CN218018507U - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN218018507U CN218018507U CN202220909205.1U CN202220909205U CN218018507U CN 218018507 U CN218018507 U CN 218018507U CN 202220909205 U CN202220909205 U CN 202220909205U CN 218018507 U CN218018507 U CN 218018507U
- Authority
- CN
- China
- Prior art keywords
- joint
- bevel gear
- fixedly connected
- assembly
- wrist
- 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.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 230000005540 biological transmission Effects 0.000 claims abstract description 31
- 230000008878 coupling Effects 0.000 claims abstract description 26
- 238000010168 coupling process Methods 0.000 claims abstract description 26
- 238000005859 coupling reaction Methods 0.000 claims abstract description 26
- 230000009467 reduction Effects 0.000 claims abstract description 18
- 210000000707 wrist Anatomy 0.000 claims description 34
- 238000004891 communication Methods 0.000 claims description 14
- 230000003068 static effect Effects 0.000 claims description 10
- 239000012636 effector Substances 0.000 claims description 7
- 210000000245 forearm Anatomy 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 13
- 230000010354 integration Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 7
- 238000013461 design Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The present disclosure provides a robot arm. The mechanical arm adopts a semi-direct-drive joint with a low speed reduction ratio, so that the output speed of each joint of the mechanical arm is increased, and the motion dynamic performance of the mechanical arm is further improved. And because the first joint and the second joint for driving the large arm assembly adopt the differential coupling transmission mechanism, the reduction ratio can be reduced, and simultaneously the end load capacity, the energy use efficiency and the integral axial integration of the mechanical arm can be improved.
Description
Technical Field
The disclosure relates to the technical field of mechanical arms, in particular to a mechanical arm.
Background
In the related technology, the mechanical arm is driven to move by adopting a scheme that an outer rotor motor is matched with a high-reduction-ratio double-stage planetary gear box, the output speed of the whole joint is low, the requirement on the load capacity of the driving joint is high, and the dynamic performance and the cost of the mechanical arm are influenced. Therefore, how to improve the dynamic performance of the mechanical arm and reduce the cost at the same time becomes a hot problem of current research
SUMMERY OF THE UTILITY MODEL
The present disclosure provides an improved robot arm to improve the dynamic performance of the robot arm and reduce the cost.
There is provided according to an embodiment of the present disclosure a robot arm including: the device comprises a base, a large arm assembly, an elbow assembly, a small arm assembly, a wrist assembly and an end executing mechanism;
the base is provided with a differential coupling transmission mechanism, and the large arm assembly is fixedly connected with the differential coupling transmission mechanism; the differential coupling transmission mechanism is provided with a first joint and a second joint, and the first joint and the second joint drive the differential coupling transmission mechanism to move together;
the large arm assembly is provided with a third joint, and the output end of the third joint is fixedly connected with the elbow assembly; the elbow assembly is provided with a fourth joint, and the output end of the fourth joint is fixedly connected with the small arm assembly; the forearm component is provided with a fifth joint, and the output end of the fifth joint is fixedly connected with the wrist component; the wrist component is provided with a sixth joint, and the output end of the sixth joint is fixedly connected with the tail end executing mechanism;
at least one of the first joint, the second joint, the third joint, the fourth joint, the fifth joint, and the sixth joint comprises a semi-direct drive joint.
Optionally, the reduction ratios of the first joint, the second joint, and the third joint include 9.
Optionally, the reduction ratios of the fourth joint, the fifth joint, and the sixth joint include 6.
Optionally, the differential coupling transmission mechanism includes a first bevel gear, a second bevel gear, a T-shaped transmission shaft, and a base bevel gear, where the first bevel gear and the second bevel gear are respectively assembled on a horizontal axis of the T-shaped shaft, the base bevel gear is assembled on a vertical axis of the T-shaped transmission shaft, and the first bevel gear and the second bevel gear are respectively engaged with the base bevel gear;
the first bevel gear is fixedly connected with the output end of the first joint, and the second bevel gear is fixedly connected with the output end of the second joint.
Optionally, the terminal actuating mechanism includes that the clamping jaw moves the main part with the clamping jaw, the output of sixth joint with the clamping jaw moves main part fixed connection, in order to drive the clamping jaw move the main part for the static main part motion of clamping jaw.
Optionally, the end executing mechanism includes an end adapter flange, and the output ends of the clamping jaw moving body and the sixth joint are respectively and fixedly connected to the end adapter flange.
Optionally, the radial dimension and the axial dimension of the combined structure of the clamping jaw movable body and the clamping jaw static body are adapted to the radial dimension and the axial dimension of the wrist assembly.
Optionally, the base includes a base, a main control board, a communication adapter board and a power adapter board, the main control board, the communication adapter board and the power adapter board are assembled on the base, and the main control board is electrically connected with the communication adapter board and the power adapter board respectively.
Optionally, the elbow assembly includes an elbow main body and an elbow adapter flange, and the elbow adapter flange is fixedly connected with the elbow main body and the fourth joint respectively.
Optionally, the wrist assembly includes a wrist main body and a wrist adapter flange, and the wrist adapter flange is fixedly connected to the wrist main body and the sixth joint, respectively.
The technical scheme provided by the disclosure can at least achieve the following beneficial effects:
the mechanical arm disclosed by the invention adopts the semi-direct-drive joint with the low speed reduction ratio, so that the output speed of each joint of the mechanical arm is increased, and the motion dynamic performance of the mechanical arm is further improved. And because the first joint and the second joint for driving the large arm assembly adopt differential coupling transmission mechanisms, the reduction ratio can be reduced, and simultaneously the tail end load capacity, the energy use efficiency and the integral axial integration of the mechanical arm can be improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
FIG. 1 is a schematic diagram of a robot arm according to an exemplary embodiment of the present disclosure;
FIG. 2 is a schematic diagram of an assembly structure of a base and a differential coupling transmission mechanism according to an exemplary embodiment of the disclosure;
FIG. 3 is a schematic diagram of the internal structure of a differentially coupled drive mechanism according to an exemplary embodiment of the disclosure;
FIG. 4 is a schematic illustration of an end effector mechanism according to an exemplary embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a base in an exemplary embodiment of the present disclosure;
FIG. 6 is a schematic illustration of a robot in an expanded state according to an exemplary embodiment of the present disclosure;
fig. 7 is a schematic diagram of a robot in a folded state according to an exemplary embodiment of the disclosure.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure.
The terminology used in the disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. Similarly, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one of the referenced item, and are instead denoted individually as if only one of the referenced item is referred to. "plurality" or "a number" means two or more. Unless otherwise specified, "front", "back", "lower" and/or "upper", "top", "bottom", and the like are for ease of description only and are not limited to one position or one spatial orientation. The word "comprising" or "comprises", and the like, means that the element or item listed as preceding "comprising" or "includes" covers the element or item listed as following "comprising" or "includes" and its equivalents, and 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 related technology, the mechanical arm is driven to move by adopting a scheme that an outer rotor motor is matched with a high-reduction-ratio double-stage planetary gear box, the output speed of the whole joint is low, the requirement on the load capacity of the driving joint is high, and the dynamic performance and the cost of the mechanical arm are influenced.
The present disclosure provides a robot arm, and fig. 1 is a schematic structural diagram of a robot arm in an exemplary embodiment of the present disclosure; fig. 2 is an assembly structure diagram of a base and a differential coupling transmission mechanism in an exemplary embodiment of the disclosure. As shown in fig. 1 and 2, the robot arm 1 includes: a base 11, a large arm assembly 12, an elbow assembly 13, a small arm assembly 14, a wrist assembly 15, and an end effector 16. The base 11 is provided with a differential coupling transmission mechanism 113, the large arm assembly 12 is fixedly connected to the differential coupling transmission mechanism 113, the differential coupling transmission mechanism 113 is provided with a first joint 111 and a second joint 112, and the first joint 111 and the second joint 112 jointly drive the differential coupling transmission mechanism 113 to move. The big arm assembly 12 is provided with a third joint 121, the output end of the third joint 121 is fixedly connected with the elbow assembly 13, the elbow assembly 13 is provided with a fourth joint 131, the output end of the fourth joint 131 is fixedly connected with the small arm assembly 14, the small arm assembly 14 is provided with a fifth joint 141, the output end of the fifth joint 141 is fixedly connected with the wrist assembly 15, the wrist assembly 15 is provided with a sixth joint 151, and the output end of the sixth joint 151 is fixedly connected with the end-effector 16. At least one of the first joint 111, the second joint 112, the third joint 121, the fourth joint 131, the fifth joint 141, and the sixth joint 151 includes a half direct drive joint.
The mechanical arm 1 adopts a semi-direct-drive joint with a low speed reduction ratio, so that the output speed of each joint of the mechanical arm 1 is increased, and the motion dynamic performance of the mechanical arm 1 is further improved. And because the first joint 111 and the second joint 112 for driving the large arm assembly 12 adopt the differential coupling transmission mechanism 113, the end load capacity, the energy use efficiency and the overall axial integration of the mechanical arm 1 can be improved while the reduction ratio is reduced.
It should be noted that the differential coupling transmission mechanism 113 may couple the output power of the first joint 111 and the second joint 112, so that the first joint 111 and the second joint 112 cooperate to form the motion of the large arm assembly 12, and the first joint 111 and the second joint 112 are in a parallel relationship, thereby avoiding power consumption caused by the gravity of one loaded by the other due to the series connection of the first joint 111 and the second joint 112, improving the end load capacity and the capacity use efficiency, and further contributing to reducing the axial size of the robot arm 1.
In some embodiments, as shown in fig. 3, the differential coupling transmission mechanism 113 may include a first bevel gear 1131, a second bevel gear 1132, a T-shaped transmission shaft 1134 and a base bevel gear 1133, wherein the first bevel gear 1131 and the second bevel gear 1132 are respectively assembled to a transverse shaft 1134a of the T-shaped transmission shaft 1134, the base bevel gear 1133 is assembled to a longitudinal shaft 1134b of the T-shaped transmission shaft 1134, and the first bevel gear 1131 and the second bevel gear 1132 are respectively engaged with the base bevel gear 1133. A first bevel gear 1131 is fixedly connected to an output end of the first joint 111, and a second bevel gear 1132 is fixedly connected to an output end of the second joint 112. When the first joint 111 and the second joint 112 rotate in the same direction, power is transmitted to the T-shaped shaft 1134 through the first bevel gear 1131 and the second bevel gear 1132, so that the differential coupling transmission mechanism 113 rotates around the transverse shaft 1134a of the T-shaped shaft 1134, and the large arm assembly 12 generates pitching motion. When the first joint 111 and the second joint 112 are turned in opposite directions, the power drives the base bevel gear 1133 through the first bevel gear 1131 and the second bevel gear 1132, and drives the longitudinal shaft 1134b of the T-shaped shaft 1134 to rotate, so that the differential coupling transmission mechanism 113 generates a turning motion around the longitudinal shaft 1134b of the T-shaped shaft 1134.
The differential coupling design is adopted for the first joint 111 and the second joint 112, so that the mechanical arm 1 obtains a first degree of freedom and a second degree of freedom, the energy use efficiency of the first joint 111 and the second joint 112 is improved, and the maximum output torque of pitching and overturning motions obtained by the mechanical arm 1 is 2 times that of the first joint 111 and the second joint 112 when the first joint 111 and the second joint 112 work independently. In addition, the overall inertia distribution of the robot arm 1 is optimized, and the end load capacity is optimized to the maximum extent while the output speed capacity of the first joint 111 and the second joint 112 is ensured.
For example, through the structural design of the differential coupling, the energy use efficiency is fully optimized, on the basis of the rated torque of 12.6Nm of the first joint 111, under the configuration of 520mm complete machine arm extension and carrying of a tail end clamping jaw, the actual maximum load of the tail end can be larger than or equal to 1.8kg, and the load capacity of 0.5-1kg of similar machines is improved.
In some embodiments, the reduction ratios of the first joint 111, the second joint 112, and the third joint 121 include 9, and the first joint 111, the second joint 112, and the third joint 121 may increase the output speeds of the three joints by using the low reduction ratio, so as to improve the overall motion dynamic performance.
In some embodiments, the reduction ratios of the fourth joint 131, the fifth joint 141, and the sixth joint 151 include 6, and the output speeds of the fourth joint 131, the fifth joint 141, and the third joint 121 can be increased by using the above low reduction ratio, so as to improve the overall motion dynamics performance.
In the above embodiment, when the speed reduction ratio of the first joint 111, the second joint 112, and the third joint 121 is 9, and the speed reduction ratio of the fourth joint 131, the fifth joint 141, and the sixth joint 151 is 6, the rated speed of each joint may be greater than or equal to 220rpm by using a single-stage low-speed-ratio planetary reducer, and the maximum linear speed of the end may be greater than or equal to 12m/s on the basis of 520mm span, thereby improving the dynamic performance of the robot arm 1.
In some embodiments, as shown in fig. 4, the end effector 16 includes a jaw static body 162 and a jaw dynamic body 161, and the output end of the sixth joint 151 is fixedly connected to the jaw dynamic body 161 to move the jaw dynamic body 161 relative to the jaw static body 162. The sixth joint 151 can drive the movable jaw body 161 to move, so that the movable jaw body 161 and the static jaw body 162 are matched to form clamping or opening actions.
In the above embodiment, the end effector 16 may include an end adapter flange 163, and the output ends of the clamping jaw body 161 and the sixth joint 151 are fixedly connected to the end adapter flange 163, so as to improve the connection reliability of the clamping jaw body 161 and the sixth joint 151.
In the above embodiment, the radial dimension and the axial dimension of the combined structure of the clamping jaw moving body 161 and the clamping jaw static body 162 are adapted to the radial dimension and the axial dimension of the wrist assembly 15, so that the clamping jaw structure formed by the clamping jaw moving body 161 and the clamping jaw static body 162 is convenient to integrate with the wrist assembly 15, and the adaptability and compactness of the clamping jaw structure with the wrist assembly 15 and the robot arm 1 are improved. Through compactly integrating the compact type end clamping jaw, the capacity of grabbing and operating objects at the tail end of the mechanical arm 1 is increased, and the actual functions of the mechanical arm 1 are enriched. In one embodiment, the weight of the movable jaw body 161 and the stationary jaw body 162 may be less than or equal to 450g, the axial dimension may be less than or equal to 132mm, and the radial dimension may be less than or equal to 76mm, which also reduces the impact on the end load capacity and inertia distribution of the robot arm 1.
In some embodiments, as shown in fig. 5, the base 11 may include a base 114, a main control board 115, a communication patch panel 116, and a power patch panel 117, the main control board 115, the communication patch panel 116, and the power patch panel 117 being assembled to the base 114, the main control board 115 being electrically connected to the communication patch panel 116 and the power patch panel 117, respectively. The base 114 can be used as a fixed shell of a main control board 115, a communication adapter board 116 and a power adapter board 117, the main control board 115 can be a control power board, receives instructions of an upper computer through an RJ45 network port and is responsible for calculation and processing of the motion of the whole mechanical arm 1, and the base can also be used as a power board of a whole machine, and is a compact integrated design board group of motion control and the power board. The communication interface and the low-voltage power interface on the main control board 115 are respectively connected with the communication adapter board 116 and the power adapter board 117, and 7 branch ports are formed on the communication adapter board 116 and the power adapter board 117 to provide communication and power supply for 6 joints of the mechanical arm 1 and the tail end actuating mechanism 16.
In some embodiments, elbow assembly 13 includes elbow body 132 and elbow adaptor flange 133, elbow adaptor flange 133 fixedly coupled to elbow body 132 and fourth joint 131, respectively, to provide a secure connection for elbow body 132 and fourth joint 131 and to enable a fourth degree of freedom for robotic arm 1.
In some embodiments, the wrist assembly 15 includes a wrist body 152 and a wrist adapter flange 153, and the wrist adapter flange 153 is fixedly connected to the wrist body 152 and the sixth joint 151, respectively, to provide a stable connection for the wrist body 152 and the sixth joint 151 and to allow the robot arm 1 to obtain a sixth degree of freedom.
As shown in fig. 6 and 7, the third joint 121 and the elbow main body 132 are fixedly connected by screws, the elbow adapter flange 133 is fixed on the elbow main body 132 by radial screws, and the third joint 121 drives the elbow assembly 13 to have the third degree of freedom of the mechanical arm 1, namely, pitch. A fourth joint 131 is fixed on the elbow adapter flange 133, the small arm assembly 14 is connected to the fourth joint 131 through a fixing mode of a lateral screw, the small arm assembly 14 can comprise a two-part small arm structure which is connected with each other through screws, and the small arm assembly 14 is driven by the fourth joint 131 to form a fourth degree of freedom of the mechanical arm 1, namely overturning. The fifth joint 141 is directly fixed to the forearm component 14 by screws, the wrist body 152 is fixed to the output end of the fifth joint 141, the wrist adapter flange 153 is fixed to the end of the wrist body 152, and the wrist component 15 driven by the fifth joint 141 forms a fifth degree of freedom of the robot arm 1, that is, a pitch. The sixth joint 151 is fixed to the wrist adapter flange 153, the end adapter flange 163 is fixed to the end of the sixth joint 151, and the end adapter flange 163 driven by the sixth joint 151 forms the sixth degree of freedom of the robot arm 1, i.e., the turning. The 6 degrees of freedom of the mechanical arm 1 are formed above, the pitching and the overturning of the first joint 111 and the second joint 112, the pitching driven by the third joint 121, the overturning driven by the fourth joint 131, the pitching driven by the fifth joint 141 and the overturning driven by the sixth joint 151 are respectively performed from the base 11 to the end executing mechanism 16, the extending distance from the coaxial line of the first joint 111 and the second joint 112 to the axial line of the fifth joint 141 is 520mm, and the end executing mechanism 16 is integrated on the basis of the end adapter flange 163 and is used for grabbing and operating the end of the whole mechanical arm 1.
The mechanical arm 1 adopts the semi-direct-drive joint with the low reduction ratio, the output speed of each joint of the mechanical arm 1 is increased, and the motion dynamic performance of the mechanical arm 1 is further improved. And because the first joint 111 and the second joint 112 for driving the large arm assembly 12 adopt the differential coupling transmission mechanism 113, the end load capacity, the energy use efficiency and the overall axial integration of the mechanical arm 1 can be improved while the reduction ratio is reduced.
The above description is only exemplary of the present disclosure and should not be taken as limiting the disclosure, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (10)
1. A robotic arm, comprising: the device comprises a base, a large arm assembly, an elbow assembly, a small arm assembly, a wrist assembly and an end executing mechanism;
the base is provided with a differential coupling transmission mechanism, and the large arm assembly is fixedly connected with the differential coupling transmission mechanism; the differential coupling transmission mechanism is provided with a first joint and a second joint, and the first joint and the second joint drive the differential coupling transmission mechanism to move together;
the large arm assembly is provided with a third joint, and the output end of the third joint is fixedly connected with the elbow assembly; the elbow assembly is provided with a fourth joint, and the output end of the fourth joint is fixedly connected with the small arm assembly; the forearm component is provided with a fifth joint, and the output end of the fifth joint is fixedly connected with the wrist component; the wrist component is provided with a sixth joint, and the output end of the sixth joint is fixedly connected with the tail end executing mechanism;
at least one of the first joint, the second joint, the third joint, the fourth joint, the fifth joint, and the sixth joint comprises a semi-direct drive joint.
2. A robotic arm as claimed in claim 1, in which the reduction ratios of the first, second and third joints comprise 9.
3. The mechanical arm according to claim 1, wherein the reduction ratio of the fourth joint, the fifth joint, and the sixth joint comprises 6.
4. The mechanical arm according to claim 1, wherein the differential coupling transmission mechanism comprises a first bevel gear, a second bevel gear, a T-shaped transmission shaft and a base bevel gear, the first bevel gear and the second bevel gear are respectively assembled on a transverse shaft of the T-shaped shaft, the base bevel gear is assembled on a longitudinal shaft of the T-shaped transmission shaft, and the first bevel gear and the second bevel gear are respectively meshed with the base bevel gear;
the first bevel gear is fixedly connected with the output end of the first joint, and the second bevel gear is fixedly connected with the output end of the second joint.
5. The mechanical arm according to claim 1, wherein the end effector comprises a static clamping jaw body and a movable clamping jaw body, and the output end of the sixth joint is fixedly connected with the movable clamping jaw body so as to drive the movable clamping jaw body to move relative to the static clamping jaw body.
6. A robotic arm as claimed in claim 5, in which the end effector comprises an end adaptor flange to which the output ends of the gripping bodies and the sixth joint are respectively fixedly connected.
7. A robot arm as claimed in claim 5, wherein the combined structure of the jaw moving body and the jaw static body has radial and axial dimensions adapted to the radial and axial dimensions of the wrist assembly.
8. The mechanical arm of claim 1, wherein the base comprises a base, a main control board, a communication adapter board and a power adapter board, the main control board, the communication adapter board and the power adapter board are assembled on the base, and the main control board is electrically connected with the communication adapter board and the power adapter board respectively.
9. A robotic arm as claimed in claim 1, in which the elbow assembly comprises an elbow body and an elbow adaptor flange fixedly connected with the elbow body and the fourth joint respectively.
10. A robotic arm as claimed in claim 1, in which the wrist assembly comprises a wrist body and a wrist adaptor flange fixedly connected to the wrist body and the sixth joint respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220909205.1U CN218018507U (en) | 2022-04-19 | 2022-04-19 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220909205.1U CN218018507U (en) | 2022-04-19 | 2022-04-19 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218018507U true CN218018507U (en) | 2022-12-13 |
Family
ID=84371609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220909205.1U Active CN218018507U (en) | 2022-04-19 | 2022-04-19 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218018507U (en) |
-
2022
- 2022-04-19 CN CN202220909205.1U patent/CN218018507U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101905458B (en) | Three-translation spatial parallel robotic mechanism | |
| CN110202559A (en) | One kind is towards the bionical lightweight mechanical arm of man-machine collaboration | |
| CN110524522A (en) | A kind of series-parallel anthropomorphous machine's arm of multiple degrees of freedom redundancy | |
| CN102773856A (en) | Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion | |
| CN108515516A (en) | A kind of high protection bispin articulated robot | |
| CN102848375A (en) | Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion | |
| CN218018507U (en) | Mechanical arm | |
| CN104608146A (en) | Novel mechanical arm based on double-bevel deflection joints | |
| CN204487596U (en) | Based on the New Type of Robot Arm in double inclined plane deflection joint | |
| CN111469121B (en) | Series-parallel five-degree-of-freedom mechanical arm | |
| CN208246811U (en) | A kind of five articulated robots | |
| CN210061189U (en) | Joint drive module, seven arms and robot | |
| CN213674118U (en) | Light-weight type six-degree-of-freedom mechanical arm | |
| CN202825823U (en) | Space six-freedom-degree mechanism capable of independently controlling rotating movement and translation movement | |
| CN111360786B (en) | Seven-degree-of-freedom serial-parallel hybrid mechanical arm configuration and mechanical arm | |
| CN113305876A (en) | High-redundancy flexible robot joint, robot and joint structure | |
| Wang et al. | Type synthesis of 3T2R decoupled hybrid mechanisms with large bearing capacity | |
| CN215618066U (en) | Parallel-series-parallel type high-load self-weight ratio mechanical arm | |
| CN208246812U (en) | A kind of wu-zhi-shan pig | |
| CN207344580U (en) | Completely isotropic plane parallel mechanism containing proper constrained motion chain | |
| CN113246104A (en) | Parallel-series-parallel type high-load self-weight ratio mechanical arm | |
| CN114346995B (en) | Modularized rope driving mechanical arm based on 2-UR parallel mechanism | |
| CN112757271A (en) | Plane joint four-axis arm | |
| CN210910019U (en) | Plane joint four-axis arm | |
| CN117381847B (en) | Indirect-driven mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231018 Address after: Room 602, 6th Floor, Building 5, Building 15, Kechuang 10th Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing, 100176 Patentee after: Beijing Xiaomi Robot Technology Co.,Ltd. Address before: No.018, 8th floor, building 6, No.33 yard, middle Xierqi Road, Haidian District, Beijing 100085 Patentee before: BEIJING XIAOMI MOBILE SOFTWARE Co.,Ltd. |
|
| TR01 | Transfer of patent right |