 中国科学院沈阳自动化研究所 | Rope-driven scissor telescopic arm |
| CN111907693A (en) * | 2020-06-22 | 2020-11-10 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Wing with variable camber |
| CN112027068A (en) * | 2020-11-04 | 2020-12-04 | 南京航空航天大学 | Bionic trunk mechanism, sensing arresting device for aircraft carrier and using method of sensing arresting device |
| CN112340440A (en) * | 2020-11-17 | 2021-02-09 | 浙江海洋大学 | Mechanical arm |
| CN112405576A (en) * | 2020-11-10 | 2021-02-26 | 浙江大学 | Double-claw manipulator for rapidly grabbing materials |
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| CN114700936A (en) * | 2022-06-07 | 2022-07-05 | 中国科学院沈阳自动化研究所 | Soft continuous robot based on modularized paper folding type pneumatic artificial muscles |
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| CN111037546B (en) * | 2019-12-30 | 2022-12-09 | 中国科学院沈阳自动化研究所 | Rope-driven scissor telescopic arm |
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| CN111907693A (en) * | 2020-06-22 | 2020-11-10 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Wing with variable camber |
| CN111907693B (en) * | 2020-06-22 | 2022-02-22 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Wing with variable camber |
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| CN112405576A (en) * | 2020-11-10 | 2021-02-26 | 浙江大学 | Double-claw manipulator for rapidly grabbing materials |
| CN112340440A (en) * | 2020-11-17 | 2021-02-09 | 浙江海洋大学 | Mechanical arm |
| CN113580195A (en) * | 2021-08-11 | 2021-11-02 | 上海大学 | Many closed loops of wire winding thin wall can open and receive arm |
| CN113580195B (en) * | 2021-08-11 | 2023-10-27 | 上海大学 | Coiled thin-wall multi-closed-loop foldable mechanical arm |
| CN114178758A (en) * | 2021-12-27 | 2022-03-15 | 舟山技师学院（筹） | Boats and ships welding robot |
| CN114178758B (en) * | 2021-12-27 | 2024-02-02 | 舟山技师学院（筹） | Ship welding robot |
| CN115005993B (en) * | 2022-05-31 | 2023-09-22 | 四川省肿瘤医院 | Bending mechanism and surgical mechanical arm using same |
| CN115005993A (en) * | 2022-05-31 | 2022-09-06 | 四川省肿瘤医院 | Bending mechanism and surgical mechanical arm applying same |
| CN114700936A (en) * | 2022-06-07 | 2022-07-05 | 中国科学院沈阳自动化研究所 | Soft continuous robot based on modularized paper folding type pneumatic artificial muscles |
| CN115464685A (en) * | 2022-10-18 | 2022-12-13 | 南京航空航天大学 | Flexible arm based on cross type variable-rigidity pneumatic telescopic/bending driving unit |
| CN115464685B (en) * | 2022-10-18 | 2024-02-06 | 南京航空航天大学 | Flexible arm based on crossed variable-rigidity pneumatic telescopic/bending driving unit |
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Application publication date: 20190614 |