CN106625755A - Method for adopting radial dislocation for enlarging moving range between mechanical arm bodies and mechanical arms used in method - Google Patents
Method for adopting radial dislocation for enlarging moving range between mechanical arm bodies and mechanical arms used in method Download PDFInfo
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- CN106625755A CN106625755A CN201610806020.7A CN201610806020A CN106625755A CN 106625755 A CN106625755 A CN 106625755A CN 201610806020 A CN201610806020 A CN 201610806020A CN 106625755 A CN106625755 A CN 106625755A
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- gripper shoe
- joint
- arm body
- arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a method for adopting radial dislocation for enlarging the moving range between mechanical arm bodies and relates to two mechanical arm bodies located on the same horizontal plane. The first arm body is connected with an upper joint supporting plate. The second arm body is connected with a lower joint supporting plate. The upper joint supporting plate and the lower joint supporting plate are each provided with a joint connecting point and are stacked together through series connection of joint connecting shafts. As the upper joint supporting plate and the lower joint supporting plate are located on the different planes, and the first arm body connected with the upper joint supporting plate and the second arm body connected with the lower joint supporting plate can move within a larger range along the joint connecting shafts through dislocation distribution of the two plates. The joint point of at least one of the upper joint supporting plate and the lower joint supporting plate is not located on the central axis of a plate body, the upper joint supporting plate with the changed joint structure and the lower joint supporting plate with the changed joint structure can drive the arm bodies connected with the upper joint supporting plate and the lower joint supporting plate correspondingly through the joint connecting shafts, and the moving range in the clockwise working direction can be enlarged to 0 degree to -177 degrees. The invention further provides mechanical arms achieved according to the method.
Description
Technical field：
The present invention relates to mechanical arm is designed and manufacture, more particularly to a kind of radial misalignments are movable between mechanical arm arm body to increase
The method of scope, and a kind of mechanical arm configuration realized according to the method.
Background technology：
It is well known that the extreme angles in each joint of mechanical arm directly affect its working range.I.e. mechanical arm often saves pass
Save rotary angle bigger, mechanical arm arm body scope of activities is bigger, and therewith the working range of mechanical arm tail end is bigger.
As shown in figure 1, take in prior art common coincidence formula structure mechanical arm nature straight configuration two joint between
Rotate in the direction of the arrow between+90 °～-90 ° and all have no pressure.But if as shown in Fig. 2 the working range of mechanical arm needs such as
Is rotated further in the direction of the arrow shown in the figure, then structure inherently produces interference between adjacent two-arm body, and interference part bit distribution
Be the most important power unit of mechanical arm, and some mechanical structural strength directly affects mechanical arm bulk strength.So i.e.
Ensure not produced between mechanical arm major impetus unit interference, structural strength unaffected, flexibly turning by mechanical arm is want again
Move to realize that more wide working range activity is a more complicated problem.
Certainly, in order to increase the rotational angle of mechanical arm arm body, domestic existing multi-degree-of-freemechanical mechanical arm is in joint master
There are two kinds of version methods.
First, embedded hinge engaging structure formal approach：As shown in figure 3, the two joint that is connected is embedded by what is diminished section by section
Formula hinge engaging structure form.This chain of embedded hinge arrangement method can only carry out turning along embedded hinge fore-and-aft direction
Dynamic, and contour structures form is single, internal structure is complicated, thus the activity direction of mechanical arm receive on this frame mode it is very big
Restriction, and realize increase arm body angular mobility scope mode be to produce interference in the arm body body for cut off a upper joint
Part, overall structural strength affected by certain, and summary, the structure versatility is not strong, only can be used in specific
Occasion, be unsuitable to apply to the occasion for having more requirement to orientation angle.
2nd, the version method of spatial intersecting：As shown in figure 4, be connected that the structure shape of spatial intersecting is taken between two-arm body
Formula method.The structural approach of this spatial intersecting can produce very big tension, structure at joint connecting shaft and connecting bolt
Stability is not strong；And the structure of this spatial intersecting, although can realize 360 ° of clog-free rotations between single joint, but
During actually used, revolution space can be by brachium and repeatedly the structure of spatial intersecting is affected itself, i.e., every section brachium
Length can limit the angle of the rotation of next section, and in addition the structure of spatial intersecting repeatedly turns in the mechanical arm of multi-axis and multi-DOF
Being also easy to produce between interference, that is, n-th arm body and the N+2 arm body in dynamic can produce interference.
The content of the invention：
In view of above-mentioned technical problem, on the basis of existing coincidence formula version method, turns to expand mechanical arm
The scope of dynamic angle, while to obtain the bigger working range of multiple degrees of freedom industrial machinery arm to adapt to the need of market diversification
Ask, the invention provides a kind of method of radial misalignments to increase scope of activities between mechanical arm arm body.The method is by machinery
Arm configuration mechanical property and structural behaviour are optimized design, original angle blind area can be changed into into working region.In addition, of the invention
Always according to this method providing a kind of mechanical arm of structure optimization.
The concrete technical scheme of the present invention is as follows：
Method of the radial misalignments to increase scope of activities between mechanical arm arm body, the method is related to same level at two
Mechanical arm arm body, i.e. the first arm body and the second arm body；The first arm body is connected with a upper joint gripper shoe, the connection of the second arm body
There is hypozygal gripper shoe, upper joint gripper shoe is each provided with joint tie point with hypozygal gripper shoe, by joint connecting shaft
Concatenation is stacked together, because upper joint gripper shoe and hypozygal gripper shoe are in Different Plane, therefore can be by between two plates
It is dislocatedly distributed, makes the first arm body and the second arm physical efficiency of respective connection make bigger scope of activities along joint connecting shaft；It is described
In upper joint gripper shoe and hypozygal gripper shoe, both at least one piece gripper shoe its artis are positioned at the axis of plate body
On so that the upper and lower articular branches fagging after articulation structure changes drives the arm body that each connected by joint connecting shaft, can be by
Clockwise the scope of activities of 0 °～-90 ° of operative orientation script increases to 0 °～-177 °.
In such scheme, the articular branches fagging that described two arm bodies are connected with its own can be integral by mold injection.
Radial misalignments are realized according to said method to increase the mechanical arm of scope of activities between arm body, the concrete knot of the mechanical arm
Under structure：
It includes hypozygal gripper shoe (first harmonic reductor back-cover plate), upper joint gripper shoe (first harmonic reductor
Surface cover), the first DC brushless motor, the first motor cover plate, first harmonic reductor flexbile gear, first harmonic reductor ripple occur
Device, first harmonic reductor firm wheel and first harmonic reductor surface cover side plate；Characterized in that, the hypozygal gripper shoe
With the artis two of upper joint gripper shoe at least one on the axis of plate body；First DC brushless motor
Positioned using the shaft shoulder with the first motor cover plate and bolt connection, and the sealing of lubricating oil is realized by the first oil sealing；It is described
It is with bolts and realize sealing function with the 4th O-ring between hypozygal gripper shoe and the first motor cover plate；Under described
It is with bolts between articular branches fagging and first harmonic reductor flexbile gear；First DC brushless motor and first harmonic
Positioned using Positioning screw between reductor wave producer；Between the upper joint gripper shoe and first harmonic reductor firm wheel
It is with bolts, and realize sealing function with the first O-ring；The upper joint gripper shoe and first harmonic reductor cover
It is with bolts between plate side plate.
In such scheme, the upper joint gripper shoe connection second joint portion, the second joint portion includes the second direct current
Brushless electric machine, the second motor cover plate, second harmonic reductor flexbile gear, second harmonic reductor wave producer, second harmonic slow down
Machine firm wheel, second harmonic reductor surface cover and second harmonic reductor back-cover plate；The upper joint gripper shoe passes through bolt
Connection second harmonic reductor surface cover；Adopt between the second harmonic reductor surface cover and second harmonic reductor firm wheel
Bolt connection, and realize sealing function with the 3rd O-ring；The second harmonic reductor flexbile gear is carried on the back with second harmonic reductor
Cover plate is with bolts；It is with bolts between the second harmonic reductor back-cover plate and the second motor cover plate, and use
Second O-ring is realizing sealing function；Adopt between the second harmonic reductor wave producer and the second DC brushless motor
Positioning screw is realizing positioning action；Using shaft shoulder positioning and spiral shell between the second motor cover plate and the second DC brushless motor
Tether and connect, and realize that seal oil is acted on the second oil sealing.
In such scheme, the hypozygal gripper shoe is vertically fixed in the first gripper shoe by the first connecting bolt；Institute
State the first gripper shoe to be fixed in the first arm body by two the second connecting bolts.
In such scheme, it is fixed with bolts between the second harmonic reductor back-cover plate and the second arm body.
Beneficial effects of the present invention are as follows：
Using the joint of mechanical arm of new structure form, the deficiency that can avoid existing common coincidence formula structure rotational angle is made
Into the situation that working range is restricted；Convenient combination other structures realize multi-angle rotation, are not affected by self structure, and not
Greater angle is realized with arm body structural strength is sacrificed to rotate；Interference will not be produced between n-th arm body and the N+2 arm body,
Joint bolt connection tension is little, and versatility is stronger.
Mechanical arm arm body can on the same axis, and such structure is attractive in appearance, simple structure, manufacture easy to process, layout are tight
Gather, dutycycle is little, structural stability is strong, and with the increase of mechanical arm arm body rotational angle, by the work blind area under arm body
It is changed into effective working region, can effectively reduces the process rhythm time, improve production efficiency reduces production cost.Client can be realized
Colony's variation, customer selecting variation, application scenario can be wider, so as to improve the competitiveness of product in market.
By this programme so that this patent articulation structure form can also become main flow multi-degree-of-freemechanical mechanical arm joint assembly
One of structural design scheme；Other enterprises can also be given in addition (in new joint assembly version method as mentality of designing)
Mechanical arm provides new mentality of designing.
Description of the drawings：
The present invention is further illustrated below in conjunction with the drawings and specific embodiments.
Fig. 1 is rotational limitation view when existing machinery shoulder joint adopts common coincidence formula structural approach.
Fig. 2 is rotational interference view when existing machinery shoulder joint adopts common coincidence formula structural approach.
Fig. 3 is structure chart of the existing machinery shoulder joint using embedded hinge engaging structure formal approach.
Fig. 4 is structure chart of the existing machinery shoulder joint using the version method of spatial intersecting.
Joint of mechanical arm structure chart under free states of Fig. 5-1a involved by embodiment one in the inventive method.
Fig. 5-1b are to rotate clockwise joint of mechanical arm knot under limiting condition involved by embodiment one in the inventive method
Composition.
Joint of mechanical arm structure chart under free states of Fig. 5-2a involved by embodiment two in the inventive method.
Fig. 5-2b are to rotate clockwise joint of mechanical arm knot under limiting condition involved by embodiment two in the inventive method
Composition.
Joint of mechanical arm structure chart under free states of Fig. 5-3a involved by embodiment three in the inventive method.
Fig. 5-3b are to rotate clockwise joint of mechanical arm knot under limiting condition involved by embodiment three in the inventive method
Composition.
Fig. 6 is mechanical arm outline drawing involved in the present invention.
Fig. 7 is mechanical arm sectional view involved in the present invention.
Fig. 8 a are the schematic diagram of the upper joint gripper shoe of mechanical arm involved in the present invention.
Fig. 8 b are the schematic diagram of the hypozygal gripper shoe of mechanical arm involved in the present invention.
Specific embodiment：
In order that technological means, creation characteristic, reached purpose and effect that the present invention is realized are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
In order to realize that angle is minimized to realize that mechanical arm can realize bigger work between two neighboring mechanical arm arm body
Scope, the inventive method is specifically described its mechanism with reference to the New Type of Robot Arm.
As shown in fig. 6, artis C can centered on any point on line MN, by arm body 1 and the supporting plate structure of arm body 2
Adjustment realizing articulation structure of the present invention, the center line of arm body 1 is misplaced along the straight line MN shown in Fig. 6 a certain distance V1,
Then the center line of arm body 2 is along opposite direction dislocation distance V of arm body 12.Mechanical arm two-arm is realized by the method for articulation structure dislocation
The angle of more wide working range can be obtained between body.
For convenience of illustrated below, partial condition is first enumerated：
1st, known arm body 1, the diameter D of arm body 21、D2With artis C to arm body 1, the interference surface of arm body 2 apart from H1、H2；
2nd, as shown in fig. 6, upper and lower dislocation point artis C uses respectively V to the dislocation distance of arm body 1, arm body 21、V2Come
Represent；
3rd, mechanical arm vertical state is set as free state, i.e., 0 degree, be clockwise main operative orientation, be positive
It is also the Main way for realizing patent of the present invention, concrete arm body portion stroke mutation analysis, rotate in an anti-clockwise direction can be done below
For back work direction, it is not described in detail；
4th, mechanical arm is specifically described in following proposal from 0 ° of groundwork direction for turning clockwise of free state, it is main right
Than rotating limit range in original coincidence formula【0, -90 °】On the basis of, the rotating range that patent of the present invention can change.
Artis C can be any point on straight line MN, now realize the angle to be reached by misplacing articulation structure
Degree requires that have two ways, one kind is V1≠0、V2≠ 0 i.e. arm body 1 and arm body 2 misplace simultaneously, now, in theory, V1、V2∈
【＜+the ∞ of-∞ ＜ 0】；Other two is V1=0V2≠ 0 or V1≠0V2=0, i.e. arm body 1 and the only one of which of arm body 2 misplace, now
V1∈【＜+the ∞ of-∞ ＜ 0】Or V2∈【＜+the ∞ of-∞ ＜ 0】.In view of the structure and intensity of optimization mechanical arm, now choose as follows
Three kinds of embodiment analyses are done in interval, respectively：
Embodiment one：V1=0, V2∈【-1/2D2＜+the 1/2D of ＜ 02】, as shown in Fig. 5-1a, Fig. 5-1b：
Take limiting value V1=0, V2=-1/2D2Now the angle theta value between two adjacent arm bodies is 1147 °～+76 °.Now
V1It is constant, V2For limiting value 1/2D2, then basisAngle between the alternate arm body of mechanical arm two
It follows that working as V1=0, V2∈【-1/2D2＜+the 1/2D of ＜ 02】When, the clockwise angle rotatable scope of mechanical arm is【0 ,-
147°】, it is expressed as with formula
Embodiment two：V2=0, V1∈【-1/2D1＜+the 1/2D of ＜ 01】, as shown in Fig. 5-2a, Fig. 5-2b：
Take limiting value V2=0, V1=-1/2D1Now the angle theta value between two adjacent arm bodies is -140 °～+107 °.Now
V2It is constant, V1For limiting value 1/2D1, then basisAngle between the alternate arm body of mechanical arm two
It follows that working as V2=0, V1∈【-1/2D1＜+the 1/2D of ＜ 01】When, the clockwise angle rotatable scope of mechanical arm is【0 ° ,-
140°】, it is expressed as with formula
Embodiment three：V1∈【-1/2D1＜+the 1/2D of ＜ 01】, V2∈【-1/2D2＜+the 1/2D of ＜ 02】, such as Fig. 5-3a, Fig. 5-
Shown in 3b：
Take limiting value V2=-1/2D2, V1=-1/22D1Now the angle theta value between two adjacent arm bodies be -177 °～+
70°.Now V2Limiting value 1/2D2, V1For limiting value 1/2D1, then basisBetween the alternate arm body ° of mechanical arm two
AngleIt follows that working as V1∈【-1/2D1＜+the 1/2D of ＜ 01】, V2∈【-1/2D2＜+the 1/2D of ＜ 02】
When, the clockwise angle rotatable scope of mechanical arm is【0 °, -177 °】, it is expressed as with formulaThe method structural stability is higher.
As shown in fig. 7, the mechanical arm realized according to said method, it includes (the first harmonic reductor of hypozygal gripper shoe 5
Back-cover plate), upper joint gripper shoe 9 (first harmonic reductor surface cover), the first DC brushless motor 10, the first motor cover plate
12nd, first harmonic reductor flexbile gear 8, first harmonic reductor wave producer 11, first harmonic reductor firm wheel 6 and first are humorous
Ripple reductor surface cover side plate 13.
Wherein, the artis of hypozygal gripper shoe 9 and upper joint gripper shoe 5 two at least one be located at plate body in
(referring to Fig. 8 a, Fig. 8 b) on axis；First DC brushless motor 10 and the first motor cover plate 12 are positioned and bolt using the shaft shoulder
Connection, and the sealing of lubricating oil is realized by the first oil sealing 27.Adopt between the motor cover plate 12 of hypozygal gripper shoe 5 and first
Bolt connection and realize sealing function with the 4th O-ring 26.Between hypozygal gripper shoe 5 and first harmonic reductor flexbile gear 8
It is with bolts.Determined using Positioning screw between first DC brushless motor 10 and first harmonic reductor wave producer 11
Position.It is with bolts between upper joint gripper shoe 9 and first harmonic reductor firm wheel 6 and close to realize with the first O-ring 7
Envelope is acted on.It is with bolts between upper joint gripper shoe 9 and first harmonic reductor surface cover side plate 13.
Certainly, upper joint gripper shoe 9 is also connected with second joint portion, second joint portion include the second DC brushless motor 20,
Second motor cover plate 19, second harmonic reductor flexbile gear 16, second harmonic reductor wave producer 17, second harmonic reductor are firm
Wheel 15, second harmonic reductor surface cover 14 and second harmonic reductor back-cover plate 18；The upper joint gripper shoe 9 passes through spiral shell
Tether and connect second harmonic reductor surface cover 14.Between second harmonic reductor surface cover 14 and second harmonic reductor firm wheel 15
It is with bolts, and realize sealing function with the 3rd O-ring 25.Second harmonic reductor flexbile gear 16 slows down with second harmonic
Machine back-cover plate 18 is with bolts.Connected using bolt between second harmonic reductor back-cover plate 18 and the second motor cover plate 19
Connect, and sealing function is realized with the second O-ring 23.Second harmonic reductor wave producer 17 and the second DC brushless motor 20
Between positioning action is realized using Positioning screw.The shaft shoulder is adopted between second motor cover plate 19 and the second DC brushless motor 20
Positioning and bolt connection, and realize that seal oil is acted on the second oil sealing 22.
In addition, hypozygal gripper shoe 5 is vertically fixed in the first gripper shoe 2 by the first connecting bolt 4.First gripper shoe
2 are fixed in the first arm body 1 by two the second connecting bolts 3.Second harmonic reductor back-cover plate 18 and the second arm body 21 it
Between be connected using the 3rd connecting bolt 24.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel it should be appreciated that the present invention is not restricted to the described embodiments, the simply explanation described in above-described embodiment and specification this
The principle of invention, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these changes
Change and improvement is both fallen within scope of the claimed invention.The claimed scope of the invention by appending claims and its
Equivalent thereof.
Claims (6)
1. method of the radial misalignments to increase scope of activities between mechanical arm arm body, the method is related to the machine of same level at two
Tool arm arm body, i.e. the first arm body and the second arm body；The first arm body is connected with a upper joint gripper shoe, and the second arm body is connected with
Hypozygal gripper shoe, upper joint gripper shoe is each provided with joint tie point with hypozygal gripper shoe, by the string of joint connecting shaft
Connect stacked together, because upper joint gripper shoe and hypozygal gripper shoe are in Different Plane, therefore can be by wrong between two plates
Bit distribution, makes the first arm body and the second arm physical efficiency of respective connection make bigger scope of activities along joint connecting shaft；On described
In articular branches fagging and hypozygal gripper shoe, both at least one piece gripper shoe its artis on the axis of plate body,
So that the upper and lower articular branches fagging after articulation structure changes drives the arm body that each connected by joint connecting shaft, can will be suitable
The scope of activities of 0 °～-90 ° of hour hands operative orientation script increases to 0 °～-177 °.
2. method of the radial misalignments according to claim 1 to increase scope of activities between mechanical arm arm body, it is characterised in that
The articular branches fagging that described two arm bodies are connected with its own can be integral by mold injection.
3. the mechanical arm that method according to claim 1 is realized, including it is hypozygal gripper shoe, upper joint gripper shoe, first straight
Stream brushless electric machine, the first motor cover plate, first harmonic reductor flexbile gear, first harmonic reductor wave producer, first harmonic subtract
Fast machine firm wheel and first harmonic reductor surface cover side plate；Characterized in that, the hypozygal gripper shoe and upper joint are supported
The artis two of plate at least one positioned at plate body axis on；First DC brushless motor and the first motor cover
Plate is positioned and bolt connection using the shaft shoulder, and the sealing of lubricating oil is realized by the first oil sealing；The hypozygal gripper shoe
It is with bolts and realize sealing function with the 4th O-ring between the first motor cover plate；The hypozygal gripper shoe with
It is with bolts between first harmonic reductor flexbile gear；First DC brushless motor occurs with first harmonic reductor ripple
Positioned using Positioning screw between device；Connected using bolt between the upper joint gripper shoe and first harmonic reductor firm wheel
Connect, and sealing function is realized with the first O-ring；Between the upper joint gripper shoe and first harmonic reductor surface cover side plate
It is with bolts.
4. mechanical arm according to claim 3, it is characterised in that the upper joint gripper shoe connection second joint portion, institute
State second joint portion to slow down including the second DC brushless motor, the second motor cover plate, second harmonic reductor flexbile gear, second harmonic
Machine wave producer, second harmonic reductor firm wheel, second harmonic reductor surface cover and second harmonic reductor back-cover plate；Institute
State upper joint gripper shoe and be bolted second harmonic reductor surface cover；The second harmonic reductor surface cover and second
It is with bolts between harmonic wave speed reducing machine firm wheel, and realize sealing function with the 3rd O-ring；The second harmonic reductor
Flexbile gear is with bolts with second harmonic reductor back-cover plate；The second harmonic reductor back-cover plate and the second motor cover plate
Between it is with bolts, and realize sealing function with the second O-ring；The second harmonic reductor wave producer and second
Positioning action is realized using Positioning screw between DC brushless motor；The second motor cover plate and the second DC brushless motor
Between using the shaft shoulder positioning and bolt connection, and realized with the second oil sealing seal oil act on.
5. mechanical arm according to claim 3, it is characterised in that the hypozygal gripper shoe is hung down by the first connecting bolt
Directly it is fixed in the first gripper shoe；First gripper shoe is fixed in the first arm body by two the second connecting bolts.
6. mechanical arm according to claim 3, it is characterised in that the second harmonic reductor back-cover plate and the second arm body
Between be fixed with bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610806020.7A CN106625755A (en) | 2016-08-31 | 2016-08-31 | Method for adopting radial dislocation for enlarging moving range between mechanical arm bodies and mechanical arms used in method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610806020.7A CN106625755A (en) | 2016-08-31 | 2016-08-31 | Method for adopting radial dislocation for enlarging moving range between mechanical arm bodies and mechanical arms used in method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106625755A true CN106625755A (en) | 2017-05-10 |
Family
ID=58851754
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610806020.7A Withdrawn CN106625755A (en) | 2016-08-31 | 2016-08-31 | Method for adopting radial dislocation for enlarging moving range between mechanical arm bodies and mechanical arms used in method |
Country Status (1)
| Country | Link |
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| CN (1) | CN106625755A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| PL422866A1 (en) * | 2017-09-15 | 2019-03-25 | Przemysłowy Instytut Automatyki i Pomiarów PIAP | Manipulator arm, preferably of the pyrotechnical manipulator |
| US11059167B2 (en) * | 2016-11-29 | 2021-07-13 | Fuji Corporation | Multi-joint robot arm |
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| US6451027B1 (en) * | 1998-12-16 | 2002-09-17 | Intuitive Surgical, Inc. | Devices and methods for moving an image capture device in telesurgical systems |
| JP2006007332A (en) * | 2004-06-22 | 2006-01-12 | Matsushita Electric Ind Co Ltd | Industrial robot |
| CN101031380A (en) * | 2005-08-29 | 2007-09-05 | 松下电器产业株式会社 | Industrial robot |
| CN201511369U (en) * | 2009-09-11 | 2010-06-23 | 华南理工大学 | Modular robot motion arm |
| CN201989827U (en) * | 2011-01-21 | 2011-09-28 | 杨鹏耀 | Link for putting away baby carriage |
| CN102837322A (en) * | 2012-09-26 | 2012-12-26 | 黄刚 | Human-simulated mechanical arm in seven degrees of freedom |
| CN104708637A (en) * | 2015-03-17 | 2015-06-17 | 南京理工大学 | Human-simulated mechanical arm |
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2016
- 2016-08-31 CN CN201610806020.7A patent/CN106625755A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6451027B1 (en) * | 1998-12-16 | 2002-09-17 | Intuitive Surgical, Inc. | Devices and methods for moving an image capture device in telesurgical systems |
| JP2006007332A (en) * | 2004-06-22 | 2006-01-12 | Matsushita Electric Ind Co Ltd | Industrial robot |
| CN101031380A (en) * | 2005-08-29 | 2007-09-05 | 松下电器产业株式会社 | Industrial robot |
| CN201511369U (en) * | 2009-09-11 | 2010-06-23 | 华南理工大学 | Modular robot motion arm |
| CN201989827U (en) * | 2011-01-21 | 2011-09-28 | 杨鹏耀 | Link for putting away baby carriage |
| CN102837322A (en) * | 2012-09-26 | 2012-12-26 | 黄刚 | Human-simulated mechanical arm in seven degrees of freedom |
| CN104708637A (en) * | 2015-03-17 | 2015-06-17 | 南京理工大学 | Human-simulated mechanical arm |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11059167B2 (en) * | 2016-11-29 | 2021-07-13 | Fuji Corporation | Multi-joint robot arm |
| PL422866A1 (en) * | 2017-09-15 | 2019-03-25 | Przemysłowy Instytut Automatyki i Pomiarów PIAP | Manipulator arm, preferably of the pyrotechnical manipulator |
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Application publication date: 20170510 |
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| WW01 | Invention patent application withdrawn after publication |