CN111546325A - Stay wire controller and robot - Google Patents
Stay wire controller and robot Download PDFInfo
- Publication number
- CN111546325A CN111546325A CN202010324243.6A CN202010324243A CN111546325A CN 111546325 A CN111546325 A CN 111546325A CN 202010324243 A CN202010324243 A CN 202010324243A CN 111546325 A CN111546325 A CN 111546325A
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- CN
- China
- Prior art keywords
- wire
- pull
- disc
- gear
- far
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Classifications
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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
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- 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
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
Abstract
The invention relates to a stay wire controller and a robot, wherein the stay wire controller comprises a driving part, a gear component, a wire collecting disc and a far-end stay wire disc; the driving component is in transmission connection with the gear component and is used for driving the gear component to rotate; the gear assembly is also in transmission connection with one or more line concentration discs and is used for driving the line concentration discs to rotate; the wire collecting disc is in transmission connection with the far-end wire drawing disc through the drawing wire, so that the pulling force is transmitted to the far-end wire drawing disc; the far-end anchor plate is used for controlling the operation of a far-end actuator; the scheme provided by the invention can realize simultaneous control or independent control of a plurality of remote end guy wires, and can effectively reduce the number of motors, so that the structure of the controller is simpler, and the cost can be effectively reduced.
Description
Technical Field
The invention relates to the technical field of stay wire controllers, in particular to a stay wire controller and a robot.
Background
The existing wire pulling controller generally adopts a motor to control an actuator, and then the actuator is reset through a spring, so that the structure of the controller is complex, the operation is also complex, and the cost is high; because the controller mostly only has two stable states of nature and tensioning, or is controlled in a plurality of states and multiple levels, the controller does not have any stable intermediate state, and the control is unstable.
Disclosure of Invention
The invention aims to solve the problems of complex structure and high cost of the pull wire controller.
The invention mainly aims to provide a stay wire controller, which specifically comprises the following schemes:
a pull wire controller comprises a driving component, a gear component, a wire collecting disc and a far-end pull wire disc; the driving component is in transmission connection with the gear component and is used for driving the gear component to rotate; the gear assembly is also in transmission connection with one or more line concentration discs and is used for driving the line concentration discs to rotate; the wire collecting disc is in transmission connection with the far-end wire drawing disc through the drawing wire, so that the pulling force is transmitted to the far-end wire drawing disc; the far-end anchor plate is used for controlling the operation of the actuator.
Further, the gear assembly can drive a plurality of line concentrator dishes to rotate simultaneously to each line concentrator dish accessible is acted as go-between and is driven a distal end anchor dish and rotate.
Further, the gear assembly includes a driving gear and a plurality of driven gears; the plurality of driven gears are uniformly distributed in the circumferential direction of the driving gear and are meshed with the driving gear; the driving part is connected with the driving gear through a transmission shaft so as to drive the driving gear to rotate; the driven gear is in transmission connection with the wire collecting disc so as to drive the wire collecting disc to rotate.
Furthermore, each driven gear is provided with a gear shaft, and the wire collecting disc is arranged on the gear shaft through an electromagnetic clutch; when the electromagnetic clutch is in attraction, the driven gear drives the wire collecting disc to rotate through the gear shaft, so that the pulling force is transmitted to the far-end wire drawing disc, and the far-end wire drawing disc is driven to rotate.
Furthermore, wire collecting discs are respectively arranged at two ends of each gear shaft, and each wire collecting disc is in transmission connection with the gear shaft through an electromagnetic clutch; each electromagnetic clutch works independently, so that the operation of each wire collecting disc and the gear shaft is controlled independently.
The support plate is further included, the driving part comprises a motor and a speed reducer, and the speed reducer is in transmission connection with the motor; the gear assembly is arranged on the supporting plate; the speed reducer is in transmission connection with the gear assembly through a transmission shaft.
Furthermore, the supporting plate comprises a first supporting plate and a second supporting plate, and the first supporting plate and the second supporting plate are arranged side by side; the gear assembly is rotatably arranged on the first supporting plate; the wire collecting disc is rotatably arranged on the second supporting plate; the second supporting plate is also provided with a positioning pin, and the stay wire bypasses the wire collecting disc and passes through a through hole on the positioning pin to be connected with the far-end wire drawing disc; the positioning pin is used for tensioning the pull wire.
Furthermore, a pull wire sleeve is sleeved on the pull wire, and the pull wire can be bent along with the pull wire sleeve; one end of the wire drawing sleeve is arranged in the through hole of the positioning pin, and the other end of the wire drawing sleeve is arranged in a wiring hole of a wiring board of the far-end wire drawing disc; the stay wire passes through the wiring hole of the wiring board and is connected with the far-end stay wire disc.
Furthermore, the far-end wire drawing disc comprises a wire drawing rotating shaft, the wire collecting disc drives the wire drawing rotating shaft to rotate through a wire drawing, and the wire drawing rotating shaft rotates to control the angle change of the actuator or the opening and closing of the valve; the stay wire is a circulating stay wire and bypasses the wire collecting disc and the far-end wire drawing disc respectively, so that the rotation of the far-end wire drawing disc is controlled.
Correspondingly, the invention also provides a robot, which comprises a stay wire controller, wherein the stay wire controller is the stay wire controller; the pull wire controller is arranged on the robot, is in transmission connection with the at least one actuator and is used for controlling the operation of the at least one actuator.
By adopting the scheme, one driving gear can be driven to rotate through one motor, one driving gear drives a plurality of driven gears to rotate, an electromagnetic clutch is arranged on each driven gear respectively, the electromagnetic clutch controls the wire drawing disc to take up and pay off, and force is transmitted to the far-end wire drawing disc, so that the angle or the valve of the actuator is controlled.
The scheme provided by the invention can realize simultaneous control or independent control of a plurality of remote end guy wires, and can effectively reduce the number of motors, so that the structure of the controller is simpler, and the cost can be effectively reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a perspective view of a gear transmission structure provided in embodiment 1 of the present invention;
fig. 2 is a side view of a gear transmission structure provided in embodiment 1 of the present invention;
fig. 3 is a front view of a gear transmission structure provided in embodiment 1 of the present invention;
fig. 4 is a perspective view of a pull cord controller structure provided in embodiment 1 of the present invention (without a pull cord);
fig. 5 is a perspective view of a pull cord controller structure (not including a cover plate) provided in embodiment 1 of the present invention;
fig. 6 is a perspective view of a driving gear, a driven gear, and an electromagnetic clutch structure according to embodiment 1 of the present invention;
fig. 7 is a top view of the structure of the driving gear, the driven gear and the electromagnetic clutch provided in embodiment 1 of the present invention;
fig. 8 is a schematic view of the distal bearing and the pull wire provided in embodiment 1 of the present invention.
In the figure: 1. a motor; 2. a speed reducer; 21. a drive shaft; 3. a driving gear; 4. a driven gear; 5. a wire collecting disc; 6. positioning pins; 7. a support housing; 71. a cover plate; 8. a pull wire; 9. a wire drawing sleeve; 10. a distal end anchor; 11. a patch panel.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or quantity or location.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
Example 1
As shown in fig. 1 to 8, the present invention provides a pull-wire controller, which can be applied to an existing robot, for controlling the operation of each actuator in the robot; the stay wire controller specifically comprises a driving part, a gear component, a wire collecting disc 5 and a far-end stay wire disc 10; the driving component is in transmission connection with the gear component and is used for driving the gear component to rotate; the gear assembly is also in transmission connection with one or more wire collecting discs 5 and can be used for simultaneously driving a plurality of wire collecting discs 5 to rotate or independently driving the wire collecting discs 5 to rotate; each wire collecting disc 5 is in transmission connection with one far-end wire drawing disc 10 through a wire drawing 8 and can transmit pulling force to each far-end wire drawing disc 10 respectively so as to drive the far-end wire drawing discs 10 to rotate, specifically, the far-end wire drawing discs 10 are used for controlling the operation of a far-end actuator, and the operation of the actuator can comprise the control of the rotation or angle change or switching condition of any one part on the robot; by adopting the scheme, the plurality of wire collecting discs can be driven to rotate by one driving part and one gear assembly, so that the plurality of wire collecting discs respectively drive the far-end wire drawing discs to operate, and the plurality of far-end wire drawing discs respectively control the independent work of the actuator at the far end.
Preferably, in combination with the above solution, as shown in fig. 1 to 8, in the present embodiment, the gear assembly includes a driving gear 3 and a plurality of driven gears 4; the plurality of driven gears are uniformly distributed in the circumferential direction of the driving gear 3 and are meshed with the driving gear 3, so that one driving gear 3 can drive the plurality of driven gears 4 to rotate simultaneously, and the driven gears 4 are in transmission connection with the wire collecting disc 5 so as to drive the wire collecting disc 5 to rotate; further, the driving part comprises a servo motor and a speed reducer, and the speed reducer is connected with the driving gear 3 through a transmission shaft 21 so as to drive the driving gear 3 to rotate; in the embodiment, a single servo motor drives a driving gear through a speed reducer, the driving gear 3 drives six driven gears 4, each driven gear 4 transmits torque to an electromagnetic clutch through a transmission shaft 21, transmits the torque to a wire collecting disc 5 by controlling the attraction control of the electromagnetic clutch, and controls the torque not to be transmitted to the wire collecting disc 5 by controlling the separation of the electromagnetic clutch; in the above scheme, a driven gear controls two wire collecting discs through a shaft and two electromagnetic clutches, two pull wires are arranged on each wire collecting disc, the pull wires can be tensioned through the positioning pins on the support frame 7, the pull wires are transmitted to the far-end wire collecting discs through the pull wire sleeve, and the pull wires and the pull wire sleeve can be bent, so that the pull force can be transmitted through the bent path, and turning control can be realized.
Preferably, in combination with the above solution, as shown in fig. 1 to 8, in the present embodiment, each driven gear 4 is provided with a gear shaft, the wire collecting tray 5 is provided on the gear shaft through an electromagnetic clutch and is in transmission connection with the gear shaft, the wire collecting tray 5 may be provided at one end or both ends of the gear shaft, and the wire collecting tray 5 may include one or more wires; specifically, the gear shaft passes through the central position of the driven gear 4 and is in transmission connection with the driven gear 4, so that the driven gear 4 can drive the gear shaft to rotate simultaneously; the electromagnetic clutch is used for controlling the movement of the wire collecting disc 5, namely controlling the wire collecting disc 5 to take up or pay off; specifically, when the electromagnetic clutch and clutch is engaged, the driven gear 4 drives the wire collecting disc 5 to rotate together through the gear shaft, so that the pulling force of the pull wire 8 is transmitted to the far-end wire pulling disc 10, and the far-end wire pulling disc 10 is driven to rotate; when the electromagnetic clutch is disconnected, the wire collecting disc 5 does not rotate along with the driven gear 4, transmission between the wire collecting disc 5 and the driven gear 4 is cut off, and therefore independent control over each far-end wire drawing disc 10 can be achieved.
Preferably, in combination with the above scheme, as shown in fig. 1 to 8, in the present embodiment, two ends of each gear shaft are respectively connected with a wire collecting disc 5, that is, two ends of the driven gear 4 are respectively connected with one wire collecting disc 5, and each wire collecting disc 5 is in transmission connection with the gear shaft through an electromagnetic clutch; each electromagnetic clutch can work independently, so that the operation between each wire collecting disc 5 and the driven gear 4 is controlled independently; furthermore, two ends of the gear shaft can be connected with one or more wire collecting discs, and each wire collecting disc is controlled by an independent electromagnetic clutch; the method specifically comprises the following steps: the electromagnetic clutch is closed in an electrified state, so that the wire collecting disc 5 rotates along with the driven gear; the electromagnetic clutch is separated in a power-off state, so that the wire collecting disc 5 does not rotate along with the driven gear; in the embodiment, the angle manipulation of the plurality of end effectors can be controlled by a single motor, so that the use of a large number of micro motors is reduced, the machine cost is reduced, and the convenience of maintenance is improved.
Preferably, with reference to the above solutions, as shown in fig. 1 to 8, in this embodiment, the wire pulling controller further includes a supporting plate 7, the driving component includes a motor 1 and a speed reducer 2, the speed reducer 2 is in transmission connection with the motor 1, and the motor 1 is a servo motor; the gear assembly is arranged on the support plate 7; the speed reducer 2 is in transmission connection with the gear assembly through a transmission shaft 21; further, the rotation angle of the pull wire rotating shaft of the far-end pull wire disc 10 is controlled by the rotation speed of the servo motor and the electromagnetic clutch together, in the embodiment, because a disc of double pull wires is adopted, the rotation angle is reliable and controllable, each pull wire rotating shaft can rotate independently or can rotate in the same speed and direction in whole or in groups, and the angle can be adjusted by +/-360 degrees.
Preferably, in combination with the above solution, as shown in fig. 1 to 8, in the present embodiment, the support plate 7 includes a first support plate and a second support plate, the first support plate and the second support plate are arranged side by side through a connecting rod, so as to form a mounting cavity, and the outside is covered by a cover plate 71; further, the gear assembly is rotatably arranged on the first supporting plate; the wire collecting disc 5 can be rotatably arranged on the second supporting plate, and the transmission shaft 21 can be in transmission connection with the driving gear 4 through the first supporting plate and the second supporting plate respectively; still be equipped with a plurality of locating pins 6 in the second backup pad, every 8 act as go-between is walked around wire-collecting tray 5 and is passed the through-hole on the locating pin 6 and be connected with distal end wire-pulling tray 10, and each locating pin 6 is used for the tensioning to act as go-between 8 respectively.
Preferably, with the above solutions, as shown in fig. 1 to 8, in this embodiment, the pull wire 8 is sleeved with the pull wire sleeve 9 and can be bent along with the pull wire sleeve 9, so as to solve the problem of torque transmission in a long-distance bent path, and the pull wire 8 can control the angle of the end effector to reach any angle; furthermore, one end of the wire drawing sleeve 9 is arranged in the through hole of the positioning pin 6, and the other end of the wire drawing sleeve 9 is arranged in the wiring hole of the wiring board 11 of the far-end wire drawing disc; the wires 8 are connected to the remote wire-drawing discs 10 through wiring holes of the wiring blocks 11.
Preferably, in combination with the above solutions, as shown in fig. 1 to 8, in this embodiment, the distal end wire-pulling disk 10 includes a wire-pulling rotating shaft, the wire-pulling rotating shaft is driven by the wire-pulling force of the wire-pulling 8 to rotate by the wire-collecting disk 5, and the wire-pulling rotating shaft rotates to control the angle change of the actuator or the opening and closing of the valve; further, the stay wire 8 is a circulating stay wire, and the stay wire 8 respectively bypasses the wire collecting disc 5 and the far-end stay wire disc 10, so that the rotation of the far-end stay wire disc 10 is controlled; by adopting the scheme, the quantitative control of the angle of the actuator can be realized, and the control is reliable.
The scheme provided by the invention is mainly applied to remote angle adjustment, remote valve opening and closing, rotation of the spray head, opening and closing of the spray head valve, angle adjustment of the visual mechanism at the tail end of the actuator, angle adjustment of the tail end sensor and the like. Adjusting the angle of a precision part at the tail end of the mechanical arm; specifically, the input power of the driving part is distributed and can be transmitted to a far-end wire drawing disc through a wire drawing and a wire drawing sleeve by the matching of an electromagnetic clutch and the wire drawing disc; in the scheme of the application, the driven gears can be increased or decreased randomly, so that the number of more far-end anchor discs can be adjusted; the far-end wire drawing disc can move linearly like a guide rail sliding block.
Example 2
Correspondingly, in combination with the above scheme, the invention also provides a robot, which comprises a pull wire controller, wherein the pull wire controller is the pull wire controller; the pull wire controller is arranged on the robot, is in transmission connection with the plurality of actuators and is used for controlling the operation of the plurality of actuators; according to the scheme provided by the invention, a plurality of combination modes can be programmed by a computer, and the pull wire controller can be used as a core controller of the robot to control each actuator; the remote control device is mainly applied to the remote angle adjustment of the robot, the remote valve switch, the rotation of the spray head, the switch of the spray head valve, the angle adjustment of the visual mechanism at the tail end of the actuator, the angle adjustment of the tail end sensor, the angle adjustment of the precise part at the tail end of the mechanical arm and the like, and is relatively reliable in control.
By adopting the scheme, one driving gear can be driven to rotate through one motor, one driving gear drives a plurality of driven gears to rotate, an electromagnetic clutch is arranged on each driven gear respectively, the electromagnetic clutch controls the wire drawing disc to take up and pay off, and the wire drawing disc transmits force to the far-end wire drawing disc so as to control the angle of the actuator or the valve.
The scheme provided by the invention can realize simultaneous control or independent control of a plurality of remote end guy wires, and can effectively reduce the number of motors, so that the structure of the controller is simpler, and the cost can be effectively reduced.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A pull wire controller, characterized by comprising a drive member, a gear assembly, a wire collection disc (5) and a distal end pull wire disc (10); the driving component is in transmission connection with the gear assembly and is used for driving the gear assembly to rotate; the gear assembly is also in transmission connection with one or more wire collecting discs (5) and is used for driving the wire collecting discs (5) to rotate; the wire collecting disc is in transmission connection with the far-end wire drawing disc (10) through a wire drawing (8), so that the pulling force is transmitted to the far-end wire drawing disc; the far-end anchor plate (10) is used for controlling the operation of the actuator.
2. A cord controller according to claim 1, wherein said gear assembly is adapted to rotate a plurality of said concentrator discs (5) simultaneously, and wherein each of said concentrator discs (5) is adapted to rotate one of said distal cord reels (10) via said cord (8).
3. A pull wire controller according to claim 1 or 2, wherein the gear assembly comprises a drive gear (3) and a plurality of driven gears (4); the plurality of driven gears are uniformly distributed in the circumferential direction of the driving gear (3) and are meshed with the driving gear (3); the driving part is connected with the driving gear (3) through a transmission shaft (21) so as to drive the driving gear (3) to rotate; the driven gear (4) is in transmission connection with the wire collecting disc (5) so as to drive the wire collecting disc (5) to rotate.
4. A wire drawing controller according to claim 3, wherein each driven gear is provided with a gear shaft, and the wire collecting disc (5) is arranged on the gear shaft through an electromagnetic clutch; when the electromagnetic clutch is in attraction, the driven gear (4) drives the wire collecting disc (5) to rotate through the gear shaft, so that the pulling force is transmitted to the far-end wire drawing disc, and the far-end wire drawing disc is driven to rotate.
5. The pull-wire controller according to claim 4, characterized in that the two ends of each gear shaft are respectively provided with a wire collecting disc (5), and each wire collecting disc (5) is in transmission connection with the gear shaft through the electromagnetic clutch; each electromagnetic clutch works independently, so that the operation of each wire collecting disc (5) and the gear shaft is controlled independently.
6. The pull-wire controller according to claim 1, characterized by further comprising a support plate (7), wherein the driving component comprises a motor (1) and a speed reducer (2), and the speed reducer (2) is in transmission connection with the motor (1); the gear assembly is arranged on the support plate (7); the speed reducer (2) is in transmission connection with the gear assembly through a transmission shaft (21).
7. Pull cord controller according to claim 6, characterised in that the support plate (7) comprises a first support plate and a second support plate, which are arranged side by side; the gear assembly is rotatably arranged on the first supporting plate; the wire collecting disc (5) is rotatably arranged on the second supporting plate; a positioning pin (6) is further arranged on the second supporting plate, and a pull wire (8) bypasses the wire collecting disc (5) and penetrates through a through hole in the positioning pin (6) to be connected with the far-end wire drawing disc (10); the positioning pin (6) is used for tensioning the pull wire.
8. The pull wire controller according to claim 7, characterized in that the pull wire (8) is sleeved with a pull wire sleeve (9), and the pull wire (8) can be bent together with the pull wire sleeve (9); one end of the wire drawing sleeve (9) is arranged in the through hole of the positioning pin (6), and the other end of the wire drawing sleeve (9) is arranged in a wiring hole of a wiring board (11) of the far-end wire drawing disc; the stay wire (8) passes through a wiring hole of the wiring board (11) and is connected with the far-end stay wire coil (10).
9. The pull-wire controller according to claim 1, wherein the far-end pull-wire disc (10) comprises a pull-wire rotating shaft, the pull-wire rotating shaft is driven by the pull-wire (8) to rotate by the pull-wire disc (5), and the pull-wire rotating shaft is rotated to control the change of the angle of the actuator or the opening and closing of a valve; the pull wire (8) is a circulating pull wire, and the pull wire (8) respectively bypasses the wire collecting disc (5) and the far-end pull wire disc (10), so that the rotation of the pull wire rotating shaft is controlled.
10. A robot comprising the wire pulling controller of any one of claims 1 to 9; the pull wire controller is arranged on the robot, is in transmission connection with at least one actuator and is used for controlling the operation of the at least one actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010324243.6A CN111546325A (en) | 2020-04-22 | 2020-04-22 | Stay wire controller and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010324243.6A CN111546325A (en) | 2020-04-22 | 2020-04-22 | Stay wire controller and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111546325A true CN111546325A (en) | 2020-08-18 |
Family
ID=71998605
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010324243.6A Pending CN111546325A (en) | 2020-04-22 | 2020-04-22 | Stay wire controller and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111546325A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20180123251A (en) * | 2017-05-08 | 2018-11-16 | (주)인샤코리아 | Arm for transfer and loading the cassette and Stocker having it |
| CN108942980A (en) * | 2017-05-19 | 2018-12-07 | 壹佰米科技（北京）有限公司 | A kind of drive lacking multi-finger clever hand and its control method |
| CN109223454A (en) * | 2018-09-29 | 2019-01-18 | 北京精密机电控制设备研究所 | A kind of assistance exoskeleton robot waist synkinesia mechanical structure |
| CN109591001A (en) * | 2018-12-17 | 2019-04-09 | 中国科学院深圳先进技术研究院 | Transmission device |
| KR102032374B1 (en) * | 2018-04-17 | 2019-10-16 | 네이버랩스 주식회사 | Robot joint driving apparatus and robot comprising the same |
-
2020
- 2020-04-22 CN CN202010324243.6A patent/CN111546325A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20180123251A (en) * | 2017-05-08 | 2018-11-16 | (주)인샤코리아 | Arm for transfer and loading the cassette and Stocker having it |
| CN108942980A (en) * | 2017-05-19 | 2018-12-07 | 壹佰米科技（北京）有限公司 | A kind of drive lacking multi-finger clever hand and its control method |
| KR102032374B1 (en) * | 2018-04-17 | 2019-10-16 | 네이버랩스 주식회사 | Robot joint driving apparatus and robot comprising the same |
| CN109223454A (en) * | 2018-09-29 | 2019-01-18 | 北京精密机电控制设备研究所 | A kind of assistance exoskeleton robot waist synkinesia mechanical structure |
| CN109591001A (en) * | 2018-12-17 | 2019-04-09 | 中国科学院深圳先进技术研究院 | Transmission device |
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Application publication date: 20200818 |