CN115281835A - Mechanical arm transmission system and transmission control method - Google Patents
Mechanical arm transmission system and transmission control method Download PDFInfo
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- CN115281835A CN115281835A CN202210878492.9A CN202210878492A CN115281835A CN 115281835 A CN115281835 A CN 115281835A CN 202210878492 A CN202210878492 A CN 202210878492A CN 115281835 A CN115281835 A CN 115281835A
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- detection device
- value detection
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/77—Manipulators with motion or force scaling
Abstract
The embodiment of the application provides a mechanical arm transmission system and a transmission control method, wherein the transmission system comprises: a support; the transmission assembly is arranged in the bracket; the mechanical arm mounting part is arranged in the bracket and is in transmission connection with the transmission assembly; one end of the force balancing device is fixed on the bracket, and the other end of the force balancing device is connected with the force value detection device; the force value detection device is arranged on the mechanical arm mounting part and used for detecting a force value signal of the force balance device to the mechanical arm mounting part, and the force value signal is used for adjusting the input torque of the transmission assembly; wherein the force balancing device is non-rigidly connected to the force value detection device, or the force value detection device is non-rigidly connected to the robot arm mounting member. The embodiment of the application can improve the effect of gravity balance.
Description
Technical Field
The application relates to the technical field of surgical robots, in particular to a mechanical arm transmission system and a transmission control method.
Background
With the development of robotics, laparoscopic surgical robotic systems are increasingly used in minimally invasive surgery. The laparoscopic surgical robot system is a master-slave operating system and mainly comprises a master manipulator and a slave manipulator, wherein an operator controls surgical instruments and a laparoscope on the slave manipulator to move through the master manipulator. In the operation process, the operation needs to be spatially pre-adjusted according to the type of the operation, and the maximum movable space of the slave mechanical arm can be obtained through the pre-adjustment structure, so that the slave mechanical arm can move and swing conveniently.
In the related art, the vertically moving arm (abbreviated as vertical arm) in the pre-adjustment structure is connected to the slave mechanical arm, and needs to bear the weight of the whole slave mechanical arm and have good passive adjustment performance. Usually, a force balancing device is arranged between the slave mechanical arm and the vertical arm to balance the gravity of the slave mechanical arm, and during passive adjustment, an operator can realize position adjustment of the slave mechanical arm with only small and uniform force. However, the force balancing device is limited by factors such as manufacturing process and system installation errors, and force value errors are generated by the force balancing device, so that the balancing effect is influenced, and further, the operation experience of an operator is influenced.
Disclosure of Invention
In order to solve the problem of gravity balance error of the mechanical arm, the application provides a mechanical arm transmission system and a transmission control method.
In a first aspect, an embodiment of the present application provides a robot arm transmission system, including:
a support;
the transmission assembly is arranged in the bracket;
the mechanical arm mounting part is arranged in the bracket and is in transmission connection with the transmission assembly;
one end of the force balancing device is fixed on the bracket, and the other end of the force balancing device is connected with the force value detection device;
the force value detection device is arranged on the mechanical arm mounting part and is used for detecting a force value signal of the force balancing device, and the force value signal is used for adjusting the input torque of the transmission assembly;
wherein the force balancing device is non-rigidly connected to the force value detection device, or the force value detection device is non-rigidly connected to the robot arm mounting member.
In some embodiments, further comprising:
and one end of the spring mounting plate is fixedly connected with the force balancing device, the other end of the spring mounting plate is non-rigidly connected with the force value detection device, and the force balancing device comprises a constant force spring.
In some embodiments, the number of the constant force springs is multiple, the multiple constant force springs are arranged along the axial direction of the constant force springs, and each constant force spring is non-rigidly connected with the force value detection device through a spring mounting plate.
In some embodiments, the spring mounting plate and the force value detection device are connected by a steel wire.
In some embodiments, further comprising:
the upper portion of the first force value detection device fixing seat is connected with the spring mounting plate through a movable screw in a non-rigid mode, the bottom of the first force value detection device fixing seat is fixedly connected with the force value detection device, the movable screw comprises a smooth section and a threaded section, the smooth section of the screw is movably arranged in the spring mounting plate in a penetrating mode, and the threaded section of the movable screw is fixedly arranged in the first force value detection device fixing seat in a penetrating mode.
In some embodiments, the diameter of the smooth section is larger than the diameter of the threaded section, the screw hole diameter of the spring mounting plate is larger than the diameter of the smooth section, and the screw hole diameter of the first force value detecting device is the same as the diameter of the threaded section.
In some embodiments, the drive assembly includes a belt drive and a brake coupled to the robot arm mount and the brake, respectively.
In a second aspect, an embodiment of the present application provides a robot arm transmission control method, which is used for the robot arm transmission system described in the first aspect, and the transmission method includes:
receiving a force value signal from a force value detection device;
judging whether the force value signal is mutated or not;
if the force value signal does not change suddenly, performing torque compensation on the transmission of the transmission assembly according to the force value signal;
and if the force value signal changes suddenly, controlling the transmission system to stop transmission.
In some embodiments, torque compensating the drive of the drive assembly based on the force value signal includes:
obtaining a compensation torque according to the torque corresponding to the force value signal;
calculating the output torque of the motor according to the sum of the compensation torque and the current torque;
the motor is used for driving the transmission assembly, the compensation torque is used for compensating errors of gravity balance of the force balancing device, and the output torque is input torque of the transmission assembly.
In some embodiments, determining whether the force value signal is abrupt comprises: and judging that the force value signal has sudden change according to the condition that the force value signal is greater than a preset threshold value, or the variation of the force value signal is greater than a preset variation, or the variation rate of the force value signal is greater than a preset rate.
The beneficial effects of the mechanical arm transmission system and the transmission control method provided by the application comprise:
the force balance device is arranged between the transmission assembly and the mechanical arm mounting part, the gravity of the slave mechanical arm on the mechanical arm mounting part can be balanced by the force balance device, the force value detection device is arranged between the force balance device and the mechanical arm mounting part, so that the force value detection device can detect a force value signal of the force balance device in real time, the real-time dynamic compensation is carried out on the gravity balance of the slave mechanical arm according to the force value signal, the force value error can be reduced, the gravity balance effect is improved, and the control on the slave mechanical arm is more labor-saving and stable; furthermore, when the force balance device is about to reach the service life, the stress of the force balance device is greatly changed, the force value signal of the force balance device is detected in real time through the force value detection device, the stress change of the force balance device can be found in time, and then serious consequences can be avoided through measures such as emergency braking, and the operation safety is improved.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without any creative effort.
Fig. 1 is a schematic view of a robot arm transmission system;
fig. 2 is a schematic view illustrating an internal structure of a main support;
fig. 3 shows an exemplary assembly diagram of a force balancing device;
FIG. 4 is an assembly schematic of a spring mounting plate;
fig. 5 is a schematic structural view of an exemplary movable screw;
fig. 6 is a schematic structural diagram illustrating a robot arm transmission control method.
Detailed Description
To make the purpose and embodiments of the present application clearer, the following will clearly and completely describe the exemplary embodiments of the present application with reference to the attached drawings in the exemplary embodiments of the present application, and it is obvious that the described exemplary embodiments are only a part of the embodiments of the present application, and not all of the embodiments.
It should be noted that the brief descriptions of the terms in the present application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of the present application. These terms should be understood in their ordinary and customary meaning unless otherwise indicated.
The terms "first," "second," "third," and the like in the description and claims of this application and in the foregoing drawings are used for distinguishing between similar or analogous objects or entities and are not necessarily intended to limit the order or sequence in which they are presented unless otherwise indicated. It is to be understood that the terms so used are interchangeable under appropriate circumstances.
The terms "comprises" and "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a product or apparatus that comprises a list of elements is not necessarily limited to all elements expressly listed, but may include other elements not expressly listed or inherent to such product or apparatus.
Directional terms such as above, below, upper, lower, upward, downward, left, right, and the like are used with respect to the exemplary embodiments as they are shown in the drawings, with the upward or upward direction toward the top of the corresponding drawing and the downward or downward direction toward the bottom of the corresponding drawing.
The presently disclosed embodiments are now described in detail with reference to the drawings, wherein like reference numerals designate identical or corresponding elements in each of the several views.
The embodiment of the application provides a mechanical arm transmission system, which is used for controlling the motion of a slave mechanical arm. Referring to fig. 1, a schematic structural diagram of a robot arm transmission system according to an embodiment of the present disclosure is provided. As shown in fig. 1, the robot arm transmission system comprises a controller 1, a power assembly 2, a force balancing device 3, a support 4 and a robot arm mounting member 5, wherein the power assembly 2 comprises a motor 21.
The controller 1 is in communication connection with the motor 21 and can input a control signal to the motor 21 to adjust the output torque of the motor 21. The controller 1 and the power assembly 2 are both arranged in the bracket 4. And the mechanical arm mounting part 5 is in transmission connection with the transmission assembly in the support 4, moves up and down in the vertical direction and is used for mounting the slave mechanical arm so as to enable the slave mechanical arm to move up and down. The force balancing means 3 may comprise a constant force spring, the direction of extension of which is vertical. One end of the force balancing device 3 is fixed on the support 4, and the other end is installed on the mechanical arm installation part 5 and used for balancing the gravity of the slave mechanical arm installed on the mechanical arm installation part 5.
In some embodiments, the power assembly 2 is an active system, supports the active motion function of pre-adjustment of the vertical arm before operation, and provides a compensation moment to compensate the force difference between the force balancing device 3 and the slave mechanical arm during passive adjustment during operation, so as to achieve the purpose of balancing the gravity of the slave mechanical arm together with the force balancing device 3.
Fig. 2 is a schematic diagram of an internal structure of a robot arm transmission system. As shown in fig. 2, the mechanical arm transmission system further comprises a transmission assembly 7, and the transmission assembly 7 comprises a belt transmission mechanism 71, a linear guide rail 72 and a screw rod 73. The motor 21 in the power assembly 2 is sequentially in transmission connection with the belt transmission mechanism 71, the lead screw 73 and the mechanical arm mounting part 5 to realize power transmission, the belt transmission mechanism 71 is also connected with the braking mechanism 6, and the braking mechanism 6 is in communication connection with the controller 1, so that the braking mechanism 6 can brake the belt transmission mechanism 71 according to a control signal of the controller 1.
In some embodiments, to reduce the force value error, the force balance device 3 may be non-rigidly connected to the force value detection device 8, or the force value detection device 8 may be non-rigidly connected to the robot arm mount 5. Alternatively, the force balance device 3 and the force value detection device 8, and the force value detection device 8 and the robot arm mounting member 5 are all non-rigidly connected.
For example, a non-rigid connection between the force balance device 3 and the force value detection device 8 can be seen in fig. 3, which is a schematic assembly diagram of the force balance device. As shown in fig. 3, the force balancing device 3 may include a spring fixing seat 31, a bearing 32, a spring retainer 33, a rotating shaft 34, a constant force spring 35, a spring mounting plate 36 and a movable screw 37.
One end of a constant force spring 35 is wound on the spring retainer 33, the other end of the constant force spring extends in the vertical direction, bearings 32 are arranged in the centers of two ends of the spring retainer 33, and a rotating shaft 34 penetrates through the bearings 32, so that the rotation of the spring retainer 33 can be realized. The spring retainer ring 33 is rotatably arranged in the spring fixing seat 31 and fixed on the bracket 4 through the spring fixing seat 31.
In some embodiments, in order to facilitate positioning and installation and reduce force assembly errors, the spring retainer ring 33 is an integrated retainer ring, and the spring fixing seat 31 and the spring retainer ring 33 are made in an integrated modularized manner.
In some embodiments, to prolong the service life of the constant force spring 35, the constant force spring 35 may be a 3-layer stacked structure, and of course, the constant force spring 35 may be a one-layer or other layer structure within the protection scope of the present invention.
In some embodiments, the number of the constant force springs 35 may be one or more, and if the number of the constant force springs 35 is multiple, the constant force springs 35 need to be arranged along the axial direction of the rotating shaft 34 and all sleeved on the rotating shaft 34, so that the constant force springs 35 can balance the gravity of the vertical arm together.
In some embodiments, the telescoping end of the constant force spring 35 is secured to a spring mounting plate 36, and the spring mounting plate 36 is provided with a plurality of screw holes. For the convenience of distinction, the screw hole for fixing the constant force spring 35 on the spring mounting plate 36 may be referred to as a fixing screw hole, besides the fixing screw hole, the spring mounting plate 36 is further provided with a first screw hole, the screw penetrating through the fixing screw hole may be referred to as a fastening screw, the screw penetrating through the first screw hole may be referred to as a movable screw 37, in fig. 3, two small screw holes at the upper part of the spring mounting plate 36 are fixing screw holes, and a large screw hole at the lower part is a first screw hole. The set screw holes and the movable screw holes can be coaxially arranged in the vertical direction, and the number of the set screw holes can be two. The aperture of the fixing screw hole is matched with the fastening screw, so that the telescopic end of the constant force spring 35 is fixed on the spring mounting plate 36 through the fastening screw. The first screw hole may have a diameter larger than the diameter of the movable screw 37 so that the movable screw 37 may have a certain space in the first screw hole.
When the number of the constant force springs 35 is plural, the number of the spring mounting plates 36 may be the same as the number of the constant force springs 35, so that the movement of the telescopic ends of the plural constant force springs 35 does not interfere with each other.
The first fixing seat 81 may have an L-shaped structure, and a second screw hole is formed in an upper portion thereof. Referring to fig. 4, which is a schematic view illustrating the assembly of the spring mounting plate, as shown in fig. 4, the movable screw 37 movably connects the spring mounting plate 36 and the first fixing seat 81 together through the first screw hole and the second screw hole.
When the number of the constant force springs 35 is plural, each constant force spring 35 can be assembled on one first fixing seat 81 through the spring mounting plate 36 corresponding to each constant force spring.
In some embodiments, in order to achieve the effect of movably connecting the spring mounting plate 36 and the first fixing seat 81, an exemplary movable screw 37 is shown in fig. 5, which is a schematic structural view of the movable screw 37, and as shown in fig. 5, a screw shaft of the movable screw 37 may include a smooth section 371 and a threaded section 372, wherein a diameter of the smooth section 371 is greater than a diameter of the threaded section 372. The diameter of the first screw hole on the spring mounting plate 36 is greater than the diameter of the smooth section 371, and the axial length of the first screw hole is less than the length of the smooth section 371, the diameter of the thread section 372 is matched with the aperture of the second screw hole, so that the movable screw 37 can be screwed on the first fixing seat 81, the spring mounting plate 36 can move along the axial direction and move up and down on the smooth section 371, and the spring mounting plate 36 can be movably connected with the first fixing seat 81. Because spring mounting plate 36 is fixed connection with the tensile end of constant force spring 35, power value detection piece 82 and first fixing base 81 fixed connection, consequently, power value detection piece 82 is swing joint with the tensile end of constant force spring 35.
It should be noted that, the extension end of the constant force spring 35 may also be movably connected with the force value detecting member 82 through other manners, for example, after the constant force spring 35 is fixedly connected with the spring mounting plate 36, the spring mounting plate 36 may be connected with the force value detecting member 82 through a steel wire, and at this time, the spring mounting plate 36 may perform a relative movement with the force value detecting member 82 within a certain range.
The below of power value detection piece 82 can be provided with second fixing base 83, and second fixing base 83 accessible fastening screw and power value detection piece 82 fixed connection. The bottom of the second fixed mount 83 is fixed to the robot arm mount by screws 84.
In some embodiments, the force detecting member 82 may also be movably connected to the second fixing seat 83, for example, by a steel wire, so that the force detecting member 82 and the second fixing seat 83 can move relative to each other within a certain range, and thus the extending end of the constant force spring 35 and the force detecting member 82 can move relative to each other within a certain range.
Because constant force spring 35 is when tensile, the motion trajectory of tensile end usually can not be with the tangent line direction complete coincidence of constant force spring 35 stiff end, but takes place random skew, if the tensile end of constant force spring 35 and arm installed part rigid connection, this skew can lead to the effort that power value detection piece 82 produced this skew to constant force spring 35, leads to the power value error grow of power value detection piece 82. Above-mentioned embodiment is through the tensile end and the first fixing base 81 swing joint that set up constant force spring 35, or through setting up force value detection piece 82 and second fixing base 83 swing joint for constant force spring 35's tensile end and the non-rigid connection of arm installation can avoid force value detection piece 82 to produce the effort that stops this skew to constant force spring 35, thereby reduce the force value error.
In some embodiments, limited by factors such as a manufacturing process and an installation error of the constant force spring, a certain force value error still exists in the force balancing device 3 for gravity balance of the slave arm, the force value detection device 8 can detect the force value error and feed the force value error back to the controller 1, and the controller 1 adjusts the output torque of the motor according to the force value error, so as to dynamically compensate the force value error.
Based on the mechanical arm transmission system, the embodiment of the present application further provides a mechanical arm transmission control method, referring to fig. 6, which may include the following steps:
step S101: a force value signal is received from a force value detection device.
In some embodiments, in the transmission process of the mechanical arm mounting part, the force value detection device can generate a force value signal according to the tension force applied in the vertical direction, feed the force value signal back to the controller, and the controller analyzes the force value signal after receiving the force value signal.
Step S102: and judging whether the force value signal has mutation or not.
In some embodiments, the controller analyzes the force value signal fed back by the force value detection device to determine whether the force value signal is abruptly changed.
In some embodiments, when the mechanical arm mounted on the mechanical arm mounting part is fixed and the constant force spring is in a normal working state, the force balancing device can stably balance the gravity of the mechanical arm, which will make the fluctuation of the force value signal detected by the force value detection device within a reasonable range, and when the constant force spring in the force balancing device cannot keep the normal working state due to the expiration of the service life or other factors, such as the constant force spring is pulled off, the gravity balance of the mechanical arm will be broken, which will make the fluctuation of the force value signal detected by the force value detection device beyond the reasonable range, i.e. sudden change occurs. Wherein, the force value signal mutation can be determined according to the following modes: the force signal is greater than a preset threshold, the amount of change of the force signal is greater than a preset amount of change, the rate of change of the force signal is greater than a preset rate, and so on.
Step S103: and if the force value signal does not change suddenly, carrying out torque compensation on the transmission of the transmission assembly according to the force value signal.
In some embodiments, if the controller detects that the force signal is not abrupt, the transmission of the transmission assembly may be torque compensated based on the force signal.
In some embodiments, a method of torque compensation may include: and obtaining a compensation torque according to the torque corresponding to the force value signal, so that the compensation torque output by the motor is the same as the torque corresponding to the force value signal, and calculating the output torque of the motor according to the sum of the compensation torque and the transmission torque. Wherein, output torque is transmission assembly's input torque, and compensation torque is used for driving transmission assembly to carry out the error compensation to the gravity balance function of constant force spring to improve the gravity balance effect, increase the homogeneity of passive adjustment power value.
Step S104: and if the force value signal changes suddenly, controlling the transmission system to stop transmission.
In some embodiments, if the controller detects that the force value signal of detection takes place the sudden change, steerable transmission system stops the transmission immediately, avoids the relative movement distance of arm installed part and main support too big and leads to the motionless point of arm to take place the displacement, and then avoids because the motionless point takes place the patient injury that the displacement leads to.
According to the embodiment, the force balancing device is arranged between the transmission assembly and the mechanical arm mounting part, the gravity of the slave mechanical arm on the mechanical arm mounting part can be balanced by the force balancing device, the force value detection device is arranged between the force balancing device and the mechanical arm mounting part, the force value detection device can detect the force value signal of the force balancing device in real time, the gravity balance of the slave mechanical arm can be dynamically compensated in real time according to the force value signal, the force value error can be reduced, the gravity balance effect is improved, and the operation of the slave mechanical arm is more labor-saving and stable; furthermore, when the force balancing device is about to reach the service life, the stress of the force balancing device is greatly changed, the force value signal of the force balancing device is detected in real time through the force value detection device, the stress change of the force balancing device can be found in time, further serious consequences can be avoided through measures such as emergency braking, and the operation safety is improved.
Since the above embodiments are all described by referring to and combining with other embodiments, the same portions are provided between different embodiments, and the same and similar portions between the various embodiments in this specification may be referred to each other. And will not be described in detail herein.
The above embodiments of the present application do not limit the scope of the present application.
Claims (10)
1. A robot arm transmission system, comprising:
a support;
the transmission assembly is arranged in the bracket;
the mechanical arm mounting part is arranged in the bracket and is in transmission connection with the transmission assembly;
one end of the force balancing device is fixed on the bracket, and the other end of the force balancing device is connected with the force value detection device;
the force value detection device is arranged on the mechanical arm mounting part and is used for detecting a force value signal of the force balance device, and the force value signal is used for adjusting the input torque of the transmission assembly;
wherein the force balancing device is non-rigidly connected to the force value detection device, or the force value detection device is non-rigidly connected to the robot arm mounting member.
2. The robotic arm drive system as claimed in claim 1, further comprising:
and one end of the spring mounting plate is fixedly connected with the force balancing device, the other end of the spring mounting plate is non-rigidly connected with the force value detection device, and the force balancing device comprises a constant force spring.
3. The mechanical arm transmission system as claimed in claim 2, wherein the number of the constant force springs is plural, a plurality of the constant force springs are arranged along the axial direction of the constant force springs, and each of the constant force springs is non-rigidly connected with the force value detection device through a spring mounting plate.
4. The mechanical arm transmission system as claimed in claim 2, wherein the spring mounting plate and the force value detection device are connected by a steel wire.
5. The robotic arm drive system as set forth in claim 2 further comprising:
the upper portion of the first force value detection device fixing seat is connected with the spring mounting plate through a movable screw in a non-rigid mode, the bottom of the first force value detection device fixing seat is fixedly connected with the force value detection device, the movable screw comprises a smooth section and a threaded section, the smooth section of the screw is movably arranged in the spring mounting plate in a penetrating mode, and the threaded section of the movable screw is fixedly arranged in the first force value detection device fixing seat in a penetrating mode.
6. The mechanical arm transmission system according to claim 5, wherein the diameter of the smooth section is larger than that of the threaded section, the screw hole diameter of the spring mounting plate is larger than that of the smooth section, and the screw hole diameter of the first force value detection device is the same as that of the threaded section.
7. The robotic arm drive system according to claim 1, wherein the drive assembly comprises a belt drive and a brake coupled to the robotic arm mount and the brake, respectively.
8. A robot arm transmission control method for the robot arm transmission system according to any one of claims 1 to 7, comprising:
receiving a force value signal from a force value detection device;
judging whether the force value signal is mutated or not;
if the force value signal does not change suddenly, performing torque compensation on the transmission of the transmission assembly according to the force value signal;
and if the force value signal changes suddenly, controlling the transmission system to stop transmission.
9. The method of claim 8, wherein torque compensating the drive of the drive assembly based on the force signal comprises:
obtaining a compensation torque according to the torque corresponding to the force value signal;
calculating the output torque of the motor according to the sum of the compensation torque and the current torque;
the motor is used for driving the transmission assembly, the compensation torque is used for compensating errors of gravity balance of the force balancing device, and the output torque is input torque of the transmission assembly.
10. The mechanical arm transmission control method according to claim 8, wherein the judging whether the force value signal is suddenly changed comprises: and judging that the force value signal is mutated according to the condition that the force value signal is greater than a preset threshold value, or the variation of the force value signal is greater than a preset variation, or the variation rate of the force value signal is greater than a preset rate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210878492.9A CN115281835A (en) | 2022-07-25 | 2022-07-25 | Mechanical arm transmission system and transmission control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210878492.9A CN115281835A (en) | 2022-07-25 | 2022-07-25 | Mechanical arm transmission system and transmission control method |
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| Publication Number | Publication Date |
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| CN115281835A true CN115281835A (en) | 2022-11-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210878492.9A Pending CN115281835A (en) | 2022-07-25 | 2022-07-25 | Mechanical arm transmission system and transmission control method |
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| CN (1) | CN115281835A (en) |
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- 2022-07-25 CN CN202210878492.9A patent/CN115281835A/en active Pending
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