CN109955281A - Two degrees of freedom big corner flexible machine person joint, robot based on rope driving - Google Patents
Two degrees of freedom big corner flexible machine person joint, robot based on rope driving Download PDFInfo
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- CN109955281A CN109955281A CN201910344484.4A CN201910344484A CN109955281A CN 109955281 A CN109955281 A CN 109955281A CN 201910344484 A CN201910344484 A CN 201910344484A CN 109955281 A CN109955281 A CN 109955281A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of two degrees of freedom big corner flexible machine person joint based on rope driving and robots, belong to robotic technology field.Two degrees of freedom big corner flexible machine person joint based on rope driving of the invention includes the first articulated arm, second joint bar and rotating connector, one end of the rotating connector is hingedly connected with the first articulation piece, first articulation piece and first articulated arm are articulated and connected, the other end of the rotating connector is hingedly connected with the second articulation piece, and second articulation piece and the second joint bar are articulated and connected.Two degrees of freedom big corner flexible machine person joint based on rope driving of the invention has large rotation angle, more flexible.
Description
Technical field
The present invention relates to robotic technology fields, soft more particularly, to a kind of two degrees of freedom big corner based on rope driving
Property joint of robot, robot.
Background technique
Multiple articulated arms are usually set based on the super redundant mechanical arm that rope drives, multiple joints are connected with each other, and are filled by driving
Driving rope is set, articulated arm is driven to realize the mutual movement between articulated arm around joint motions, to increase super redundant mechanical
The flexibility of arm entirety, makes it have extremely strong obstacle avoidance ability, can be applicable to the fields such as aerospace, military surveillance.
In existing super redundant mechanical arm technology, articular portion mostly uses candan universal joint to close as the rotation of pivotable parts
Section.But in actual use, the articulation range is small, and flexibility is not high.
Summary of the invention
In order to solve the deficiencies in the prior art, the embodiment of the present invention provides a kind of two degrees of freedom based on rope driving and turns greatly
Angle flexible machine person joint, rotational angle are bigger, more flexible.
The embodiment of the present invention solves the technical solution taken of above-mentioned technical problem are as follows: provides a kind of based on rope driving
Two degrees of freedom big corner flexible machine person joint, including the first articulated arm, second joint bar and rotating connector, the rotation
One end of connector is hingedly connected with the first articulation piece, and first articulation piece and first articulated arm are articulated and connected, described
The other end of rotating connector is hingedly connected with the second articulation piece, and second articulation piece hingedly connects with the second joint bar
It connects.
As a further improvement of the above technical scheme, at the rotating connector and the first articulation piece articulated connection
It is the second articulated section at first articulation piece and the first articulated arm articulated connection for the first articulated section, first hinge
The axis direction of socket part and the axis direction of second articulated section are mutually perpendicular to；
Be third articulated section at the rotating connector and the second articulation piece articulated connection, second articulation piece with
Second joint bar hinged place is the 4th articulated section, the axis of the axis direction of the third articulated section and the 4th articulated section
Line direction is mutually perpendicular to.
As a further improvement of the above technical scheme, have between first articulated section and second articulated section pre-
If offset distance；There is preset offset distance between the third articulated section and the 4th articulated section.
As a further improvement of the above technical scheme, first articulation piece is equipped with first shaft hole and the second axis hole,
The end face of first articulated arm is equipped with third axis hole, and the rotating connector is equipped with the towards one end of first articulation piece
Four axis holes, the first shaft hole and the 4th axis hole pass through the first rotation pin connection, second axis hole and the 4th axis
Hole passes through the second rotation pin connection.
As a further improvement of the above technical scheme, the both ends setting of first rotational pin, second rotational pin
There is retaining ring.
As a further improvement of the above technical scheme, second articulation piece is equipped with the 5th axis hole and the 6th axis hole,
The end face of the second joint bar is equipped with the 7th axis hole, and the rotating connector is equipped with the towards one end of second articulation piece
Eight axis holes, the 5th axis hole and the 7th axis hole rotate pin connection, the 6th axis hole and the 8th axis by third
Hole passes through the 4th rotation pin connection.
As a further improvement of the above technical scheme, the both ends of the third rotational pin and the 4th rotational pin are arranged
There is retaining ring.
As a further improvement of the above technical scheme, circumferential equal between first articulated arm and the second joint bar
It is even to be disposed with the rotating connector at least three, the first articulation piece and the second articulation piece.
As a further improvement of the above technical scheme, the rotating connector twist structure.
The present invention also provides a kind of robots comprising the two degrees of freedom big corner as described above based on rope driving is soft
Property joint of robot.
Beneficial effects of the present invention:
The two degrees of freedom big corner flexible machine person joint based on rope driving of the invention, including the first articulated arm, the
Two articulated arms and rotating connector, one end of the rotating connector are hingedly connected with the first articulation piece, and described first is hinged
Part and first articulated arm are articulated and connected, and the other end of the rotating connector is hingedly connected with the second articulation piece, and described the
Two articulation pieces and the second joint bar are articulated and connected.The both ends of rotating connector are respectively provided with the rotation knot for having two freedom degrees
Structure, compared to the rotational structure of traditional candan universal joint, rotational angle is significantly improved, and flexibility is more preferable.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the knot of the two degrees of freedom big corner flexible machine person joint based on rope driving of one embodiment of the invention
Structure schematic diagram；
Fig. 2 is tearing open for the two degrees of freedom big corner flexible machine person joint based on rope driving of one embodiment of the invention
Separation structure schematic diagram；
Fig. 3 is the partial enlargement structural representation in Fig. 2 at A；
Fig. 4 is the partial enlargement structural representation in Fig. 2 at B；
Fig. 5 is the structural schematic diagram after Fig. 1 turns an angle on one degree of freedom direction.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to design of the invention, specific structure and generation clear
Chu, complete description, to be completely understood by the purpose of the present invention, scheme and effect.It should be noted that the case where not conflicting
Under, the features in the embodiments and the embodiments of the present application can be combined with each other.
It should be noted that unless otherwise specified, when a certain feature referred to as " fixation ", " connection " are in another feature,
It can directly fix, be connected to another feature, and can also fix, be connected to another feature indirectly.In addition, this
The descriptions such as up, down, left, right, before and after used in invention are only relative to the mutual of each component part of the invention in attached drawing
For positional relationship.
In addition, unless otherwise defined, the technology of all technical and scientific terms used herein and the art
The normally understood meaning of personnel is identical.Term used in the description is intended merely to description specific embodiment herein, without
It is to limit the present invention.Term " and or " used herein includes the arbitrary of one or more relevant listed items
Combination.
With reference to Fig. 1, the two degrees of freedom big corner flexible machine person joint based on rope driving of the embodiment of the present invention includes
First articulated arm 1, second joint bar 2, setting rotation connection module, the first joint between the first articulated arm 1 and second joint bar 2
Relative rotation between bar 1 and second joint bar 2 realized by rotation connection module, the first articulated arm 1 and second joint bar 2 it
Between be installed with driving rope 3, pass through between tension the first articulated arm 1 of driving of driving rope 3 and second joint bar 2 opposite turns
It is dynamic.
Such as Fig. 2 and Fig. 3, being rotatablely connected module includes rotating connector 4, the first articulation piece 5, the second articulation piece 6, and rotation connects
One end of fitting 4 and the first articulation piece 5 are articulated and connected, and the first articulation piece 5 and the first articulated arm 1 are articulated and connected, rotating connector 4
The other end and the second articulation piece 6 be articulated and connected, the second articulation piece 6 is articulated and connected with second joint bar 2.
The hinged place for remembering rotating connector 4 and the first articulation piece 5 is the first articulated section, the first articulation piece 5 and the first joint
The hinged place of bar 1 is the second articulated section；The hinged place of rotating connector 4 and the second articulation piece 6 is third articulated section, and second is hinged
The hinged place of part 6 and second joint bar 2 is the 4th articulated section.
In one embodiment, the axis direction of the first articulated section and the axis direction of the second articulated section are mutually perpendicular to, the
The axis direction of three articulated sections and the axis direction of the 4th articulated section are mutually perpendicular to.First articulated section and the second articulated section form one
A two degrees of freedom rotational structure, third articulated section and the 4th articulated section form another two degrees of freedom rotational structure, and two two certainly
Mutually enhanced by degree rotational structure, significantly improves whole rotational angle.
In a preferred embodiment, there is preset offset distance, third articulated section between the first articulated section and the second articulated section
There is preset offset distance between the 4th articulated section.Compared to traditional universal joint, the embodiment of the present invention passes through in the first articulated section
Preset offset distance is set between the second articulated section, between third articulated section and the 4th articulated section, increases rotating connector 4
Slewing area, further increases rotational angle, and flexibility is more preferable.
Such as Fig. 2, the two degrees of freedom big corner flexible robot based on rope driving of one embodiment of the invention is shown
The fractionation structural representation in joint.In one embodiment, such as Fig. 3, the first articulation piece 5 is equipped with first shaft hole 50, the second axis
Hole 51, the axis direction of first shaft hole 50 and the axis direction of the second axis hole 51 are mutually perpendicular to, and first shaft hole 50 and the second axis
There is certain offset distance, the end face of the first articulated arm 1 is equipped with third axis hole 10, and rotating connector 4 is cut with scissors towards first between hole 51
One end of fitting 5 is equipped with the 4th axis hole 40, and first shaft hole 50 is connect with third axis hole 10 by the first rotational pin 70, realizes first
The articulated connection of articulation piece 5 and the first articulated arm 1, the second axis hole 51 is connect with the 4th axis hole 40 by the second rotational pin 71, real
The articulated connection of existing rotating connector 4 and the first articulation piece 5.
The end face of first articulated arm 1 is provided with the first installation to ear 11, between the first installation between ear 11 to having centainly
Away to install the first articulation piece 5, the first installation is to opening up above-mentioned first shaft hole 50 on ear 11.
The both ends of first rotational pin 70 are provided with retaining ring 80, and retaining ring 80 limits the first rotational pin 70, the first rotation of limitation
Pin 70 slides axially；The both ends of second rotational pin 71 are equipped with retaining ring 81, and retaining ring 81 limits the second rotational pin 71, limitation second
Rotational pin 71 slides axially.
Preferably, the length of the first rotational pin 70 is greater than the length of the second rotational pin 71.
In one embodiment, such as Fig. 4, the second articulation piece 6 is equipped with the 5th axis hole 60 and the 6th axis hole 61, second joint
The end face of bar 2 is equipped with the 7th axis hole 20, and rotating connector 4 is equipped with the 8th axis hole 41, the 5th axis towards one end of the second articulation piece 6
Hole 60 is connect with the 7th axis hole 20 by third rotational pin 72, realizes the articulated connection of the second articulation piece 6 and second joint bar 2,
6th axis hole 61 is connect with the 8th axis hole 41 by the 4th rotational pin 73, and the second articulation piece 6 of realization is hinged with rotating connector 4
Connection.
The end face of second joint bar 2 is equipped with the second installation to ear 21, the second installation to being equipped with certain spacing between ear 21,
To install the second above-mentioned articulation piece 6, the second installation is used for and the 5th axis hole 60 to the 7th above-mentioned axis hole 20 is opened up on ear 21
Connection.
The both ends of third rotational pin 72 are equipped with retaining ring 82, are limited by both ends of the retaining ring 82 to third rotational pin 72,
Prevent third rotational pin 72 from sliding axially, the both ends of the 4th rotational pin 73 are equipped with retaining ring 83, by retaining ring 83 to the 4th turn
The both ends of dynamic pin 73 are limited, and prevent the 4th rotational pin 73 from sliding axially.
In order to avoid the offset of the first articulated arm 1 and the generation relative position in mutual rotation of second joint bar 2, it is provided with
Module is rotatablely connected at least three, circumferential direction of the rotation connection module along the first articulated arm 1 and second joint bar 2 at least three
Uniformly arrangement, such as Fig. 1, rotation connection module are preferably arranged at three.
Further, rotating connector 4 is set as twist structure.
With continued reference to Fig. 1, in order to realize the movement of two degrees of freedom, driving rope 3 includes driving rope 3 along week at 4 at 4
It uniformly arranges to direction, driving rope 3 passes through the first articulated arm 1, and one end of driving rope 3 is fixedly connected with second joint bar 2,
The other end of rope 3 is driven to connect driving motor.
When driving the first articulated arm 1 to relatively rotate with second joint bar 2, two driving ropes for being separated by 180 degree pass through
One driving motor drives, and driving 3, rope needs, two driving motors can be driven at 4.Such as Fig. 5, show at one certainly
By the structural schematic diagram after turning an angle on degree, under normal elongation state, the length of four driving ropes 3 is L, works as edge
After one degree of freedom bending certain angle, because axis direction length is constant, length is still L, the rotary part in joint in etc.
Waist trapezium structure, by driving the distributed architecture of rope 3 everywhere it is found that inside driving rope and outside drive rope with middle
Symmetrical centered on rope, the variable quantity of inside rope length is equal with the variable quantity of outside rope length, so, a motor driven can be used
It is separated by two driving ropes 3 of 180 degree, so that one of driving rope 3 stretches, another driving rope 3 loosens, and entirety is only
It needs two driving motors that the rotation of two degrees of freedom can be realized, improves the stability of system, while also reducing cost.
Two degrees of freedom big corner flexible machine person joint based on rope driving of the invention has the advantages that
1, joint has the ability of Spatial Rigid joint operation, and has both direction freedom degree, polarizers of big angle scope bending
The function of movement can make mechanical arm have higher flexibility and stronger obstacle avoidance ability, be suitble to non-structure environment.
2, articulation has symmetry, and two driving motors can be enabled to drive two groups of driving cable tie movable joint rotations, subtracted
Few driving motor number, improves the stability of system, while also reducing the cost of system.
3, using long-range rope driving direction, the quality of mechanical arm is alleviated, improves corresponding speed, driving motor and control
Circuit theory end effector is not easily susceptible to the infection of external environment and is damaged, is applicable to particular job field.
The present invention also provides a kind of robots comprising the two degrees of freedom big corner as described above based on rope driving is soft
Property joint of robot.
It is to be illustrated to what preferable implementation of the invention carried out, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. a kind of two degrees of freedom big corner flexible machine person joint based on rope driving, which is characterized in that including the first joint
Bar, second joint bar and rotating connector, one end of the rotating connector are hingedly connected with the first articulation piece, and described first
Articulation piece and first articulated arm are articulated and connected, and the other end of the rotating connector is hingedly connected with the second articulation piece, institute
It states the second articulation piece and the second joint bar is articulated and connected.
2. the two degrees of freedom big corner flexible machine person joint according to claim 1 based on rope driving, feature exist
In,
Be the first articulated section at the rotating connector and the first articulation piece articulated connection, first articulation piece with it is described
It is the second articulated section, the axis of the axis direction of first articulated section and second articulated section at first articulated arm articulated connection
Line direction is mutually perpendicular to；
Be third articulated section at the rotating connector and the second articulation piece articulated connection, second articulation piece with it is described
Second joint bar hinged place is the 4th articulated section, the axis side of the axis direction of the third articulated section and the 4th articulated section
To being mutually perpendicular to.
3. the two degrees of freedom big corner flexible machine person joint according to claim 2 based on rope driving, feature exist
In,
There is preset offset distance between first articulated section and second articulated section；
There is preset offset distance between the third articulated section and the 4th articulated section.
4. the two degrees of freedom big corner flexible machine person joint according to claim 3 based on rope driving, feature exist
In first articulation piece is equipped with first shaft hole and the second axis hole, and the end face of first articulated arm is equipped with third axis hole, institute
It states rotating connector and is equipped with the 4th axis hole towards one end of first articulation piece, the first shaft hole and the 4th axis hole are logical
It crosses the first rotation pin connection, second axis hole and the 4th axis hole and passes through the second rotation pin connection.
5. the two degrees of freedom big corner flexible machine person joint according to claim 4 based on rope driving, feature exist
The both ends of, first rotational pin, second rotational pin are provided with retaining ring.
6. the two degrees of freedom big corner flexible machine person joint according to claim 3 based on rope driving, feature exist
In second articulation piece is equipped with the 5th axis hole and the 6th axis hole, and the end face of the second joint bar is equipped with the 7th axis hole, institute
It states rotating connector and is equipped with the 8th axis hole towards one end of second articulation piece, the 5th axis hole and the 7th axis hole are logical
It crosses third rotation pin connection, the 6th axis hole and the 8th axis hole and passes through the 4th rotation pin connection.
7. the two degrees of freedom big corner flexible machine person joint according to claim 6 based on rope driving, feature exist
In the both ends of the third rotational pin and the 4th rotational pin are provided with retaining ring.
8. the two degrees of freedom big corner flexible robot according to any one of claim 1 to 7 based on rope driving is closed
Section, which is characterized in that described turn has been arranged circumferentially at least three between first articulated arm and the second joint bar
Follower link, the first articulation piece and the second articulation piece.
9. the two degrees of freedom big corner flexible machine person joint according to claim 8 based on rope driving, feature exist
In, the rotating connector twist structure.
10. a kind of robot, which is characterized in that two based on rope driving including such as any one of claims 1 to 9 are freely
Spend big corner flexible machine person joint.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910344484.4A CN109955281A (en) | 2019-04-26 | 2019-04-26 | Two degrees of freedom big corner flexible machine person joint, robot based on rope driving |
| PCT/CN2019/086334 WO2020215386A1 (en) | 2019-04-26 | 2019-05-10 | Rope driving-based two-degree-of-freedom flexible robot joint with large rotation angle, and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910344484.4A CN109955281A (en) | 2019-04-26 | 2019-04-26 | Two degrees of freedom big corner flexible machine person joint, robot based on rope driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109955281A true CN109955281A (en) | 2019-07-02 |
Family
ID=67026566
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910344484.4A Pending CN109955281A (en) | 2019-04-26 | 2019-04-26 | Two degrees of freedom big corner flexible machine person joint, robot based on rope driving |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109955281A (en) |
| WO (1) | WO2020215386A1 (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110480676A (en) * | 2019-09-02 | 2019-11-22 | 哈尔滨工业大学（深圳） | A kind of big corner flexible joint and robot based on rope driving |
| CN110561401A (en) * | 2019-08-14 | 2019-12-13 | 哈尔滨工业大学（深圳） | Super-redundancy linkage flexible mechanical arm based on closed-loop driving rope |
| CN110666774A (en) * | 2019-09-23 | 2020-01-10 | 广东工业大学 | Three-degree-of-freedom rope driving joint module based on parallel mechanism |
| CN110666775A (en) * | 2019-09-23 | 2020-01-10 | 广东工业大学 | Two-degree-of-freedom rope-driven swinging and rotating parallel mechanism |
| CN112873269A (en) * | 2021-04-29 | 2021-06-01 | 广东寻米科技有限公司 | Wrist structure and robot |
| CN113386117A (en) * | 2021-06-07 | 2021-09-14 | 哈尔滨工业大学（深圳） | Rope-driven flexible mechanical arm with yaw freedom and capable of realizing sine decoupling |
| CN113386168A (en) * | 2021-05-13 | 2021-09-14 | 上海工程技术大学 | Bionic flexible mechanical wrist device for quarantine sampling |
| CN113547541A (en) * | 2021-06-23 | 2021-10-26 | 哈尔滨工业大学（深圳） | Rope-driven flexible mechanical arm joint based on linkage of connecting rods and mechanical arm system |
| CN113733067A (en) * | 2021-09-23 | 2021-12-03 | 湖南大学 | Large-load long-distance radiation-resistant high-precision snake-shaped arm |
| CN114346995A (en) * | 2021-12-30 | 2022-04-15 | 燕山大学 | Modularized rope-driven mechanical arm based on 2-UR parallel mechanism |
| CN115565803A (en) * | 2022-10-25 | 2023-01-03 | 深圳技术大学 | Novel rope drives operating handle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110561401A (en) * | 2019-08-14 | 2019-12-13 | 哈尔滨工业大学（深圳） | Super-redundancy linkage flexible mechanical arm based on closed-loop driving rope |
| CN110561401B (en) * | 2019-08-14 | 2021-03-30 | 哈尔滨工业大学（深圳） | Super-redundancy linkage flexible mechanical arm based on closed-loop driving rope |
| CN110480676B (en) * | 2019-09-02 | 2021-03-05 | 哈尔滨工业大学（深圳） | Large-corner flexible joint based on rope driving and robot |
| CN110480676A (en) * | 2019-09-02 | 2019-11-22 | 哈尔滨工业大学（深圳） | A kind of big corner flexible joint and robot based on rope driving |
| CN110666774A (en) * | 2019-09-23 | 2020-01-10 | 广东工业大学 | Three-degree-of-freedom rope driving joint module based on parallel mechanism |
| CN110666775A (en) * | 2019-09-23 | 2020-01-10 | 广东工业大学 | Two-degree-of-freedom rope-driven swinging and rotating parallel mechanism |
| CN112873269A (en) * | 2021-04-29 | 2021-06-01 | 广东寻米科技有限公司 | Wrist structure and robot |
| CN112873269B (en) * | 2021-04-29 | 2021-06-29 | 广东寻米科技有限公司 | Wrist structure and robot |
| CN113386168A (en) * | 2021-05-13 | 2021-09-14 | 上海工程技术大学 | Bionic flexible mechanical wrist device for quarantine sampling |
| CN113386117B (en) * | 2021-06-07 | 2022-06-17 | 哈尔滨工业大学（深圳） | Rope-driven flexible mechanical arm with yaw freedom and capable of realizing sine decoupling |
| CN113386117A (en) * | 2021-06-07 | 2021-09-14 | 哈尔滨工业大学（深圳） | Rope-driven flexible mechanical arm with yaw freedom and capable of realizing sine decoupling |
| CN113547541A (en) * | 2021-06-23 | 2021-10-26 | 哈尔滨工业大学（深圳） | Rope-driven flexible mechanical arm joint based on linkage of connecting rods and mechanical arm system |
| CN113547541B (en) * | 2021-06-23 | 2023-05-12 | 哈尔滨工业大学（深圳） | Rope-driven flexible mechanical arm joint based on connecting rod linkage and mechanical arm system |
| CN113733067A (en) * | 2021-09-23 | 2021-12-03 | 湖南大学 | Large-load long-distance radiation-resistant high-precision snake-shaped arm |
| WO2023045647A1 (en) * | 2021-09-23 | 2023-03-30 | 湖南大学 | Large-load long-distance radiation-resistant high-precision snakelike arm |
| CN114346995A (en) * | 2021-12-30 | 2022-04-15 | 燕山大学 | Modularized rope-driven mechanical arm based on 2-UR parallel mechanism |
| CN114346995B (en) * | 2021-12-30 | 2024-04-09 | 燕山大学 | Modularized rope driving mechanical arm based on 2-UR parallel mechanism |
| CN115565803A (en) * | 2022-10-25 | 2023-01-03 | 深圳技术大学 | Novel rope drives operating handle |
| CN115565803B (en) * | 2022-10-25 | 2023-08-29 | 深圳技术大学 | Rope drives operating handle |
| WO2024087920A1 (en) * | 2022-10-25 | 2024-05-02 | 深圳技术大学 | Rope-driven operation handle |
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| WO2020215386A1 (en) | 2020-10-29 |
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