CN206416186U - A kind of mechanical arm forearm - Google Patents
A kind of mechanical arm forearm Download PDFInfo
- Publication number
- CN206416186U CN206416186U CN201621372378.5U CN201621372378U CN206416186U CN 206416186 U CN206416186 U CN 206416186U CN 201621372378 U CN201621372378 U CN 201621372378U CN 206416186 U CN206416186 U CN 206416186U
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- motor
- installing plate
- plate
- rotating part
- 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.)
- Expired - Fee Related
Links
Landscapes
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
A kind of mechanical arm forearm, includes the second drive mechanism of handgrip, the first drive mechanism of driving handgrip upset and driving handgrip rotation；First drive mechanism includes the second mounting seat, the 3rd mounting seat, the 3rd motor and gear drive group, and the second mounting seat is assembled by acrylic transparent panel, and the 3rd mounting seat is assembled by acrylic transparent panel；Second drive mechanism includes the 4th mounting seat, the 4th motor and transparent long cylinder, and the 4th mounting seat is assembled by acrylic transparent panel；4th motor is connected with one end of long cylinder, the other end of long cylinder is connected with the first drive mechanism, first drive mechanism is connected with handgrip, so long cylinder rotation can be driven to drive handgrip integral-rotation by the 4th motor, in first drive mechanism, 3rd motor can drive handgrip integrally to be overturn around first rotating shaft by fan-shaped gear drive group, and the driving structure is compact, help to reduce the volume of mechanical arm；Transparent configuration facilitates teaching.
Description
Technical field
The utility model is related to mechanical arm, especially a kind of mechanical arm forearm.
Background technology
Manipulator makes it have the ability of multi-faceted motion by complicated drive connection, manipulator in the industrial production by
Extensive use, realizes the work such as the carrying of article.Manipulator is mechanically operated typical case's application, with good demonstration lesson
Also often have by the use of manipulator in property, universities and colleges and be used as teaching cases.It is expensive because manipulator is bulky, by industry
Manipulator is substantially unrealistic for teaching aid, and industry mechanical arm is complicated, and internal mechanism can not intuitively be found out,
The purposes of teaching can not be played, it is therefore desirable to research and develop a kind of mechanical arm of suitable teaching.
The content of the invention
Technical problem to be solved in the utility model is to provide a kind of mechanical arm forearm, is adapted to demonstration lesson and uses.
In order to solve the above technical problems, the technical solution of the utility model is：
A kind of mechanical arm forearm, including handgrip, the of the first drive mechanism of driving handgrip upset and driving handgrip rotation
Two drive mechanisms；
The handgrip includes the of handgrip body, the first motor for driving handgrip body folding and driving handgrip body rotation
Two motors, the handgrip body is assembled by acrylic transparent panel, and it includes installing plate, left jig arm and right jig arm, the peace
The side for filling plate is provided with the first adpting flange, and the output shaft of second motor is provided with the second adpting flange, the first adpting flange
It is bolted with the second adpting flange；The opposite side of the installing plate stretches out provided with the first mounting seat, described first
Motor is fixed in the first mounting seat；The left jig arm includes the first left connecting rod, the second left connecting rod and the 3rd left connecting rod, and first is left
Connecting rod includes the first circular rotating part and is articulated in the first bar portion of the first rotating part side, first rotating part is connected to
On installing plate, the edge of the first rotating part is provided with the first teeth portion, and the end of first bar portion is cut with scissors with one end of the second left connecting rod
Connect, the other end of the second left connecting rod is provided with the first grip slipper, and one end of the 3rd left connecting rod is hinged on a mounting board, the 3rd is left
The other end of connecting rod is hinged on the centre position of the second left connecting rod；The right jig arm include the first right connecting rod, the second right connecting rod and
3rd right connecting rod, the first right connecting rod includes the second circular rotating part and is connected to the second bar portion of the second rotating part side, the
The output of one motor is connected with the second rotating part, and the edge of the second rotating part is provided with the second teeth portion engaged with the first teeth portion, institute
The end and one end of the second right connecting rod for stating the second bar portion are hinged, and the other end of the second right connecting rod is provided with the second grip slipper, first
Grip slipper and the second grip slipper composition clamping device, one end of the 3rd right connecting rod are hinged on a mounting board, the 3rd right connecting rod
The other end be hinged on the centre position of the second right connecting rod；
First drive mechanism includes the second mounting seat, the 3rd mounting seat, the 3rd motor and gear drive group, described the
Two mounting seats are assembled by acrylic transparent panel, and it includes the second installing plate and is arranged on the second side of the second installing plate both sides
Plate, the second motor is fixed on the second installing plate, and the 3rd mounting seat is assembled by acrylic transparent panel, and it includes the 3rd
Installing plate and the 3rd side plate for being arranged on the 3rd installing plate both sides, two installing plates are located at the outside of the 3rd installing plate, and two the
First rotating shaft is provided between three installing plates, the two ends of first rotating shaft are fixed after passing the 3rd side plate of both sides respectively with the second side plate
Connection；The gear drive group includes the first sector gear for being enclosed in first rotating shaft and be enclosed on the 3rd motor output shaft the
Two sector gears, the first sector gear is engaged with the second sector gear；
Second drive mechanism include the 4th mounting seat, the 4th motor and transparent long cylinder, the 4th mounting seat by
Acrylic transparent panel assembles, and it includes two blocks of symmetrically arranged 3rd side plates and the 4th side plate, the 3rd side plate and
The first fixed plate, the second fixed plate and the 3rd fixed plate are provided between four side plates；One end of the long cylinder connects with the 3rd installing plate
Connect, the other end of long cylinder sequentially passes through the first fixed plate and the second fixed plate, long cylinder by bearing respectively with the first fixed plate and
Second fixed plate is pivotally connected, and the 4th motor is fixed in the 3rd fixed plate, the output shaft of the 4th motor by bindiny mechanism with
One end connection of long cylinder；3rd motor is arranged in long cylinder.
As an improvement, first left connecting rod, the second left connecting rod, the 3rd left connecting rod, the first right connecting rod, the second right connecting rod,
The pivot end of 3rd right connecting rod or hinged end are circle, and are provided with circular circle centre position in circular hole, circular hole and are provided with rotary shaft.
As an improvement, second left connecting rod is outwards bent to form v-shaped structure in centre position in 160 °；Described second is right
Connecting rod is outwards bent to form v-shaped structure in centre position in 160 °.
As an improvement, the first teeth portion is distributed in the circumference range of the first rotating part a quarter；Second teeth portion is distributed in
The circumference range of two rotating part a quarters.
As an improvement, the installing plate is in octagon, the front end of installing plate is trapezoidal, the 3rd left connecting rod and the 3rd right side
One end of connecting rod is hinged on the front end of installing plate, and the second adpting flange is arranged on the rear end of installing plate, the first rotating part and second
Rotating part is arranged on installing plate center edge portion.
As an improvement, the front end of second motor is provided with taper sheath, one end of taper sheath is fixed on the second motor, the
Two adpting flanges are arranged on the other end of taper sheath, are provided with axis hole in taper sheath, and the output shaft of the second motor is through axis hole and the
Two adpting flanges are connected.
As an improvement, one end of the 3rd side plate is connected with the 3rd installing plate, other end semicircular in shape；Between two the 3rd side plates
Provided with shrouding, the shrouding, the 3rd side plate and the 3rd installing plate surround closing space, first sector gear and the second sector
Gear is in closing space.
As an improvement, the output shaft of the 3rd motor is connected by one end of shaft coupling and axostylus axostyle, the other end of axostylus axostyle
Closing space is stretched into through the 3rd installing plate to be connected with the second sector gear.
As an improvement, the bindiny mechanism is terminal pad, the terminal pad is rounded, and its edge is provided with some circumferentially equal
Detent is provided with the fixed lobe of even distribution, one end end face correspondence fixed lobe of the long cylinder, the fixation is convex
Rise and coordinate with detent.
The beneficial effect that the utility model is brought compared with prior art is：
4th motor is connected with one end of long cylinder, and the other end of long cylinder is connected with the first drive mechanism, the first drive mechanism
It is connected with handgrip, it is possible to drive long cylinder rotation to drive handgrip integral-rotation, the first drive mechanism by the 4th motor
In, the 3rd motor can drive the second mounting seat to be rotated around first rotating shaft by fan-shaped gear drive group, so as to drive handgrip
Overall to be overturn around first rotating shaft, the driving structure is compact, helps to reduce the volume of mechanical arm；With complicated drive connection
Forearm assembled by acrylic transparent panel, student can be visually seen the drive connection of handgrip, being capable of more preferable learning machine
Tool transmission principle.
Brief description of the drawings
Fig. 1 is the utility model structural representation.
Fig. 2 is the first drive mechanism schematic diagram.
Fig. 3 is gripping structure schematic diagram.
Fig. 4 is handgrip decomposition view.
Embodiment
With reference to Figure of description, the utility model is described in further detail.
As shown in figure 1, a kind of mechanical arm forearm, including handgrip 1, the first drive mechanism 2 of the driving upset of handgrip 1 and driving
The second drive mechanism 3 that handgrip 1 rotates.
As shown in Figure 3,4,1 handgrip includes handgrip body 13, the and of the first motor 12 of the folding of driving handgrip body 13
The second motor 11 of the rotation of handgrip body 13 is driven, the handgrip body 13 is assembled by acrylic transparent panel, and student can
The drive connection of handgrip is can be visually seen, can preferably learn mechanical drive principle.Handgrip body 13 includes installing plate 131, a left side
Jig arm and right jig arm.The installing plate 131 is in octagon, and the rear end of installing plate 131 is provided with the first adpting flange 138, described
The output shaft of second motor 11 is provided with the second adpting flange 112, and the first adpting flange 138 and the second adpting flange 112 pass through spiral shell
Tether and connect, the drive installation plate 131 of the second motor 11 rotates.The middle part side of the installing plate 131 stretches out provided with the first peace
Seat 139 is filled, first motor 12 is fixed in the first mounting seat 139.The left jig arm includes the first left connecting rod 132, second
The left connecting rod 133 of left connecting rod 134 and the 3rd；First left connecting rod 132 includes the first circular rotating part 1321 and is connected to the first rotation
First bar portion 1322 of the side of transfer part 1321, first rotating part 1321 is articulated on installing plate 131, the first rotating part 1321
Edge be provided with the first teeth portion 1323, the first teeth portion 1323 is distributed in the circumference range of a quarter of the first rotating part 1321, institute
The end and one end of the second left connecting rod 134 for stating the first bar portion 1322 are hinged；The other end of second left connecting rod 134 is provided with the first folder
Seat 1341 is held, the first grip slipper 1341 is provided with anti-slop serrations；One end of 3rd left connecting rod 133 is hinged on installing plate 131,
The other end of 3rd left connecting rod 133 is hinged on the centre position of the second left connecting rod 134, and second left connecting rod 134 is in interposition
Put and be outwards bent to form v-shaped structure in 160 °.It is right that the right jig arm includes the first right connecting rod 135, the second right connecting rod 136 and the 3rd
Connecting rod 137；First right connecting rod 135 includes the second circular rotating part 1351 and is connected to the second of the side of the second rotating part 1351
Bar portion 1352, the output of the first motor 12 is connected with the second rotating part 1351, and the edge of the second rotating part 1351 is provided with and first
The second teeth portion 1353 that teeth portion 1323 is engaged, the second teeth portion 1353 is distributed in the circumference model of a quarter of the second rotating part 1351
Enclose, the end of second bar portion 1352 and one end of the second right connecting rod 136 are hinged；The other end of second right connecting rod 136 is provided with
Set on second grip slipper 1361, the first grip slipper 1341 and the second grip slipper 1361 composition clamping device, the second grip slipper 1361
There are anti-slop serrations；One end of 3rd right connecting rod 137 is hinged on installing plate 131, and the other end of the 3rd right connecting rod 137 is hinged on
The centre position of second right connecting rod 136, second right connecting rod 136 is outwards bent to form v-shaped structure in centre position in 160 °.
The front end of installing plate 131 is trapezoidal, and one end of the 3rd left connecting rod 133 and the 3rd right connecting rod 137 is hinged on installing plate 131
Front end, the second adpting flange 112 is arranged on the rear end of installing plate 131, and the first rotating part 1321 and the second rotating part 1351 are set
In the center edge portion of installing plate 131；This kind of compact conformation, and interference is not mutually produced between part.First left connecting rod
132nd, the second left connecting rod 134, the 3rd left connecting rod 133, the first right connecting rod 135, the second right connecting rod 136, the pivot of the 3rd right connecting rod 137
It is circle to connect end or hinged end, and is provided with circular circle centre position in circular hole, circular hole provided with rotary shaft.Circular configuration is around circle
Heart rotary motion is a common principle, and students are easier to receive, and the utility model makes using conventional motion structure
Life becomes apparent from other drive connections that the end rotary motion of connecting rod is brought, study from shallow to deep.Second motor 11
Front end be provided with taper sheath, one end of taper sheath is fixed on the second motor 11, and the second adpting flange 112 is arranged on taper sheath
Axis hole is provided with the other end, taper sheath, the output shaft of the second motor 11 is connected through axis hole with the second adpting flange 112.
As shown in Fig. 2 first drive mechanism includes the second mounting seat 21, the 3rd mounting seat 22, the and of the 3rd motor 23
Gear drive group.Second mounting seat 21 is assembled by acrylic transparent panel, and it includes the second installing plate 211 and is arranged on
Second side plate 212 of the both sides of the second installing plate 211, the second side plate 212 and the second installing plate 211 surround accommodation space, the second electricity
Machine is fixed on the outside of the second installing plate 211.3rd mounting seat 22 is in accommodation space, and the 3rd mounting seat 22 is by Asia
Gram force transparent panel assembles, its 3rd side plate 222 for including the 3rd installing plate 221 and being arranged on the both sides of the 3rd installing plate 221,
Two installing plate is located at the outside of the 3rd installing plate 221, and relative rotation occurs between the 3rd mounting seat 22 and the second mounting seat 21
It will not be interfered when turning.First rotating shaft 27 is provided between two the 3rd installing plates 221, the two ends of first rotating shaft 27 pass two respectively
It is fixedly connected after 3rd side plate 222 of side with the second side plate 212, the 3rd side plate 222 supplies first rotating shaft 27 provided with bearing
Pass through.The gear drive group includes the first sector gear 25 being enclosed in first rotating shaft 27 and is enclosed on the output shaft of the 3rd motor 23
On the second sector gear 26, the first sector gear 25 engages with the second sector gear 26, and the 3rd motor 23 can pass through rotation
Motion is converted to the rotary motion of first rotating shaft 27.One end of 3rd side plate 222 is connected with the 3rd installing plate 221, and the other end is in
It is semicircle；Shrouding is provided between two the 3rd side plates 222, the shrouding, the 3rd side plate 222 and the 3rd installing plate 221 surround closing
Space, the sector gear 26 of the first sector gear 25 and second is in closing space.The output shaft of 3rd motor 23
It is connected by shaft coupling with one end of axostylus axostyle 24, the other end of axostylus axostyle stretches into closing space and second through the 3rd installing plate 221
Sector gear 26 is connected；Axostylus axostyle increases the distance of the 3rd motor 23 output, the flexibility of increase mechanical gripper position.
As shown in figure 1, second drive mechanism 3 includes the 4th mounting seat 33, the 4th motor 32 and transparent long cylinder 31.
4th mounting seat 33 is assembled by acrylic transparent panel, and it includes two blocks of symmetrically arranged 3rd side plates 331 and the 4th
Side plate 332, is fixed between the 3rd side plate 331 and the 4th side plate 332 provided with front and rear the first fixed plate 333, second set
The fixed plate 335 of plate 334 and the 3rd；3rd side plate 331, the 4th side plate 332, the first fixed plate 333, the 3rd fixed plate 335 are surrounded
Square framework, the top of framework is provided with top plate, and bottom is provided with bottom plate, so as to form box structure.3rd motor is set
In long cylinder 31, the long cylinder 31 is enclosed on outside axostylus axostyle, and one end of long cylinder 31 is connected with the 3rd installing plate, passes through the 3rd installing plate
Drive whole 3rd mounting seat and the second mounting seat；The other end of long cylinder 31 sequentially passes through the first fixed plate 333 and second and fixed
Plate 334 is extend between the second fixed plate 334 and the 3rd fixed plate 335, long cylinder 31 by bearing respectively with the first fixed plate 333
It is pivotally connected with the second fixed plate 334；4th motor 32 is fixed in the 3rd fixed plate 335, and the output shaft of the 4th motor 32 leads to
One end that bindiny mechanism is crossed with long cylinder 31 is connected.The bindiny mechanism is terminal pad, and the terminal pad is rounded, and its edge is provided with
It is recessed provided with positioning at some fixed lobes being circularly and evenly distributed, one end end face correspondence fixed lobe of the long cylinder 31
Groove, the fixed lobe coordinates with detent.
Claims (9)
1. a kind of mechanical arm forearm, including handgrip, the second of the first drive mechanism of driving handgrip upset and driving handgrip rotation
Drive mechanism；It is characterized in that：The handgrip includes handgrip body, the first motor for driving handgrip body folding and driving handgrip
Second motor of body rotation, the handgrip body is assembled by acrylic transparent panel, and it includes installing plate, left jig arm and the right side
Jig arm, the side of the installing plate is provided with the first adpting flange, and the output shaft of second motor is provided with the second adpting flange, the
One adpting flange is bolted with the second adpting flange；The opposite side of the installing plate stretches out to be installed provided with first
Seat, first motor is fixed in the first mounting seat；It is left that the left jig arm includes the first left connecting rod, the second left connecting rod and the 3rd
Connecting rod, the first left connecting rod includes the first circular rotating part and is connected to the first bar portion of the first rotating part side, described first
Rotating part is pivotally connected on a mounting board, and the edge of the first rotating part is provided with the first teeth portion, and the end of first bar portion is left with second
One end of connecting rod is hinged, and the other end of the second left connecting rod is provided with the first grip slipper, and one end of the 3rd left connecting rod is hinged on peace
Fill on plate, the other end of the 3rd left connecting rod is hinged on the centre position of the second left connecting rod；The right jig arm include the first right connecting rod,
Second right connecting rod and the 3rd right connecting rod, the first right connecting rod include the second circular rotating part and are connected to the second rotating part side
Second bar portion, the output of the first motor is connected with the second rotating part, and the edge of the second rotating part is provided with what is engaged with the first teeth portion
Second teeth portion, the end and one end of the second right connecting rod of second bar portion are hinged, and the other end of the second right connecting rod is provided with second
Grip slipper, the first grip slipper and the second grip slipper composition clamping device, one end of the 3rd right connecting rod are hinged on a mounting board,
The other end of 3rd right connecting rod is hinged on the centre position of the second right connecting rod；First drive mechanism include the second mounting seat,
3rd mounting seat, the 3rd motor and gear drive group, second mounting seat are assembled by acrylic transparent panel, and it includes
Two installing plates and the second side plate for being arranged on the second installing plate both sides, the second motor are fixed on the second installing plate, and the described 3rd
Mounting seat is assembled by acrylic transparent panel, and it includes the 3rd installing plate and is arranged on the 3rd side of the 3rd installing plate both sides
Plate, two installing plate, which is located between the outside of the 3rd installing plate, two the 3rd installing plates, is provided with first rotating shaft, and the two of first rotating shaft
End is fixedly connected after passing the 3rd side plate of both sides respectively with the second side plate；The gear drive group includes being enclosed in first rotating shaft
The first sector gear and the second sector gear for being enclosed on the 3rd motor output shaft, the first sector gear and the second sector gear
Engagement；
Second drive mechanism includes the 4th mounting seat, the 4th motor and transparent long cylinder, and the 4th mounting seat is by sub- gram
Power transparent panel assembles, and it includes two blocks of symmetrically arranged 3rd side plates and the 4th side plate, the 3rd side plate and the 4th side
The first fixed plate, the second fixed plate and the 3rd fixed plate are provided between plate；One end of the long cylinder is connected with the 3rd installing plate, long
The other end of cylinder sequentially passes through the first fixed plate and the second fixed plate, and long cylinder is solid with the first fixed plate and second respectively by bearing
Fixed board is pivotally connected, and the 4th motor is fixed in the 3rd fixed plate, and the output shaft of the 4th motor passes through bindiny mechanism and long cylinder
One end is connected；3rd motor is arranged in long cylinder.
2. a kind of mechanical arm forearm according to claim 1, it is characterised in that：First left connecting rod, the second left connecting rod,
3rd left connecting rod, the first right connecting rod, the second right connecting rod, the pivot end of the 3rd right connecting rod or hinged end are circle, and in circle
Circle centre position be provided with circular hole, rotary shaft is provided with circular hole.
3. a kind of mechanical arm forearm according to claim 1, it is characterised in that：Second left connecting rod centre position to
Outside v-shaped structure is bent to form in 160 °；Second right connecting rod is outwards bent to form v-shaped structure in centre position in 160 °.
4. a kind of mechanical arm forearm according to claim 1, it is characterised in that：First teeth portion is distributed in the first rotating part four
/ mono- circumference range；Second teeth portion is distributed in the circumference range of the second rotating part a quarter.
5. a kind of mechanical arm forearm according to claim 1, it is characterised in that：The installing plate is in octagon, installing plate
Front end it is trapezoidal, one end of the 3rd left connecting rod and the 3rd right connecting rod is hinged on the front end of installing plate, the second adpting flange
The rear end of installing plate is arranged on, the first rotating part and the second rotating part are arranged on installing plate center edge portion.
6. a kind of mechanical arm forearm according to claim 1, it is characterised in that：The front end of second motor is provided with taper
Set, one end of taper sheath is fixed on the second motor, and the second adpting flange is arranged in the other end of taper sheath, taper sheath and is provided with
Axis hole, the output shaft of the second motor is connected through axis hole with the second adpting flange.
7. a kind of mechanical arm forearm according to claim 1, it is characterised in that：One end of 3rd side plate and the 3rd installing plate
Connection, other end semicircular in shape；Shrouding is provided between two the 3rd side plates, the shrouding, the 3rd side plate and the 3rd installing plate are surrounded
Closing space, first sector gear and the second sector gear are in closing space.
8. a kind of mechanical arm forearm according to claim 7, it is characterised in that：The output shaft of 3rd motor passes through connection
One end connection of axle device and axostylus axostyle, the other end of axostylus axostyle stretches into closing space through the 3rd installing plate and connected with the second sector gear
Connect.
9. a kind of mechanical arm forearm according to claim 1, it is characterised in that：The bindiny mechanism is terminal pad, described
Terminal pad is rounded, and its edge is provided with some fixed lobes being circularly and evenly distributed, one end end face correspondence institute of the long cylinder
State and detent is provided with fixed lobe, the fixed lobe coordinates with detent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621372378.5U CN206416186U (en) | 2016-12-14 | 2016-12-14 | A kind of mechanical arm forearm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621372378.5U CN206416186U (en) | 2016-12-14 | 2016-12-14 | A kind of mechanical arm forearm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206416186U true CN206416186U (en) | 2017-08-18 |
Family
ID=59576583
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621372378.5U Expired - Fee Related CN206416186U (en) | 2016-12-14 | 2016-12-14 | A kind of mechanical arm forearm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206416186U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113427476A (en) * | 2021-07-15 | 2021-09-24 | 哈尔滨工程大学 | Mechanical arm for sonar monitoring robot |
| CN114227742A (en) * | 2022-01-06 | 2022-03-25 | 中国科学技术大学 | Steering mechanical arm |
-
2016
- 2016-12-14 CN CN201621372378.5U patent/CN206416186U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113427476A (en) * | 2021-07-15 | 2021-09-24 | 哈尔滨工程大学 | Mechanical arm for sonar monitoring robot |
| CN113427476B (en) * | 2021-07-15 | 2022-06-24 | 哈尔滨工程大学 | Mechanical arm for sonar monitoring robot |
| CN114227742A (en) * | 2022-01-06 | 2022-03-25 | 中国科学技术大学 | Steering mechanical arm |
| CN114227742B (en) * | 2022-01-06 | 2023-08-29 | 中国科学技术大学 | Steering mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204658445U (en) | A kind of Industrial robots Mechanical mechanism of six degree of freedom | |
| CN206416186U (en) | A kind of mechanical arm forearm | |
| CN108748258B (en) | Six-degree-of-freedom mechanical arm | |
| CN207189652U (en) | A kind of desktop type six degree of freedom arm robot | |
| CN104149101A (en) | Multi-joint arm of humanoid robot capable of playing piano | |
| CN102961235B (en) | Upper-limb rehabilitation training robot | |
| CN206567710U (en) | A kind of welding robot | |
| CN206445813U (en) | A kind of drive lacking humanoid dexterous arm device | |
| CN102499757A (en) | Nine-degree-of-freedom minimally invasive surgical robot main manipulator with force feedback | |
| CN102729255A (en) | Finger structure of skillful hand of fruit picking robot | |
| CN107128397A (en) | Robot leg sole running gear | |
| CN202134125U (en) | Force feedback steering wheel simulator | |
| CN104875215B (en) | A kind of two-freedom apery wrist device | |
| CN107146513A (en) | demonstration teaching aid | |
| CN102848375A (en) | Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion | |
| CN206558112U (en) | A kind of teaching mechanical gripper | |
| CN104134393B (en) | A kind of robot movement principle demonstration teaching aid | |
| CN202123512U (en) | Five-degree-of-freedom electric mechanical arm | |
| CN203738813U (en) | Multi-joint humanoid piano-playing robot arm | |
| CN109822555A (en) | A kind of wrist joint bio-mechanism and robot arm configuration | |
| CN206436262U (en) | Mechanical arm handgrip is used in one kind teaching | |
| CN206416156U (en) | Mechanical arm forearm is used in one kind teaching | |
| CN207971966U (en) | A kind of nine-degree of freedom picking mechanical arm | |
| CN202122677U (en) | Two-degree of freedom differential external skeleton | |
| CN206885200U (en) | Robot leg sole running gear |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170818 Termination date: 20171214 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |