CN113977630A - Variable-rigidity continuous mechanical arm based on air spring - Google Patents
Variable-rigidity continuous mechanical arm based on air spring Download PDFInfo
- Publication number
- CN113977630A CN113977630A CN202111227083.4A CN202111227083A CN113977630A CN 113977630 A CN113977630 A CN 113977630A CN 202111227083 A CN202111227083 A CN 202111227083A CN 113977630 A CN113977630 A CN 113977630A
- Authority
- CN
- China
- Prior art keywords
- joint section
- joint
- air
- air spring
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
Abstract
The invention discloses a variable-stiffness continuous mechanical arm based on an air spring, which comprises a base, a mechanical arm body, a driving rope and a driving device, wherein the driving device is arranged in the base and is connected with the mechanical arm body through the driving rope; the mechanical arm body comprises a first joint section, a second joint section, a third joint section and a pneumatic system, the first joint section, the second joint section and the third joint section are sequentially connected, the pneumatic system is respectively connected with the first joint section, the second joint section, the third joint section and the driving device, the first joint section is fixedly connected with the base, each joint section is provided with an air spring, and the internal air pressure of each air spring is adjusted through the pneumatic system. The invention can effectively solve the problem of insufficient rigidity of the continuous mechanical arm by changing the internal air pressure of the air spring, and compared with a rigid mechanical arm, the invention has simple structure and good flexibility.
Description
Technical Field
The invention belongs to the technical field of continuous mechanical arms, and particularly relates to a variable-stiffness continuous mechanical arm based on an air spring.
Background
In recent years, flexible robots including continuous robots have been the focus of research in the field of robot arms because of problems such as limited degree of freedom of rigid robots and poor man-machine safety. At present, a continuous mechanical arm is driven by pneumatic drive, rope drive and novel materials (such as memory alloy, electroactive polymer and the like). Wherein, the pneumatic drive is difficult to miniaturize and is greatly influenced by environmental factors; and the line driving can separate the actuating device from the driving device, so that the control can be better realized.
The continuous mechanical arm has good flexibility and high man-machine safety, but the load capacity is low, and high-load work cannot be executed. And the variable-stiffness mechanical arm can solve the contradiction between the load capacity and the flexibility. Therefore, the research on the variable-rigidity continuous mechanical arm is of great significance.
Disclosure of Invention
In order to overcome the defects and shortcomings in the prior art, the invention provides the variable-stiffness continuous mechanical arm based on the air spring.
In order to achieve the purpose, the invention adopts the following technical scheme:
a variable-stiffness continuous mechanical arm based on an air spring comprises a base, a mechanical arm body, a driving rope and a driving device, wherein the driving device is arranged in the base and is connected with the mechanical arm body through the driving rope;
the mechanical arm body comprises a first joint section, a second joint section, a third joint section and a pneumatic system, the first joint section, the second joint section and the third joint section are sequentially connected, the pneumatic system is respectively connected with the first joint section, the second joint section, the third joint section and a driving device, the first joint section is fixedly connected with the base, each joint section is provided with an air spring, and the internal air pressure of each air spring is adjusted through the pneumatic system.
As a preferred technical scheme, the pneumatic system comprises an air pump, a four-way pipe and 3 electromagnetic valves, the four-way pipe is respectively connected with the 3 electromagnetic valves and the air pump, and the air pump is used for providing air pressure.
As a preferred technical scheme, each joint section specifically comprises 2 air springs, 1 joint partition and 1 air port partition, one end of each air spring is a fixed end, the other end of each air spring is an air port end, and the two air springs in the same joint section are oppositely arranged through the air port ends;
in each joint section, 1 air port partition plate is respectively arranged at two sides of the electromagnetic valve for fixation, each air port partition plate is respectively connected with the air port interface ends of 1 air spring through an air pipe, and then the internal air pressure of the air springs of the same joint section is controlled through the same electromagnetic valve;
the pneumatic system realizes rigidity adjustment by controlling air pressure in the air spring.
As a preferred technical scheme, the number of the driving ropes is set to be 9, each joint section is controlled by three driving ropes, and the driving device controls the ropes to move;
the two adjacent joint sections are connected through a joint partition plate, the joint partition plate is respectively connected with the fixed ends of the air springs of the adjacent joint sections, the fixed ends are provided with bolt fixing holes, and the bolt fixing holes are fixedly connected with the joint partition plate through bolts;
in the first joint section and the second joint section, 9 drive ropes penetrate through the air port partition plate, wherein three drive ropes for controlling the first joint section are fixed on the joint partition plate, and the other six drive ropes penetrate through the joint partition plate;
in the second joint section and the third joint section, six driving ropes penetrate through the air port partition plate, wherein three driving ropes for controlling the second joint section are fixed on the joint partition plate, and the other three driving ropes penetrate through the joint partition plate;
in the third joint section, a cover plate is further arranged at the fixed end of the air spring far away from the base, and three driving ropes for controlling the third joint section are fixed on the cover plate;
the driving device realizes pitch and deflection of the joint section through the control rope.
As the preferred technical scheme, drive arrangement includes 9 wiring posts, 9 motors and 1 controller, and the controller is connected with 9 motors respectively, and every drive rope corresponds with a wiring post and is connected, and every wiring post is connected with a motor to every motor control a corresponding drive rope, the controller still respectively with the air pump, 3 solenoid valves link to each other, the controller passes through the motor and changes the length of drive rope winding on the wiring post that corresponds, thereby changes the flexible distance of drive rope at the arm body.
As a preferred technical solution, the joint spacer between the first joint section and the second joint section is connected to the corresponding 3 motors through 3 ropes for controlling the first joint section, the joint spacer between the second joint section and the third joint section is connected to the corresponding 3 motors through 3 ropes for controlling the second joint section, and the cover plate of the third joint section is connected to the corresponding 3 motors through 3 ropes for controlling the third joint section.
As a preferred technical scheme, 9 motors are assembled in the base.
As a preferred technical scheme, 9 motors are arranged at intervals and are circularly surrounded.
Preferably, the joint of the first joint section and the base is fixed by arranging a fixed partition plate.
As a preferred technical scheme, each air spring adopts a double-curve-bag type air spring.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the invention changes the internal air pressure of the air spring through the pneumatic system, can effectively solve the problem of insufficient rigidity of the continuous mechanical arm, has simple structure, good flexibility, convenient disassembly and assembly and good transportability compared with a rigid mechanical arm, can actively change the structure of the mechanical arm to adapt to complex structurization, realizes adjustable rigidity, and has wide application prospect in the fields of medical minimally invasive surgery, post-earthquake rescue, complex equipment maintenance and the like.
Drawings
Fig. 1 is a schematic structural diagram of a variable stiffness continuous type mechanical arm based on an air spring in embodiment 1 of the present invention;
FIG. 2 is a schematic view showing the connection of a pneumatic system to three joint sections in example 1 of the present invention;
fig. 3 is a schematic top view of the structure inside the base in embodiment 1 of the present invention.
The device comprises a first joint section 1, a second joint section 2, a third joint section 3, an air port partition plate 4, an air spring 5, a joint partition plate 6, an electromagnetic valve 7, a base 8, a driving rope 9, a motor 10, a winding post 11 and a controller 12.
Detailed Description
In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing and simplifying the present disclosure, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present disclosure.
Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Also, the use of the terms "a," "an," or "the" and similar referents do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprising" or "comprises", and the like, means that the element or item appearing before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
In the description of the present disclosure, it is to be noted that the terms "mounted," "connected," and "connected" are to be construed broadly unless otherwise explicitly stated or limited. For example, the connection can be fixed, detachable or integrated; 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 meaning of the above terms in the present disclosure can be understood in specific instances by those of ordinary skill in the art. In addition, technical features involved in different embodiments of the present disclosure described below may be combined with each other as long as they do not conflict with each other.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Examples
Example 1
As shown in fig. 1, the present embodiment provides a stiffness-variable continuous robot arm based on an air spring, which includes a base, a robot arm body, a driving rope, and a driving device, where the driving device is disposed in the base, and the driving device is connected to the robot arm body through the driving rope.
In this embodiment, the robot arm body includes a first joint section, a second joint section, a third joint section and a pneumatic system, the first joint section, the second joint section and the third joint section are connected in sequence, the pneumatic system is respectively connected with the first joint section, the second joint section, the third joint section and the driving device, the first joint section is fixedly connected with the base, and the joint of the first joint section and the base is fixed by arranging a fixing partition plate.
As shown in fig. 2, the pneumatic system includes an air pump, a four-way pipe and 3 electromagnetic valves, the four-way pipe is respectively connected with the 3 electromagnetic valves and the air pump, and the air pump is used for providing air pressure.
Referring to fig. 1 and 2, each joint section includes 2 air springs, 1 joint partition and 1 air port partition, one end of each air spring is a fixed end, the other end is an air port end, and the two air springs in the same joint section are arranged oppositely through the air port ends. Specifically, in each joint section, 1 air port partition plate is arranged on each of two sides of the electromagnetic valve for fixation, each air port partition plate is connected with an air port interface end of each air spring through an air pipe, and then the internal air pressure of the air springs in the same joint section is controlled through the same electromagnetic valve.
The air spring is connected with a pneumatic system to control the air pressure in the air spring so as to realize rigidity change, and the driving rope penetrates through the air port partition plate and is further connected with the mechanical arm body.
The pneumatic system realizes rigidity adjustment by controlling air pressure in the air spring, the driving device is connected with the driving rope, and the joint section pitching and deflection are realized by controlling the rope, so that the continuous motion of the continuous mechanical arm is realized.
The two adjacent joint sections are connected through a joint partition plate, the joint partition plate is respectively connected with the fixed ends of the air springs of the adjacent joint sections, and the fixed ends are provided with bolt fixing holes, and specifically, the bolt fixing holes are fixedly connected with the joint partition plate through bolts.
In this embodiment, every third drive rope is used to control the same joint segment, and the three joint segments are controlled by 9 ropes. Each joint section is controlled by three driving ropes, and then the driving device completes the movement of the mechanical arm body by controlling the driving ropes.
In the first joint section and the second joint section, 9 drive ropes penetrate through the air port partition plate, wherein three drive ropes for controlling the first joint section are fixed on the joint partition plate, and the other six drive ropes penetrate through the joint partition plate;
in the second joint section and the third joint section, six driving ropes penetrate through the air port partition plate, wherein three driving ropes for controlling the second joint section are fixed on the joint partition plate, and the other three driving ropes penetrate through the joint partition plate;
in the third joint section, the fixed end of the air spring remote from the base is also provided with a cover plate, and three driving ropes for controlling the third joint section are fixed on the cover plate.
As shown in fig. 3, the driving device includes 9 rope winding columns, 9 motors and 1 controller, the controller is respectively connected with the 9 motors, each driving rope is correspondingly connected with one rope winding column, each rope winding column is connected with one motor, so that each motor controls a corresponding driving rope, and the controller is also respectively connected with the air pump and the 3 electromagnetic valves. During practical application, the controller sets up the central point at the base and puts, and the controller changes the length of drive rope winding on the wiring post that corresponds through the motor to change the flexible distance of drive rope at the arm body, realize the motion of continuous type arm.
The joint spacer between the first joint section and the second joint section is connected to the corresponding 3 motors through 3 ropes for controlling the first joint section, the joint spacer between the second joint section and the third joint section is connected to the corresponding 3 motors through 3 ropes for controlling the second joint section, and the cover plate of the third joint section is connected to the corresponding 3 motors through 3 ropes for controlling the third joint section. 9 motors are assembled in the base, and the whole body is arranged at intervals and is circular in surrounding mode.
In this embodiment, the air spring is a hyperbolic bag type air spring.
The driving principle of the variable-stiffness continuous mechanical arm based on the air spring in the embodiment is as follows:
the pneumatic control mechanical arm is characterized in that proper air pressure is selected according to working requirements and is adjusted through an electromagnetic valve, a motor is connected with a rope winding column, the length of a rope penetrating through the mechanical arm body is changed along with the rotation of the motor, the deflection angle or the pitching angle of the mechanical arm is realized according to the length difference of three driving ropes of each joint section, and the three joint sections are driven by 9 motors to realize the motion of the mechanical arm.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. A variable-stiffness continuous mechanical arm based on an air spring is characterized by comprising a base, a mechanical arm body, a driving rope and a driving device, wherein the driving device is arranged in the base and is connected with the mechanical arm body through the driving rope;
the mechanical arm body comprises a first joint section, a second joint section, a third joint section and a pneumatic system, the first joint section, the second joint section and the third joint section are sequentially connected, the pneumatic system is respectively connected with the first joint section, the second joint section, the third joint section and a driving device, the first joint section is fixedly connected with the base, each joint section is provided with an air spring, and the internal air pressure of each air spring is adjusted through the pneumatic system.
2. The variable stiffness continuous mechanical arm based on the air spring as claimed in claim 1, wherein the pneumatic system comprises an air pump, a four-way pipe and 3 electromagnetic valves, the four-way pipe is respectively connected with the 3 electromagnetic valves and the air pump, and the air pump is used for providing air pressure.
3. The air spring-based variable stiffness continuous mechanical arm according to claim 2, wherein each joint section specifically comprises 2 air springs, 1 joint partition and 1 air port partition, one end of each air spring is a fixed end, the other end of each air spring is an air port end, and the two air springs in the same joint section are oppositely arranged through the air port ends;
in each joint section, 1 air port partition plate is respectively arranged at two sides of the electromagnetic valve for fixation, each air port partition plate is respectively connected with the air port interface ends of 1 air spring through an air pipe, and then the internal air pressure of the air springs of the same joint section is controlled through the same electromagnetic valve;
the pneumatic system realizes rigidity adjustment by controlling air pressure in the air spring.
4. The air spring-based variable stiffness continuous type robot arm according to claim 3, wherein the number of the driving ropes is set to 9, each joint section is controlled by three driving ropes, and the driving device controls the movement of the ropes;
the two adjacent joint sections are connected through a joint partition plate, the joint partition plate is respectively connected with the fixed ends of the air springs of the adjacent joint sections, the fixed ends are provided with bolt fixing holes, and the bolt fixing holes are fixedly connected with the joint partition plate through bolts;
in the first joint section and the second joint section, 9 drive ropes penetrate through the air port partition plate, wherein three drive ropes for controlling the first joint section are fixed on the joint partition plate, and the other six drive ropes penetrate through the joint partition plate;
in the second joint section and the third joint section, six driving ropes penetrate through the air port partition plate, wherein three driving ropes for controlling the second joint section are fixed on the joint partition plate, and the other three driving ropes penetrate through the joint partition plate;
in the third joint section, a cover plate is further arranged at the fixed end of the air spring far away from the base, and three driving ropes for controlling the third joint section are fixed on the cover plate;
the driving device realizes pitch and deflection of the joint section through the control rope.
5. The air spring-based variable stiffness continuous type mechanical arm according to claim 4, wherein the driving device comprises 9 rope winding columns, 9 motors and 1 controller, the controller is respectively connected with the 9 motors, each driving rope is correspondingly connected with one rope winding column, each rope winding column is connected with one motor, so that each motor controls a corresponding driving rope, the controller is also respectively connected with the air pump and the 3 electromagnetic valves, and the controller changes the length of the driving rope wound on the corresponding rope winding column through the motors, so that the telescopic distance of the driving rope on the mechanical arm body is changed.
6. The air spring-based variable stiffness continuous type robot arm according to claim 5, wherein a joint spacer between the first joint section and the second joint section is connected to the corresponding 3 motors through 3 ropes for controlling the first joint section, a joint spacer between the second joint section and the third joint section is connected to the corresponding 3 motors through 3 ropes for controlling the second joint section, and a cover plate of the third joint section is connected to the corresponding 3 motors through 3 ropes for controlling the third joint section.
7. The air spring-based variable stiffness continuous robot arm of claim 6, wherein 9 motors are assembled in the base.
8. The air spring-based variable stiffness continuous robot arm of claim 7, wherein the 9 motors are spaced and arranged in a circular shape.
9. The air spring-based variable stiffness continuous robot arm of claim 6, wherein a fixed spacer is disposed at the connection of the first joint section and the base.
10. The air spring-based variable stiffness continuous robot arm of claim 3, wherein each air spring is a double-bellows air spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111227083.4A CN113977630A (en) | 2021-10-21 | 2021-10-21 | Variable-rigidity continuous mechanical arm based on air spring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111227083.4A CN113977630A (en) | 2021-10-21 | 2021-10-21 | Variable-rigidity continuous mechanical arm based on air spring |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113977630A true CN113977630A (en) | 2022-01-28 |
Family
ID=79739914
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111227083.4A Pending CN113977630A (en) | 2021-10-21 | 2021-10-21 | Variable-rigidity continuous mechanical arm based on air spring |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113977630A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114905498A (en) * | 2022-05-27 | 2022-08-16 | 上海交通大学 | Become super redundant robot arm body in joint |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203107094U (en) * | 2012-12-07 | 2013-08-07 | 机械科学研究总院先进制造技术研究中心 | Hemorrhoid fistula detection equipment |
| CN204913919U (en) * | 2015-08-17 | 2015-12-30 | 浙江工业大学 | Independent controllable software robot of motion and rigidity |
| CN105945930A (en) * | 2016-05-20 | 2016-09-21 | 哈尔滨工业大学 | Liner-driven type software robot with changeable rigidity |
| CN108044613A (en) * | 2017-11-29 | 2018-05-18 | 上海交通大学 | Flexible pneumatic unit is connected mechanical arm with multiple-unit |
| CN108943023A (en) * | 2018-08-14 | 2018-12-07 | 浙江树人学院 | A kind of gasbag robot leg buffer mechanism of adjustable rigidity |
| CN111482954A (en) * | 2020-04-09 | 2020-08-04 | 北京精密机电控制设备研究所 | Universal joint for mechanical arm and continuous mechanical arm |
| CN111590605A (en) * | 2020-06-03 | 2020-08-28 | 浙江大学 | Variable-rigidity flexible joint driving mechanical arm |
-
2021
- 2021-10-21 CN CN202111227083.4A patent/CN113977630A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203107094U (en) * | 2012-12-07 | 2013-08-07 | 机械科学研究总院先进制造技术研究中心 | Hemorrhoid fistula detection equipment |
| CN204913919U (en) * | 2015-08-17 | 2015-12-30 | 浙江工业大学 | Independent controllable software robot of motion and rigidity |
| CN105945930A (en) * | 2016-05-20 | 2016-09-21 | 哈尔滨工业大学 | Liner-driven type software robot with changeable rigidity |
| CN108044613A (en) * | 2017-11-29 | 2018-05-18 | 上海交通大学 | Flexible pneumatic unit is connected mechanical arm with multiple-unit |
| CN108943023A (en) * | 2018-08-14 | 2018-12-07 | 浙江树人学院 | A kind of gasbag robot leg buffer mechanism of adjustable rigidity |
| CN111482954A (en) * | 2020-04-09 | 2020-08-04 | 北京精密机电控制设备研究所 | Universal joint for mechanical arm and continuous mechanical arm |
| CN111590605A (en) * | 2020-06-03 | 2020-08-28 | 浙江大学 | Variable-rigidity flexible joint driving mechanical arm |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114905498A (en) * | 2022-05-27 | 2022-08-16 | 上海交通大学 | Become super redundant robot arm body in joint |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5730117A (en) | Sun tracker | |
| CN113977630A (en) | Variable-rigidity continuous mechanical arm based on air spring | |
| KR20120126804A (en) | Solar Tracking Driver using Electrical Cylinder | |
| CN101537621A (en) | Three freedom degree motion simulator of pneumatic hybrid mechanism | |
| CN107088870B (en) | Based on improving the shifting of 3PUU parallel moving mechanism/turn the synchronous hybrid device of independent control | |
| CN102126210A (en) | 7-DOF (Degree of Freedom) pneumatic muscle flexible mechanical arm | |
| CN108818503A (en) | A kind of four-degree-of-freedom posture adjustment platform | |
| CN110064195B (en) | Three-freedom-degree motion simulation device | |
| CN108340363A (en) | Flexible mechanical arm and unmanned plane | |
| CN106625631A (en) | Successive type flexible arm joint group and combined type flexible arm joint group | |
| CN109110700A (en) | Job platform for tunnel overhaul and the tunnel overhaul operation locomotive including it | |
| CN111941404B (en) | Working method of robot system | |
| CN102792103A (en) | Solar energy collection apparatus | |
| JP6797945B2 (en) | Robots and robot assemblies for patient positioning | |
| CN212825375U (en) | Robot and waist device thereof | |
| Yuan et al. | Design and prototyping a cable-driven multi-stage telescopic arm for mobile surveillance robots | |
| CN219337769U (en) | Flexible mechanical arm with stay wire and pneumatic control | |
| CN209007541U (en) | A kind of six-joint robot | |
| CN114434424B (en) | Bionic spine mechanism | |
| CN109132512A (en) | A kind of automobile steering device pickup robot | |
| CN209793781U (en) | Manipulator lifting and rotating connection structure | |
| CN202029130U (en) | Pneumatic muscle-flexible mechanical arm with seven degrees of freedom | |
| CN106625591A (en) | Five-degrees-of-freedom parallel mechanism achieving three-degrees-of-freedom translational motion and two-degrees-of-freedom rotational motion | |
| CN208179521U (en) | A kind of simple single lever-type transhipment mechanical arm of high-freedom degree | |
| CN216266062U (en) | Human-body-simulated spine structure for robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |