CN112847324B - Rope transmission anti-winding device - Google Patents
Rope transmission anti-winding device Download PDFInfo
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- CN112847324B CN112847324B CN202110016540.9A CN202110016540A CN112847324B CN 112847324 B CN112847324 B CN 112847324B CN 202110016540 A CN202110016540 A CN 202110016540A CN 112847324 B CN112847324 B CN 112847324B
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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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Abstract
The invention provides a rope transmission anti-winding device which mainly comprises a positioning disc, an end face disc, a dovetail sliding groove, a dovetail sliding block, an adjusting screw rod, an adjusting wheel, a retainer, a fixing plate, a positioning plate, a guide rod, a sliding outer ring, a rotating inner ring, an outer main mechanical connecting rod, a spiral spring, a bolt, a nut, a screw and a tendon rope. The rotation through the regulating wheel drives inside antiwind module tendon rope unit structure integral movement during operation to the adjustment of height position about answering different actual work demands. The power of the tail part drive is transmitted to the external main mechanical arm through the upper tendon rope and the lower tendon rope, and the problem that the tendon ropes are wound with each other under the condition that the rope transmission instrument needs to rotate for multiple circles is solved through disassembling the power transmission, so that a good actual working environment, the stability of power transmission and the working reliability are ensured. Has the advantages of rapid response, compact structure, convenient assembly and disassembly, and the like. The invention belongs to the field of tendon rope driving instruments.
Description
Technical Field
The invention belongs to the field of tendon rope driving instruments, and particularly relates to a rope transmission anti-winding device.
Background
The existing tendon drive realizes the transmission of power by applying tension to each tendon rope, when rotating motion and transmitting axial force are carried out, the inner tendon rope is inevitably wound, a good working environment cannot be provided, accurate work is carried out, and unforeseen results are even caused in severe cases.
With the development of science and technology, tendon rope driving has the advantages of compact structure, small volume, flexible design, capability of enabling a driving device to be far away from an actuating mechanism and the like, so that the tendon rope driving is widely applied to the fields of human bionic robots, minimally invasive surgical robots and the like, and the requirements of ensuring a good actual working environment, power transmission stability, working reliability and the like during working are met, so that the importance of tendon rope winding in the field of tendon rope driving instruments is increasing day by day, and the requirement of a rope transmission anti-winding device is an inevitable trend.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides a rope transmission anti-winding device, which aims to avoid the problem that an instrument driven by a tendon rope winds the tendon rope in the working process, realize accurate transmission of power to a tail end and reduce unexpected loss in actual working. Ensuring good actual working environment, and the stability of power transmission and the reliability of work.
The technical scheme is as follows: a rope transmission anti-winding device comprises a positioning disc, an end face disc, a dovetail sliding groove, a dovetail sliding block, a lead screw, a retainer, an adjusting wheel, a fixing plate, a positioning plate, a guide rod, a sliding outer ring, a rotating inner ring, an outer main mechanical connecting rod, a spiral spring, a bolt, a nut, a screw and a tendon rope; the end surface discs are of 2 annular structures arranged up and down, the end surface disc below the end surface disc is fixed on the positioning disc, and at least one group of tendon rope units are distributed between the two end surface discs along the circumference of the end surface disc; the tendon rope unit comprises a dovetail chute which is vertically arranged, a retainer is arranged on an end face disc above the tendon rope unit, an adjusting wheel is arranged on the retainer, the adjusting wheel is movably connected to the retainer and can rotate around the axis of the adjusting wheel but can not displace, a lead screw is in threaded connection with the adjusting wheel, the lead screw is vertically arranged and is positioned in the dovetail chute, the adjusting wheel can rotate to drive the lead screw to move up and down, the tail end of the lead screw is fixedly connected with a dovetail slide block, the dovetail slide block is sleeved in the dovetail chute, the lead screw can drive the dovetail slide block to move up and down by moving up and down, a vertical fixing plate is fixedly connected between the two dovetail slide blocks, an L-shaped positioning plate is sequentially arranged on the fixing plate from top to bottom, the vertical part of the positioning plate is connected to the fixing plate, a through hole is arranged in the middle of the horizontal part of the positioning plate, and a vertical guide rod is arranged between the horizontal parts of adjacent positioning plates, the guide rods are arranged in the through holes of the positioning plates and are fixed by nuts, a horizontally placed sliding outer ring is arranged between the adjacent positioning plates, the sliding outer ring is of a horizontally placed plate-shaped structure, the position of the through hole on the sliding outer ring corresponding to the horizontal part of the positioning plate is also provided with a through hole, the sliding outer ring is connected with the guide rods in a sliding manner, the sliding outer ring is fixedly connected with tendon ropes, the tendon ropes can pull the sliding outer ring to move upwards, an elastic unit is arranged between the sliding outer ring and the positioning plate above the sliding outer ring and provides the potential energy for the downward movement of the sliding outer ring, the sliding outer ring part extends out of the positioning plate, the sliding outer ring extends out of the positioning plate and is provided with a through hole, a rotating inner ring is sleeved in the through hole, an outer main mechanical connecting rod is sleeved in the rotating inner ring, the rotating inner ring is sleeved with the outer main mechanical connecting rod through a positioning device, the inner ring and the outer main mechanical connecting rod are rotated and connected with each other, relative rotation can be achieved between the inner ring and the outer main mechanical connecting rod, the inner ring and the outer sliding ring are connected in a rotating mode, two connecting portions are symmetrically arranged on the inner ring in the rotating mode and used for being connected with a Y-shaped tendon rope, holes symmetrically formed in the hollow inner portion of the outer main mechanical connecting rod and in the side wall of the outer main mechanical connecting rod are formed, and the tendon rope on the inner ring is rotated and enters the outer main mechanical connecting rod through the holes.
As a further improvement of the invention, the tendon rope units have 3 groups.
As a further improvement of the invention, each group of tendon rope units is provided with 5 positioning plates, 4 sliding outer rings and 4 rotating inner rings.
As a further improvement of the invention, the tendon ropes connected with each sliding outer ring are driven by an independent power mechanism and can be independently controlled to move up and down.
As a further improvement of the invention, the end part of the dovetail sliding block is of a U-shaped opening structure, the upper end and the lower end of the fixed plate are provided with horizontal bulges, and the horizontal bulges are fixedly connected with the dovetail sliding block through bolts.
As a further improvement of the invention, the elastic element is a coil spring.
As a further improvement of the invention, guide rod mounting holes are uniformly distributed on the periphery of the through hole in the center of the horizontal part of the positioning plate, and after the guide rods sequentially penetrate through the guide rod mounting holes in the positioning plate in the same tendon rope unit, the two ends of the guide rods are fixed by nuts.
The beneficial effects are as follows:
1) the invention has compact structure, and the tendon rope unit structure of the internal anti-winding module is driven to integrally move by the rotation of the adjusting wheel during working so as to adjust the vertical height position according to different actual working requirements. The power driven by the tail part is transmitted to the external main mechanical arm through the upper tendon rope and the lower tendon rope, and the problem that the tendon ropes are mutually wound under the condition that the rope transmission instrument needs to rotate for multiple circles is solved through disassembling the power transmission, so that a good actual working environment, the stability of power transmission and the reliability of work are ensured.
2) The tendon rope unit adopts a one-to-two design, namely, the tendon rope unit can be divided into an upper section of rope and a lower section of rope by using a section of rope for completing power transmission.
3) The tendon rope unit of the invention adopts a 'two-in-one' design, namely, an original moving pair and a rotary pair which move are replaced by an inner ring nested cylindrical pair and an outer ring nested cylindrical pair. The upper section of the rope is placed on the outer ring, the lower end of the tendon rope is placed on the inner ring, and the cylindrical pair can move and rotate at the same time, so that the tendon ropes cannot be influenced mutually under the driving of the power mechanism, and the problem that the tendon ropes are wound mutually when the rope transmission instrument needs to rotate for multiple circles is solved.
4) In addition, the invention has the advantages of rapid response, compact structure, convenient assembly and disassembly and the like.
Drawings
FIG. 1 is a schematic view of a cord drive anti-wind device;
FIG. 2 is a schematic view of a cord drive anti-wind device;
FIG. 3 is an end view of a cord drive anti-wind device configuration;
FIG. 4 is a single schematic view of a cord driven anti-wind up device configuration;
FIG. 5 is a schematic view of an internal anti-wind module tendon rope unit;
FIG. 6 is a schematic structural diagram of a tendon rope unit of an internal anti-wind module;
FIG. 7 is a partial schematic view of an internal anti-wind module tendon rope unit configuration;
FIG. 8 is a partial schematic view of an internal anti-wind module tendon rope unit configuration;
reference numerals: 1. positioning a plate; 2. an end face plate; 3. a dovetail chute; 4. a dovetail slide block; 5. a lead screw; 6. a holder; 7. an adjustment wheel; 8. a fixing plate; 9. positioning a plate; 10. a guide bar; 11. sliding the outer ring; 12. rotating the inner ring; 13. an outer main mechanical connecting rod; 14. a coil spring; 15. a bolt; 16. a nut; 17. and (4) screws.
Detailed Description
The invention will be further elucidated with reference to the following description and embodiments in which:
the invention provides a rope transmission anti-winding device, which comprises a positioning disc 1, an end face disc 2, a dovetail sliding groove 3, a dovetail sliding block 4, a lead screw 5, a retainer 6, an adjusting wheel 7, a fixing plate 8, a positioning plate 9, a guide rod 10, a sliding outer ring 11, a rotating inner ring 12, an outer main mechanical connecting rod 13, a spiral spring 14, a bolt 15, a nut 16, a screw 17 and a tendon rope, and is shown in the figure 1-2.
The end face dish 2 is 2 ring structures that set up from top to bottom, and the end face dish 2 of below is fixed in positioning disk 1 on, and it has 3 groups of tendon rope units to distribute along end face dish 2 a week between two end face dishes 2, as shown in fig. 3, every group tendon rope unit evenly distributed.
As shown in fig. 4-6, the tendon rope unit includes a dovetail sliding groove 3 vertically arranged, a holder 6 is arranged on the upper end face disc 2, an adjusting wheel 7 is arranged on the holder 6, the adjusting wheel 7 is movably connected to the holder 6 and can rotate around the axis of the adjusting wheel, but can not displace, the adjusting wheel 7 is in threaded connection with a lead screw 5, the lead screw 5 is vertically arranged and is located in the dovetail sliding groove 3, the adjusting wheel 7 rotates to drive the lead screw 5 to move up and down, the lead screw 5 is rotatably connected with two dovetail sliding blocks 4, the dovetail sliding blocks 4 are nested in the dovetail sliding groove 3, the tail end of the lead screw 5 is fixedly connected with the dovetail sliding blocks 4, the dovetail sliding blocks 4 are nested in the dovetail sliding groove 3, the lead screw 5 moves up and down to drive the dovetail sliding blocks 4 to move up and down, and a vertical fixing plate 8 is fixedly connected between the two dovetail sliding blocks 4, the end part of the dovetail sliding block 4 is of a U-shaped opening structure, horizontal protrusions are arranged at the upper end and the lower end of the fixing plate 8 and connected with the dovetail sliding block 4 through bolts 15 and are fixed through nuts 16.
The utility model discloses a set gradually L shape on the fixed plate 8, set gradually locating plate 9 from top to bottom on the fixed plate 8, the vertical part of locating plate 9 is connected in fixed plate 8, be provided with the perforating hole in the middle of the 9 horizontal parts of locating plate, be provided with vertical guide bar 10 between the 9 horizontal parts of adjacent locating plate, be provided with the slip outer loop 11 that the level was placed between the adjacent locating plate 9, the platelike structure that slip outer loop 11 was placed for the level, perforating hole position is provided with the perforating hole equally on the corresponding 9 horizontal parts of locating plate on the slip outer loop 11.
The concrete mounting structure thing of guide bar is: 4 guide rod mounting holes are uniformly distributed around the through hole in the center of the horizontal part of each positioning plate 9, and two ends of each guide rod 10 are fixed by nuts 16 after sequentially penetrating through the guide rod mounting holes in the positioning plates 9 in the same tendon rope unit.
The sliding outer ring 11 is connected to the guide rod 10 in a sliding mode, the sliding outer ring 11 is fixedly connected to tendon ropes, the tendon ropes can pull the sliding outer ring 11 to move upwards, a spring is arranged between the sliding outer ring 11 and the positioning plate 9 above the sliding outer ring 11 and provides potential energy for the sliding outer ring 11 to move downwards, the sliding outer ring 11 partially extends out of the positioning plate 9, the sliding outer ring 11 extends out of the positioning plate 9 and is provided with a through hole, a rotating inner ring 12 is sleeved in the through hole, an outer main mechanical connecting rod 13 is sleeved in the rotating inner ring 12, the rotating inner ring 12 is sleeved with the outer main mechanical connecting rod 13 through a positioning device, the rotating inner ring 12 and the outer main mechanical connecting rod 13 do not rotate relatively and only move relatively, the rotating inner ring 12 is rotatably connected with the sliding outer ring 11, and the rotating inner ring 12 and the sliding outer ring 11 can rotate relatively.
As shown in fig. 7 and 8, the rotating inner ring 12 is symmetrically provided with two connecting portions for connecting a tendon rope, the end portion of the tendon rope connected with the sliding outer ring is Y-shaped, the outer main mechanical connecting rod 13 is hollow, the side wall of the outer main mechanical connecting rod is provided with symmetrically arranged holes, and the tendon rope on the rotating inner ring 12 enters the outer main mechanical connecting rod 13 through the holes.
In this embodiment, each set of tendon rope units has 5 positioning plates, 4 sliding outer rings and 4 rotating inner rings. The tendon rope connected with each sliding outer ring is driven by an independent power mechanism and can be independently controlled to move up and down.
In the following, how each tendon rope drives the sliding outer ring to move is specifically described, for the sake of clarity, different sliding outer rings are represented by different numbers "11-N", where N is an integer from 1 to 4; different numbers of the inner rings for different rotations are expressed as 12-N, and N is an integer from 1 to 4; different numbers of '18-N' are used for different tendon ropes, and N is an integer from 1 to 8.
As an embodiment of the present invention, as shown in fig. 1 to 3, the present invention includes: the device comprises a positioning disc 1, an end face disc 2, a dovetail sliding groove 3, a dovetail sliding block 4, a lead screw 5, a retainer 6, an adjusting wheel 7, a fixing plate 8, a positioning plate 9, a guide rod 10, a sliding outer ring 11, a rotating inner ring 12, an outer main mechanical connecting rod 13, a spiral spring 14, a bolt 15, a nut 16, a screw 17 and a tendon rope. The outer main mechanical connecting rod 13 is connected with an outer main mechanical arm, the rotating inner ring 12 is nested on the outer main mechanical connecting rod 13 through an arc convex-concave groove, holes are distributed on two sides of the rotating inner ring 12 to draw tendon ropes, the rotating inner ring 12 rotates along with the rotation of the outer main mechanical connecting rod 13, the rotating inner ring 12 is connected with the sliding outer ring 11 and can rotate mutually, the sliding outer ring 11 is nested on the guide rod 10 through four holes which are uniformly distributed, the central hole of the sliding outer ring 11 is serially connected with the tendon ropes, the reciprocating transmission of power is realized through the cooperation of the tendon ropes and the spiral spring 14, the tendon ropes drive the sliding outer ring 11 to move up and down along the guide rod 10, and further drive the rotating inner ring 12 to move up and down, the guide rod 10 is fixed by an upper positioning plate 9 and a lower positioning plate 9, the two positioning plates 9 are arranged on a porous rectangular fixing plate 8, and the upper and the lower holes are arranged on the fixing plate 8, the fixing plate 8 is connected with the dovetail sliding block 4 through a bolt 15 through a hole and is fixed by a nut 16, the dovetail sliding block 4 is connected with the end part of the lead screw 5 through the nut 16, the lead screw 5 is connected with the adjusting wheel 7 through a screw pair, the adjusting wheel 7 is embedded in the retainer 6, the retainer 6 is connected with the end surface disc 2 through a screw 17, the adjusting wheel 7 can only rotate at the same horizontal height through the retainer 6, the lead screw 6 can not rotate through the installation and matching of the dovetail sliding block 4 and the dovetail sliding groove 3, the lead screw 6 can only reciprocate up and down through the rotation of the adjusting wheel 7, the lead screw 6 drives the dovetail sliding block 4 to reciprocate up and down in the dovetail sliding groove 3, and the dovetail sliding block 4 further drives the fixing plate 8 to reciprocate up and down, the fixed plate 8 reciprocates up and down to adjust the height position of the internal anti-winding module tendon rope unit structure.
The inside of the invention totally uses 24 tendon ropes which are divided into three groups, and each group adopts 8 tendon ropes to realize the transmission of the power of 4 independent tendon ropes, so the invention can maximally meet the requirement of simultaneously realizing the mutually independent work of 12 tendon ropes without generating the problem of mutual winding. As shown in figures 4 to 6, in the fixed plate 8 connected with the dovetail slide block 4 in the dovetail slide groove 3 during operation, the movement of the sliding outer ring is realized by driving the tendon rope 18-1, then the movement of the rotating inner ring is driven by the sliding outer ring, the tendon rope 18-5 is driven by the rotating inner ring, and finally the power is transmitted to the outer main mechanical arm by the tendon rope 18-5. The movement of the sliding outer ring is realized by driving the tendon ropes 18-2, the movement of the rotating inner ring is driven by the sliding outer ring, the tendon ropes 18-6 are driven by the rotating inner ring, and finally the power is transmitted to the outer main mechanical arm by the tendon ropes 18-6. The movement of the sliding outer ring is realized by driving the tendon ropes 18-3, the movement of the rotating inner ring is driven by the sliding outer ring, the tendon ropes 18-7 are driven by the rotating inner ring, and finally the power is transmitted to the outer main mechanical arm by the tendon ropes 18-7. The movement of the sliding outer ring is realized by driving the tendon ropes 18-4, the movement of the rotating inner ring is driven by the sliding outer ring, the tendon ropes 18-8 are driven by the rotating inner ring, and finally the power is transmitted to the outer main mechanical arm by the tendon ropes 18-8.
Thereby drive the inside bulk movement of holistic tendon rope antiwind structure through the rotation of regulating wheel 7, deal with different actual work demands and carry out the regulation of height position from top to bottom. As shown in fig. 7 to 8, the power driven by the tail part is transmitted to the outer main mechanical arm through the upper tendon rope and the lower tendon rope, and the problem of winding interference caused by the tendon rope rotation due to the rotation of the outer main mechanical connecting rod connected with the outer main mechanical arm is solved through the disassembly of the power transmission, so that the working environment of a good hand, the stability of the power transmission and the reliability of the work are improved.
In the rope transmission anti-winding device, each group of tendon rope units can be independently connected with one outer main mechanical arm, the outer main mechanical arms are connected with the device through outer main mechanical connecting rods, the device can be simultaneously connected with three outer main mechanical arms for use, the problem that the tendon ropes are wound inside when a modern robot based on tendon rope driving works is solved, and therefore the stability of power transmission and the reliability of work are ensured. The structure device is utilized to carry out work, has the effects of high controllability, accurate positioning, stable power transmission and the like, and has the advantages of rapid action, compact structure, convenient maintenance, convenient assembly and disassembly and the like.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, but any modifications or equivalent variations made according to the technical spirit of the present invention are within the scope of the present invention as claimed.
Claims (6)
1. A rope transmission anti-winding device is characterized by comprising a positioning disc, an end face disc, a dovetail sliding groove, a dovetail sliding block, a lead screw, a retainer, an adjusting wheel, a fixing plate, a positioning plate, a guide rod, a sliding outer ring, a rotating inner ring, an outer main mechanical connecting rod, a spiral spring, a bolt, a nut, a screw and a tendon rope; the end face disc is of 2 annular structures which are arranged up and down, the end face disc below the end face disc is fixed on the positioning disc, and at least one group of tendon rope units are distributed between the two end face discs along the circumference of the end face disc; the tendon rope unit comprises a dovetail chute which is vertically arranged, a retainer is arranged on an end face disc above the tendon rope unit, an adjusting wheel is arranged on the retainer, the adjusting wheel is movably connected to the retainer and can rotate around the axis of the adjusting wheel but can not displace, a lead screw is in threaded connection with the adjusting wheel, the lead screw is vertically arranged and is positioned in the dovetail chute, the adjusting wheel can rotate to drive the lead screw to move up and down, the tail end of the lead screw is fixedly connected with a dovetail slide block, the dovetail slide block is sleeved in the dovetail chute, the lead screw can drive the dovetail slide block to move up and down by moving up and down, a vertical fixing plate is fixedly connected between the two dovetail slide blocks, an L-shaped positioning plate is sequentially arranged on the fixing plate from top to bottom, the vertical part of the positioning plate is connected to the fixing plate, a through hole is arranged in the middle of the horizontal part of the positioning plate, and a vertical guide rod is arranged between the horizontal parts of adjacent positioning plates, a sliding outer ring which is horizontally arranged is arranged between the adjacent positioning plates, the sliding outer ring is of a plate-shaped structure which is horizontally arranged, a through hole is also arranged at the position, corresponding to the through hole on the horizontal part of the positioning plate, of the sliding outer ring, the sliding outer ring is connected with the guide rod in a sliding manner, the sliding outer ring is fixedly connected with the tendon rope, the tendon rope can pull the sliding outer ring to move upwards, an elastic unit is arranged between the sliding outer ring and the positioning plate above the sliding outer ring, the elastic unit provides the potential energy for the downward movement of the sliding outer ring, the sliding outer ring part extends out of the positioning plate, the sliding outer ring extends out of the positioning plate and is provided with a through hole, a rotating inner ring is sleeved in the through hole, an outer main mechanical connecting rod is sleeved in the rotating inner ring, the rotating inner ring is sleeved with the outer main mechanical connecting rod through a positioning device, so that the rotating inner ring and the outer main mechanical connecting rod can only move relatively without rotating relatively, the inner ring rotates with the slip outer loop to be connected, can take place relative rotation between the two, it is used for connecting a Y type tendon rope to rotate to go up the symmetry and be provided with two connecting portion on the inner ring, the inside cavity of outer owner mechanical connecting rod and be provided with the hole that the symmetry set up on the lateral wall, rotate the tendon rope on the inner ring and pass through inside the hole gets into outer owner mechanical connecting rod.
2. The rope drive anti-wind device of claim 1, wherein the tendon rope unit can be loaded with up to 3 groups at the same time.
3. The rope drive anti-wind device as claimed in claim 2, wherein each set of tendon rope units has 5 positioning plates and 4 sliding outer rings and 4 rotating inner rings.
4. The rope drive anti-wind device of claim 3, wherein the tendon rope connected to each sliding outer ring is driven by an independent power mechanism and can be independently controlled to move up and down.
5. The rope transmission anti-winding device according to claim 4, wherein the end of the dovetail sliding block is of a U-shaped opening structure, the upper end and the lower end of the fixing plate are provided with horizontal protrusions, and the horizontal protrusions are fixedly connected with the dovetail sliding block through bolts.
6. The rope transmission anti-winding device as claimed in any one of claims 1 to 5, wherein guide rod mounting holes are uniformly distributed around the through hole at the center of the horizontal part of the positioning plate, and both ends of the guide rod are fixed by nuts after the guide rod passes through the guide rod mounting holes of the positioning plate in the same tendon rope unit in sequence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110016540.9A CN112847324B (en) | 2021-01-07 | 2021-01-07 | Rope transmission anti-winding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110016540.9A CN112847324B (en) | 2021-01-07 | 2021-01-07 | Rope transmission anti-winding device |
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| Publication Number | Publication Date |
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| CN112847324A CN112847324A (en) | 2021-05-28 |
| CN112847324B true CN112847324B (en) | 2022-07-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110016540.9A Active CN112847324B (en) | 2021-01-07 | 2021-01-07 | Rope transmission anti-winding device |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011079631A1 (en) * | 2010-01-02 | 2011-07-07 | 华南理工大学 | Guyed serial manipulator |
| CN103158158A (en) * | 2011-12-09 | 2013-06-19 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component |
| CN111692315A (en) * | 2020-06-18 | 2020-09-22 | 金陵科技学院 | Rope transmission driving mechanism based on elastic winding drum and rope tension measuring method thereof |
| CN111923067A (en) * | 2020-07-17 | 2020-11-13 | 浙江工业大学 | Tendon transmission full-drive humanoid dexterous hand |
-
2021
- 2021-01-07 CN CN202110016540.9A patent/CN112847324B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011079631A1 (en) * | 2010-01-02 | 2011-07-07 | 华南理工大学 | Guyed serial manipulator |
| CN103158158A (en) * | 2011-12-09 | 2013-06-19 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component |
| CN111692315A (en) * | 2020-06-18 | 2020-09-22 | 金陵科技学院 | Rope transmission driving mechanism based on elastic winding drum and rope tension measuring method thereof |
| CN111923067A (en) * | 2020-07-17 | 2020-11-13 | 浙江工业大学 | Tendon transmission full-drive humanoid dexterous hand |
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