CN110103214A - A kind of direct-drive type cooperation mechanical arm based on ultrasound electric machine - Google Patents
A kind of direct-drive type cooperation mechanical arm based on ultrasound electric machine Download PDFInfo
- Publication number
- CN110103214A CN110103214A CN201910519402.5A CN201910519402A CN110103214A CN 110103214 A CN110103214 A CN 110103214A CN 201910519402 A CN201910519402 A CN 201910519402A CN 110103214 A CN110103214 A CN 110103214A
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- electric machine
- ultrasound electric
- arm
- output shaft
- fixedly connected
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- 238000002604 ultrasonography Methods 0.000 title claims abstract description 109
- 210000000245 forearm Anatomy 0.000 claims abstract description 37
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 31
- 208000020442 loss of weight Diseases 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 5
- 230000000116 mitigating effect Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000004044 response Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 210000003739 neck Anatomy 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The direct-drive type that the present invention relates to a kind of based on ultrasound electric machine cooperates mechanical arm, including pedestal, large arm, forearm and hand；The first output shaft that the first ultrasound electric machine and the first ultrasound electric machine are fixedly connected on pedestal is vertically arranged, first output shaft of the first ultrasound electric machine is fixedly connected by a first flange seat with the lateral side plate of a L-shaped swivel base, the second ultrasound electric machine is fixedly connected on the longitudinal side plate of swivel base, the second output shaft of the second ultrasound electric machine is horizontally disposed and extends to swivel base close to the side of the first ultrasound electric machine；Large arm one end is fixedly connected by a second flange seat with the second output shaft of the second ultrasound electric machine, the other end of large arm is fixedly connected with third ultrasound electric machine, the third output shaft of third ultrasound electric machine is horizontally disposed and direction is opposite with the direction of the second output shaft of the second ultrasound electric machine; forearm one end is fixedly connected by a third flange seat with the third output shaft of third ultrasound electric machine, and the forearm other end is connect with hand.
Description
Technical field
The present invention relates to mechanical arm technical field more particularly to a kind of direct-drive type cooperation mechanical arms based on ultrasound electric machine.
Background technique
It is well known that current mechanical device is still driven by conventional motors, intermediate there are many speed change gears, pass through motor
Rotation drives the movement of mechanical mechanism to drive the movement of entire mechanical device by corresponding speed change gear.Although traditional electricity
Machine saves manpower, but itself has impact, noise, low efficiency, it is difficult to control and need to convert energy, the response time is long.
Ultrasound electric machine obtains its movement and torque, ultrasonic electric using the cross force of electromagnetism unlike traditional motor
Machine is then that its movement and torque are obtained using the inverse piezoelectric effect and ultrasonic vibration of piezoelectric ceramics, by the microdeformation of material
Amplified by mechanical resonance and friction couples the macroscopic motion for being converted into rotor.
Summary of the invention
To solve the above-mentioned problems, the purpose of the present invention is to provide based on ultrasound electric machine direct-drive type cooperate mechanical arm,
The mechanical arm solves existing for conventional motors and itself there is impact, noise, low efficiency, it is difficult to and it controls and needs to convert energy,
The problems such as response time is long, while space is saved, improve efficiency of transmission.
To achieve the above object, the invention adopts the following technical scheme:
A kind of direct-drive type cooperation mechanical arm based on ultrasound electric machine, including pedestal, large arm, forearm and hand；It is fixed on pedestal to connect
The first output shaft for being connected to the first ultrasound electric machine and the first ultrasound electric machine is vertically arranged, and the first output shaft of the first ultrasound electric machine is logical
It crosses a first flange seat to be fixedly connected with the lateral side plate of a L-shaped swivel base, be fixedly connected on the longitudinal side plate of swivel base
Second output shaft of the second ultrasound electric machine, the second ultrasound electric machine is horizontally disposed and extends to swivel base close to the one of the first ultrasound electric machine
Side；Large arm one end is fixedly connected by a second flange seat with the second output shaft of the second ultrasound electric machine, the other end of large arm
Be fixedly connected with third ultrasound electric machine, the third output shaft of third ultrasound electric machine it is horizontally disposed and towards and the second ultrasound electric machine
The direction of second output shaft is on the contrary, forearm one end is fixed by the third output shaft of a third flange seat and third ultrasound electric machine
Connection, the forearm other end are connect with hand.
Wherein, the chassis interior has the first matched cavity of casing shape of shape and the first ultrasound electric machine, cavity
The upper and lower end face of pedestal is penetrated through, the wiring mouth for cabling of the U-shaped of connection cavity is provided on the side wall of pedestal side.
Wherein, the first casing of first ultrasound electric machine is accommodated in the cavity top of pedestal, and the of the first ultrasound electric machine
One stator seat is located above pedestal and is fixedly connected on the top surface of pedestal.
Wherein, the center of the lateral side plate of the swivel base is provided with the swivel base passed through for the first output shaft of the first ultrasound electric machine
Axis hole, lateral side plate are uniformly provided with several loss of weight apertures for mitigating swivel base weight, the longitudinal direction side of swivel base in the periphery of swivel base axis hole
The swivel base accommodating hole of the second casing of the second ultrasound electric machine of accommodating is provided on plate, swivel base accommodating hole penetrates through the top of longitudinal side plate
Portion.
Wherein, the first flange seat tool has ring flange and the sleeve that is fixedly connected on ring flange, sleeve it is arc-shaped
Inner wall on be provided with straight card face, sleeve is provided with the through-hole of horizontal direction perforation sleeve, the second method on the position in card face
The structure of blue seat and third flange seat is identical as the structure of first flange seat.
Wherein, the second casing of second ultrasound electric machine is fixedly connected on the outside of the longitudinal side plate of swivel base, the second surpasses
Second stator seat of acoustic-electric machine is fixedly connected on the inside of the longitudinal side plate of swivel base.
Wherein, the large arm has the arm of long strip-board shape and is connected to the interconnecting piece of arm one end, and arm is far from connection
The one end in portion is provided with the large arm axis hole passed through for the second output shaft of the second ultrasound electric machine, and arm is in large arm axis hole and interconnecting piece
Between part be provided with large arm loss of weight hole along the length direction of arm, interconnecting piece matches the third casing of third ultrasound electric machine
Shape is provided with large arm accommodating hole, and large arm accommodating hole penetrates through the side wall of interconnecting piece side.
Wherein, on the second output shaft of second ultrasound electric machine from close to the second ultrasound electric machine side toward outside successively
The arm of large arm is arranged with the end of large arm axis hole and second flange seat, the ring flange of second flange seat is fixedly connected on arm
On, the sleeve of second flange seat is set on the second output shaft of the second ultrasound electric machine and is fixedly connected with the second output shaft.
Wherein, the third casing of the third ultrasound electric machine is fixedly connected on the interconnecting piece of large arm close to second flange disk
Side, the third stator seat of third ultrasound electric machine are fixedly connected on the other side of the interconnecting piece of large arm.
Wherein, one end of the forearm is provided with the forearm axis hole passed through for the third output shaft of third ultrasound electric machine, small
The other end of arm is provided with the connecting hole of connection hand drive mechanism, is arranged between the both ends of forearm along the length direction of forearm
There is forearm loss of weight hole.
The invention has the following beneficial effects:
Direct-drive type cooperation mechanical arm based on ultrasound electric machine of the invention, which solves itself deposits existing for conventional motors
It is impacting, noise, low efficiency, it is difficult to energy is controlled and needs to convert, the problems such as response time is long, while using the knot of direct-drive type
Structure saves space, improves efficiency of transmission.
Meanwhile mechanical arm is designed as fisher's formula multi-connecting-rod mechanism, mutually movement drives link motion, structure letter between joint
Single, energy loss is small, drive rigidity strong, it can be achieved that manipulator motion to reach different positions and pose, can be applied in it is small, accurate
Etc. the small lot of the accurate operations such as production, assembly, the carrying of type elements and product, customize the flexibilities such as production production
Mode.
Detailed description of the invention
Fig. 1 is the overall structure diagram at a visual angle of the invention；
Fig. 2 is the overall structure diagram at another visual angle of the invention；
Fig. 3 is the structural schematic diagram of pedestal of the invention；
Fig. 4 is the structural schematic diagram of swivel base of the invention；
Fig. 5 is the structural schematic diagram of flange seat of the invention；
Fig. 6 is the structural schematic diagram of large arm of the invention；
Fig. 7 is the structural schematic diagram of forearm of the invention.
Description of symbols:
1- pedestal, 11- cavity, 12- wiring mouth, 2- large arm, 21- arm, 211- large arm axis hole, 212- large arm loss of weight hole, 22-
Interconnecting piece, 221- large arm accommodating hole, 3- forearm, 31- forearm axis hole, 32- connecting hole, 33- forearm loss of weight hole, the first ultrasound of 4-
Motor, the first stator seat of 42-, the first output shaft of 43-, the second ultrasound electric machine of 5-, the second casing of 51-, the second stator seat of 52-, 53-
Second output shaft, 6- third ultrasound electric machine, 61- third casing, 62- third stator seat, 63- third output shaft, 71- first flange
Seat, 711- ring flange, 712- sleeve, 7121- card face, 72- second flange seat, 73- third flange seat, 8- swivel base, 81- cross side
Plate, 811- swivel base axis hole, the aperture of 812- loss of weight, 82- longitudinal side plate, 821- swivel base accommodating hole.
Specific embodiment
The present invention is described in further details below in conjunction with the drawings and specific embodiments:
Referring to Fig. 1 to Fig. 7, a kind of direct-drive type cooperation mechanical arm based on ultrasound electric machine, including pedestal 1, large arm 2, forearm 3 and hand
Portion.
With the matched cavity 11 of the first casing shape of shape and the first ultrasound electric machine 4, the sky inside the pedestal 1
Chamber 11 penetrates through the upper and lower end face of pedestal 1, be provided on the side wall of 1 side of pedestal the U-shaped of connection cavity 11 for cabling
Wiring mouth 12.
The first ultrasound electric machine 4 is fixedly connected on the pedestal 1, the first casing of first ultrasound electric machine 4 is accommodated in
11 top of cavity of pedestal 1, the first stator seat 42 of first ultrasound electric machine 4 are located at 1 top of pedestal and are fixedly connected on
On the top surface of pedestal 1, the first output shaft 43 of first ultrasound electric machine 4 is vertically arranged.
First output shaft 43 of first ultrasound electric machine 4 is connect by a first flange seat 71 with a transposon 18, institute
Stating transposon 18 is L shape, and the lateral side plate 81 of the transposon 18 is lain in a horizontal plane on the first stator seat 42 of the first ultrasound electric machine 4, institute
The center for stating lateral side plate 81 is provided with the swivel base axis hole 811 passed through for the first output shaft 43 of the first ultrasound electric machine 4.Preferably,
The lateral side plate 81 is uniformly provided with several loss of weight apertures 812 for mitigating transposon 18 weight in the periphery of swivel base axis hole 811.It is described
It is fixedly connected with the second ultrasound electric machine 5 on the longitudinal side plate 82 of transposon 18, is provided with accommodating on the longitudinal side plate 82 of the transposon 18
The swivel base accommodating hole 821 of second casing 51 of the second ultrasound electric machine 5, the swivel base accommodating hole 821 penetrate through the top of longitudinal side plate 82
Portion.Second casing 51 of second ultrasound electric machine 5 is fixedly connected on the outside of the longitudinal side plate 82 of transposon 18, described the second to surpass
Second stator seat 52 of acoustic-electric machine 5 is fixedly connected on the inside of the longitudinal side plate 82 of transposon 18, and the of second ultrasound electric machine 5
Two output shafts 53 are horizontally disposed and extend to transposon 18 close to the side of the first ultrasound electric machine 4.
The first flange seat 71 has the ring flange 711 being fixedly connected with the lateral side plate 81 of transposon 18 and is fixedly attached
The sleeve 712 of first output shaft 43 of the first ultrasound electric machine 4, the sleeve 712 are vertically fixed on horizontal ring flange 711,
Vertical straight card face 7121 is provided on the arc-shaped inner wall of the sleeve 712, the sleeve 712 is in card face 7121
The through-hole of horizontal direction perforation sleeve 712, the first output shaft 43 and sleeve 712 of first ultrasound electric machine 4 are provided on position
It is fixed together by fastener horizontal through the through-hole on sleeve 712, the ring flange 711 passes through method by fastener
The disk of blue disk 711 is fixedly connected with the lateral side plate 81 of transposon 18.
The large arm 2 is connect by a second flange seat 72 with the second ultrasound electric machine 5.The large arm 2 has a strip
The arm 21 of plate and a circular interconnecting piece 22 for being connected to 21 one end of arm, the described one end of arm 21 far from interconnecting piece 22
It is provided with the large arm axis hole 211 passed through for the second output shaft 53 of the second ultrasound electric machine 5, the arm 21 is in large arm axis hole 211
Part between interconnecting piece 22 is provided with large arm loss of weight hole 212 along the length direction of arm 21.
By the second stator seat 52 1 close to the second ultrasound electric machine 5 on second output shaft 53 of second ultrasound electric machine 5
Side is successively arranged the arm 21 of large arm 2 toward outside with the end of large arm axis hole 211 and second flange seat 72, the second flange seat
72 structure is identical as the structure of first flange seat 71, and the ring flange of the second flange seat 72 is fixedly connected on arm 21,
The sleeve 712 of the second flange seat 72 be set on the second output shaft 53 of the second ultrasound electric machine 5 and with the second output shaft 53
It is fixedly connected.
22 end of interconnecting piece of the large arm 2 is fixedly connected with third ultrasound electric machine 6, and the interconnecting piece 22 matches third ultrasound
The shape of the third casing 61 of motor 6 is provided with large arm accommodating hole 221, and the large arm accommodating hole 221 penetrates through 22 side of interconnecting piece
Side wall.
The third casing 61 of the third ultrasound electric machine 6 is fixedly connected on the interconnecting piece 22 of large arm 2 close to second flange disk
72 side, the third stator seat 62 of the third ultrasound electric machine 6 are fixedly connected on the other side of the interconnecting piece 22 of large arm 2, institute
The third output shaft 63 for stating third ultrasound electric machine 6 is horizontally disposed with and the court of direction and the second output shaft 53 of the second ultrasound electric machine 5
To opposite.
The forearm 3 is connect by a third flange seat 73 with third ultrasound electric machine 6.The forearm 3 is the plate of strip
Shape, one end of the forearm 3 are provided with the forearm axis hole 31 passed through for the third output shaft 63 of third ultrasound electric machine 6, and described
The third output shaft 63 of three ultrasound electric machines 6 passes through forearm axis hole 31 and is fixedly connected with the forearm axis hole end of forearm 3.The forearm 3
The other end be provided with the connecting hole 32 of connection hand drive mechanism, along the length side of forearm 3 between the both ends of the forearm 3
To being provided with forearm loss of weight hole 33.
The hand drive mechanism is fixedly connected in the connecting hole 32 of forearm 3, the hand and hand drive mechanism phase
Even.
The foregoing is merely a specific embodiment of the invention, are not intended to limit the scope of the invention, all benefits
The equivalent structure transformation made by description of the invention and accompanying drawing content is applied directly or indirectly in other relevant technology necks
Domain is included within the scope of the present invention.
Claims (10)
- The mechanical arm 1. a kind of direct-drive type based on ultrasound electric machine cooperates, it is characterised in that: including pedestal (1), large arm (2), forearm (3) and hand；The first output shaft (43) of the first ultrasound electric machine (4) and the first ultrasound electric machine (4) is fixedly connected on pedestal (1) It is vertically arranged, the first output shaft (43) of the first ultrasound electric machine (4) passes through a first flange seat (71) and a L-shaped swivel base (8) lateral side plate (81) is fixedly connected, and is fixedly connected with the second ultrasound electric machine (5) on the longitudinal side plate (82) of swivel base (8), the The second output shaft (53) of two ultrasound electric machines (5) is horizontally disposed and extends to the side of swivel base (8) close to the first ultrasound electric machine (4)； Large arm (2) one end is fixedly connected by a second flange seat (72) with the second output shaft (53) of the second ultrasound electric machine (5), greatly The other end of arm (2) is fixedly connected with third ultrasound electric machine (6), and third output shaft (63) level of third ultrasound electric machine (6) is set It sets and towards the direction with the second output shaft (53) of the second ultrasound electric machine (5) on the contrary, forearm (3) one end passes through a third method Blue seat (73) is fixedly connected with the third output shaft (63) of third ultrasound electric machine (6), and forearm (3) other end is connect with hand.
- The mechanical arm 2. direct-drive type according to claim 1 based on ultrasound electric machine cooperates, it is characterised in that: the pedestal (1) the internal first matched cavity of casing shape (11) with shape and the first ultrasound electric machine (4), cavity (11) penetrate through pedestal (1) upper and lower end face is provided with the wiring mouth (12) for cabling of the U-shaped of connection cavity (11) on the side wall of pedestal (1) side.
- The mechanical arm 3. direct-drive type according to claim 2 based on ultrasound electric machine cooperates, it is characterised in that: described the first to surpass First casing of acoustic-electric machine (4) is accommodated in cavity (11) top of pedestal (1), the first stator seat of the first ultrasound electric machine (4) (42) it is located above pedestal (1) and is fixedly connected on the top surface of pedestal (1).
- The mechanical arm 4. direct-drive type according to claim 1 based on ultrasound electric machine cooperates, it is characterised in that: the swivel base (8) center of lateral side plate (81) is provided with the swivel base axis hole passed through for the first output shaft (43) of the first ultrasound electric machine (4) (811), lateral side plate (81) is uniformly provided with several loss of weight apertures for mitigating swivel base (8) weight in the periphery of swivel base axis hole (811) (812), the swivel base that the second casing (51) of accommodating the second ultrasound electric machine (5) is provided on the longitudinal side plate (82) of swivel base (8) holds It sets hole (821), swivel base accommodating hole (821) penetrates through the top of longitudinal side plate (82).
- The mechanical arm 5. direct-drive type according to claim 1 based on ultrasound electric machine cooperates, it is characterised in that: first method Blue seat (71) has ring flange (711) and the sleeve (712) that is fixedly connected on ring flange (711), sleeve (712) it is arc-shaped Inner wall on be provided with straight card face (7121), sleeve (712) is provided with horizontal direction perforation on the position of card face (7121) The structure and the structure phase of first flange seat (71) of the through-hole of sleeve (712), second flange seat (72) and third flange seat (73) Together.
- The mechanical arm 6. direct-drive type according to claim 1 based on ultrasound electric machine cooperates, it is characterised in that: described the second to surpass The second casing (51) of acoustic-electric machine (5) is fixedly connected on the outside of the longitudinal side plate (82) of swivel base (8), the second ultrasound electric machine (5) The second stator seat (52) be fixedly connected on swivel base (8) longitudinal side plate (82) inside.
- The mechanical arm 7. direct-drive type according to claim 1 based on ultrasound electric machine cooperates, it is characterised in that: the large arm (2) there is the arm (21) of long strip-board shape and be connected to the interconnecting piece (22) of arm (21) one end, arm (21) is far from interconnecting piece (22) one end is provided with the large arm axis hole (211) passed through for the second output shaft (53) of the second ultrasound electric machine (5), arm (21) Part between large arm axis hole (211) and interconnecting piece (22) is provided with large arm loss of weight hole along the length direction of arm (21) (212), the shape of the third casing (61) of interconnecting piece (22) matching third ultrasound electric machine (6) is provided with large arm accommodating hole (221), greatly The side wall of arm accommodating hole (221) perforation interconnecting piece (22) side.
- The mechanical arm 8. direct-drive type according to claim 7 based on ultrasound electric machine cooperates, it is characterised in that: described the second to surpass Large arm (2) is successively arranged toward outside from the side close to the second ultrasound electric machine (5) on the second output shaft (53) of acoustic-electric machine (5) End of the arm (21) with large arm axis hole (211) and second flange seat (72), the ring flange of second flange seat (72) are fixedly connected On arm (21), the sleeve (712) of second flange seat (72) is set on the second output shaft (53) of the second ultrasound electric machine (5) And it is fixedly connected with the second output shaft (53).
- The mechanical arm 9. direct-drive type according to claim 8 based on ultrasound electric machine cooperates, it is characterised in that: the third is super The third casing (61) of acoustic-electric machine (6) is fixedly connected on side of the interconnecting piece (22) close to second flange disk (72) of large arm (2), The third stator seat (62) of third ultrasound electric machine (6) is fixedly connected on the other side of the interconnecting piece (22) of large arm (2).
- The mechanical arm 10. direct-drive type according to claim 1 based on ultrasound electric machine cooperates, it is characterised in that: the forearm (3) one end is provided with the forearm axis hole (31) passed through for the third output shaft (63) of third ultrasound electric machine (6), forearm (3) The other end is provided with the connecting hole (32) of connection hand drive mechanism, along the length side of forearm (3) between the both ends of forearm (3) To being provided with forearm loss of weight hole (33).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910519402.5A CN110103214A (en) | 2019-06-17 | 2019-06-17 | A kind of direct-drive type cooperation mechanical arm based on ultrasound electric machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910519402.5A CN110103214A (en) | 2019-06-17 | 2019-06-17 | A kind of direct-drive type cooperation mechanical arm based on ultrasound electric machine |
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| Publication Number | Publication Date |
|---|---|
| CN110103214A true CN110103214A (en) | 2019-08-09 |
Family
ID=67495145
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910519402.5A Pending CN110103214A (en) | 2019-06-17 | 2019-06-17 | A kind of direct-drive type cooperation mechanical arm based on ultrasound electric machine |
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| CN (1) | CN110103214A (en) |
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| CN101478262A (en) * | 2008-09-24 | 2009-07-08 | 南京航空航天大学 | Speed-position dual close-loop control scheme for ultrasonic motor |
| CN101610015A (en) * | 2009-07-07 | 2009-12-23 | 南京航空航天大学 | A kind of main manipulator device based on ultrasound electric machine |
| CN103753603A (en) * | 2014-01-29 | 2014-04-30 | 哈尔滨工业大学 | Single-freedom-degree rotating mechanical arm driven by piezoelectric ultrasonic vibrator |
| CN204036450U (en) * | 2014-07-08 | 2014-12-24 | 重庆电子工程职业学院 | Feeding robot |
| CN205630638U (en) * | 2016-04-19 | 2016-10-12 | 江苏紫金东方超声电机有限公司 | Use supersound motor as driven robotic arm |
| CN207027513U (en) * | 2017-07-31 | 2018-02-23 | 江苏超凡标牌股份有限公司 | Manufacture label automatic loading and unloading manipulator structure |
| JP2019009880A (en) * | 2017-06-22 | 2019-01-17 | 国立大学法人東京農工大学 | Ultrasonic motor, robot arm, and mesh robot |
| CN210161161U (en) * | 2019-06-17 | 2020-03-20 | 青岛理工大学 | Direct-drive cooperative mechanical arm based on ultrasonic motor |
-
2019
- 2019-06-17 CN CN201910519402.5A patent/CN110103214A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101478262A (en) * | 2008-09-24 | 2009-07-08 | 南京航空航天大学 | Speed-position dual close-loop control scheme for ultrasonic motor |
| CN101610015A (en) * | 2009-07-07 | 2009-12-23 | 南京航空航天大学 | A kind of main manipulator device based on ultrasound electric machine |
| CN103753603A (en) * | 2014-01-29 | 2014-04-30 | 哈尔滨工业大学 | Single-freedom-degree rotating mechanical arm driven by piezoelectric ultrasonic vibrator |
| CN204036450U (en) * | 2014-07-08 | 2014-12-24 | 重庆电子工程职业学院 | Feeding robot |
| CN205630638U (en) * | 2016-04-19 | 2016-10-12 | 江苏紫金东方超声电机有限公司 | Use supersound motor as driven robotic arm |
| JP2019009880A (en) * | 2017-06-22 | 2019-01-17 | 国立大学法人東京農工大学 | Ultrasonic motor, robot arm, and mesh robot |
| CN207027513U (en) * | 2017-07-31 | 2018-02-23 | 江苏超凡标牌股份有限公司 | Manufacture label automatic loading and unloading manipulator structure |
| CN210161161U (en) * | 2019-06-17 | 2020-03-20 | 青岛理工大学 | Direct-drive cooperative mechanical arm based on ultrasonic motor |
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