CN206154309U - Variable -freedom -degree modularization cooperation robot - Google Patents
Variable -freedom -degree modularization cooperation robot Download PDFInfo
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- CN206154309U CN206154309U CN201621204021.6U CN201621204021U CN206154309U CN 206154309 U CN206154309 U CN 206154309U CN 201621204021 U CN201621204021 U CN 201621204021U CN 206154309 U CN206154309 U CN 206154309U
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Abstract
The utility model relates to an is variable -freedom -degree modularization cooperation robot through 4 7 establish ties and form in individual joint, have 4 7 4 are being passed through to the individual degree of freedom when the joint forms the robot of 4 freedom, the 1st articular lateral wall and the 2nd articular torque sensor is connected, the 2nd articular lateral wall is through big arm connecting rod and the 3rd articular lateral wall is connected, the 3rd articular torque sensor is connected with curved transition connecting rod, transition connecting rod passes through the forearm connecting rod and connects the 4th articular lateral wall, passing through 5 7 it is individual does the joint form 5 7 the freedom the robot time, the 5th 7 establish ties in proper order in the joint, and the 5th articular lateral wall and the 4th articular torque sensor is connected. The utility model discloses a cooperation robot adopts the modularized design, has the interchangeability between each joint, and 4~7 degree of freedom arms are constituteed to the accessible independent assortment, and its structure pluralism more, dexterousr adapts to the application of more complex environments.
Description
Technical field
The utility model is related to a kind of robot, more particularly to one kind can variable freedom modularization cooperation robot.
Background technology
When traditional industrial robot gradually replaces dullness, the work that repeatability is high, danger is strong, cooperate robot
Each industrial circle is slowly penetrated into, with people's cooperation.Cooperation robot as the lightweight robotic in industrial robot, in the past
Industrial robot is to replace artificial with machinery and reduce human cost, and the robot that cooperates mainly assists the mankind and and people
Class together operation, and need not being isolated using safe fence, is solved the mankind compared with the accuracy for being difficult to reach or allows the mankind
Away from dangerous environment and work.According to application scenario demand, needs complete task without the cooperation robot of the free degree.
The existing cooperating mechanical arm free degree is inconvenient to expand, and articulation structure is not compact enough, and braking, force feedback function are present
It is many not enough；And the structure of domestic existing machinery arm such as six degree of freedom or four-degree-of-freedom mechanical arm is single, each joint interchangeability
It is bad, and free degree expansion is inconvenient.
As described by patent (CN201510181154.X) it is a kind of can variable freedom modular mechanical shoulder joint, its brake
Principle is to stretch to stop that brake catch reaches the function of brake, this principle braking effect electromagnetism by electromagnetism push rod during power on/off
Push rod caloric value is big, very high to the dynamic response requirement of electromagnetism push rod, push rod phenomenon directly over brake catch easily occurs, pushes away
When bar is retracted, brake catch fails braking in time, also needs to continue to rotate to an angle just can brake, and brake force is mainly by electromagnetism
Iron and brake catch intensity are determined, when brake force is larger, the easy bending of push rod or are fractureed, and there is the very big braking back of the body
Gap.
In addition, existing cooperation robot is without force feedback function or by current monitoring mode feedback moment, such side
Formula unstable properties and feedback sensitivity of force is not good enough, and motor performance is required higher, and also need to carry out electric current
Signal transacting is differentiated, and increased power control difficulty；When using because of the robot that cooperates safe fence need not be used to be isolated, institute
To there is very high requirement to its force feedback susceptibility, precision, existing cooperation robot can not meet these requirements.
In view of above-mentioned defect, the design people, positive research and innovation in addition, to founding a kind of the variable of new structure
Free degree modularization cooperation robot so as to more the value in industry.
Utility model content
To solve above-mentioned technical problem, it is modularization string that the purpose of this utility model is to provide a kind of mechanical arm configuration of cooperation
Be coupled structure, compact, dexterous, favorable expandability and can spread be combined into the 4-7 frees degree can variable freedom modularization cooperation machine
Device people.
It is of the present utility model can variable freedom modularization cooperation robot, be in series by 4-7 joint, with 4-7
The individual free degree, the joint include joint housing and hollow motor disposed within, harmonic speed reducer, input shaft, output shaft,
Torque sensor, brake, absolute value encoder, driver, the harmonic speed reducer, hollow motor, brake, absolute value are compiled
Code device is sequentially connected in series on the input shaft with driver, wherein
The forward flange and rear flange for supporting input shaft, input shaft and forward flange and rear flange are provided with-the joint housing
Between by rolling bearing connect；
The stator of-the hollow motor is connected with joint housing, rotor and input shaft connect；
The input of-the harmonic speed reducer is connected with input shaft, output end and output shaft connect；
One end of-output shaft connection the harmonic speed reducer connects the torque sensor, the other end and passes through sliding bearing
It is connected with the input shaft；
- the brake is electromagnetic brake, including brake yoke, spring leaf, armature, flange, wherein brake magnetic
Yoke is arranged on the rear flange, and spring leaf, armature are connected by flange with the input shaft；
The inner ring of-the absolute value encoder is connected with the input shaft, outer ring is arranged on the rear flange；
- the driver be arranged on the rear flange on, for the hollow motor, brake, absolute value encoder,
Torque sensor is powered, and the hollow motor and brake are controlled, while to absolute value encoder and moment sensing
Device carries out signal transacting；
When the robot of 4DOF is formed by 4 joints, the side wall in joint described in the 1st and joint described in the 2nd
Torque sensor connection, the side wall in joint described in the 2nd is connected by big arm link with the side wall in joint described in the 3rd, described in the 3rd
The torque sensor in joint is connected with the transition connecting rod of arc, and the transition connecting rod is by joint described in little arm link connection the 4th
Side wall；
When the robot of the 5-7 frees degree is formed by the 5-7 joint, 5-7 joints are sequentially connected in series, and the 5th institute
The side wall for stating joint is connected with the torque sensor in joint described in the 4th.
Further, location hole and screw hole are equipped with the big arm link, little arm link and transition connecting rod.
Further, also including the pedestal for supporting the robot, the pedestal includes that base plate and base plate are connected vertically
Pillar and the gripper shoe for being arranged on strut ends, are equipped with reinforcement between the base plate and pillar and between gripper shoe and pillar
Muscle；The gripper shoe is connected with the torque sensor in the 1st joint.
Further, the Hall element coordinated with the hollow motor is additionally provided with the input shaft.
Further, it is additionally provided with sealing device between the forward flange and the input shaft.
Further, joint housing side wall is provided with the output flange for connecting the joint.
Further, the joint housing is provided with bonnet away from the end of the torque sensor.
Further, the force snesor is strain beam flange-type structure, and its inner ring fixing screw hole is consolidated with outer ring flange
Determine to be uniformly distributed four strain-ga(u)ge transducers between screw hole.
Further, the joint housing, hollow motor, harmonic speed reducer, brake, encoder, driver are mesopore
Structure.
Further, the input shaft is hollow shaft with output shaft.
By such scheme, the utility model at least has advantages below：
1st, Modular Structure Design theory is introduced into cooperation robot, using series connection joint combining structure feature, can be passed through
The joint of varying number, freely forms the cooperation robot of 4～7 frees degree, freely assembled between each joint and exchange；
2nd, by modularized design feature, each joint can be connected according to load, free degree demand using connecting rod, be had
Modularization, flexibility, it is integrated, dexterous, safe the advantages of, between each joint have interchangeability, its structure more diversification,
It is dexterousr, adapt to the application of more complex environments；
3rd, joint uses electromagnetic brake, the magnetic force produced using switching electricity, spring leaf by adhesive and folding, using rubbing
The locked input shaft of torque for producing is wiped, the effect of braking is reached, brake force is big, and brakeless back clearance can 360 ° of full angle position systems
Dynamic, braking response is fast, and compact conformation is easy for installation；
4th, the torque sensor that joint is connected to be connected with next joint output flange in output the tip of the axis, the moment is anti-
Feedback joint loads torque, compact conformation, high precision feeds back sensitive, improves cooperation robot security's barrier propterty；
5th, articulation structure is modular series connection structure, and compact, dexterous, good reliability can be expanded freely, is combined into 4～7 certainly
By degree mechanical arm, structure is more flexible, more adapts to complex work environmental demand；
6th, torque sensor, harmonic speed reducer, hollow motor, brake, encoder, driver are sequentially connected in series, are adopted
Hollow cabling arrangement, greatly reduces outside dimension and length dimension, dexterousr in the application, is suitable for complicated ring
Border；
7th, torque sensor is that flange form strains girder construction in joint, and four strain-ga(u)ge transducers are evenly distributed on strain beam
On, when flange stress, strain beam deformation, strain-ga(u)ge transducer detection deflection feeds back to control system, calculates moment of torsion big
Little, moment of torsion detection is stable, sensitive, response is fast, can be by the Structural Strength Design of differently strained beam and the foil gauge of different model
Sensor detects different range torque and moment of torsion.
Described above is only the general introduction of technical solutions of the utility model, in order to better understand skill of the present utility model
Art means, and being practiced according to the content of specification, with preferred embodiment of the present utility model and coordinate accompanying drawing detailed below
Describe in detail bright as after.
Description of the drawings
Fig. 1 is the dimensional structure diagram in joint in the utility model；
Fig. 2 is the sectional view in joint in the utility model；
Fig. 3 is the structural representation of big arm link in the utility model；
Fig. 4 is the structural representation of little arm link in the utility model；
Fig. 5 is the structural representation of transition connecting rod in the utility model；
Fig. 6 is the structural representation of pedestal in the utility model；
Fig. 7 is seven freedom cooperation robot architecture's schematic diagram；
Fig. 8 is six degree of freedom cooperation robot architecture's schematic diagram；
Fig. 9 is five degree of freedom cooperation robot architecture's schematic diagram；
Figure 10 is four-degree-of-freedom cooperation robot architecture's schematic diagram.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Embodiment is used to illustrate the utility model, but is not limited to scope of the present utility model.
Referring to Fig. 7 to Figure 10, the one kind described in the preferred embodiment of the utility model one can variable freedom modularization cooperation machine
Device people, is in series, with the 4-7 free degree by 4-7 joint 101.
Specifically, as depicted in figs. 1 and 2, joint 101 includes joint housing 2 and hollow motor 1 disposed within, humorous
Ripple decelerator 4, input shaft 18, output shaft 8, torque sensor 5, brake 17, absolute value encoder 15, driver 14, and it is humorous
Ripple decelerator 4, hollow motor 1, brake 17, absolute value encoder 15 are sequentially connected in series on input shaft 18 with driver 14.Its
The forward flange 3 and rear flange 11 for supporting input shaft 18, input shaft 18 and forward flange 3 and rear flange 11 are provided with middle joint housing 2
Between by rolling bearing 6,12 connect；The stator of hollow motor 1 is connected with joint housing 2, rotor and input shaft 18 connect；It is humorous
The input of ripple decelerator 4 is connected with input shaft 18, output end and output shaft 8 connect；The connection harmonic speed reducer 4 of output shaft 8
One end coupling torque sensor 5, other end is connected by sliding bearing 13 with input shaft 18；Brake 17 is electromagnetic brake,
Including brake yoke, spring leaf, armature, flange, wherein brake yoke is arranged on rear flange 11, and spring leaf, armature lead to
Cross flange to be connected with input shaft 18；The inner ring of absolute value encoder 15 is connected with input shaft 18, outer ring is arranged on rear flange 11；
Driver 14 is arranged on rear flange 11, for hollow motor 1, brake 17, absolute value encoder 15, torque sensor 5
Power supply, and hollow motor 1 is controlled with brake 17, while carrying out letter to absolute value encoder 15 and torque sensor 5
Number process.
Further to improve response sensitivity, it is additionally provided with input shaft of the present utility model 18 and the cooperation of hollow motor 1
Hall element 9.
To improve the service life in series connection joint of the present utility model, the utility model forward flange 3 and input shaft 18 it
Between be additionally provided with sealing device 7.
To cause series connection joint of the present utility model freely to expand, multiple degree-of-freedom manipulators are combined into, this practicality is new
Type is provided with the output flange 10 for connecting next joint on the side wall of joint housing 2.
To cause joint outward appearance of the present utility model more attractive in appearance, the utility model is in joint housing 2 away from moment sensing
The end of device 5 is provided with bonnet 16.
The utility model provides driving force, the connection harmonic speed reducer 4 of input shaft 18, through harmonic reduction by hollow motor 1
After device 4 slows down, by output shaft 8, the output of torque sensor 5 to next joint.Total joint positional information, velocity information,
Precision is fed back by absolute value encoder 15.Total joint structure front end design moment sensor 5, with force feedback function, feedback
Joint torque, force feedback performance sensitive and high precision, have fully ensured that the security during the use of joint.When joint is stopped
Only or in case of emergency, electromagnetic brake 17 is provided and kept and brake function.
The robot modularized series connection joint that cooperates of the present utility model, using modularized design, the structure of series connection will be hollow
Motor 1, harmonic speed reducer 4, brake 17, absolute value encoder 15, driver 14 are connected, using the knot of hollow interior cabling
Structure, articulation structure is compacter, weight lighter, performance is more reliable and more stable, autgmentability is more preferable.
The utility model is tied by the way that the solid stator and rotor of the stator of hollow motor 1 and joint housing 2 are fixed with input shaft 18
Structure is compact, and output torque is big, and dynamic response is high；Input shaft 18 is connected with the input of harmonic speed reducer 4, exports after deceleration and arrives
Output shaft 8, mounting torque sensor 5 on output shaft 8, torque sensor 5 is connected with defeated next joint output flange, moment feedback
Joint loads torque, compact conformation, high precision is fed back sensitive.When overload or emergency is run into, driver sending signal is tight
Anxious braking, improves cooperation robot security's barrier propterty.
When brake 17 is powered when hollow motor 1 works, the spring card adhesive of brake 17, input shaft 18 freely turns
It is dynamic, during power-off, the spring card pressing of brake 17, there is provided braking confining force, input shaft 18 is locked so that flange and input shaft
18 produce moment of friction, and input shaft 18 cannot be rotated freely, reach the function of braking.
Absolute value encoder 15 is hollow magnetic coder in the utility model, and output signal is A, B, Z differential signal, is had
One absolute position, for feeding back the velocity information and positional information of output shaft 8, the inner ring of absolute value encoder 15 and input shaft 18
Connection, outer ring is fixedly mounted on rear flange 11.
Driver 14 is servo-drive integrated circuit in the utility model, is built in joint housing 2, is installed by screw
Between rear flange 11 and bonnet 16, for powering and signal-data processing, hollow motor 1 is powered respectively, brake 17 is supplied
Electricity, absolute value encoder 15 is powered, torque sensor 5 is powered, and controls hollow 1 motor with brake 17 and to absolute encoder
Device 15 carries out signal transacting with torque sensor 5.
The utility model hollow motor 1 be big hollow shaft motor, the mesopore of harmonic speed reducer 4 be hollow structure, brake 17,
Absolute value encoder 15 and driver 14 are central hole structure, intra articular cabling can be by mesopore in joint, it is to avoid outside joint
Portion's wiring issue so that overall structure is compacter, outward appearance is more attractive in appearance.
Above-mentioned harmonic speed reducer 4 is ultrathin shape, hollow structure, with compact, high torque (HT) capacity, high rigidity,
Without backlash and excellent positioning precision and running accuracy a little.The firm wheel of harmonic speed reducer is fixed on joint housing by screw
On, wave producer is connected by screw input shaft, and flexbile gear output is connected by screw and output shaft, and harmonic speed reducer will at a high speed
Output shaft is arrived in output after the input shaft of the hollow motor 1 of rotation slows down.
Above-mentioned torque sensor 5 is strain beam flange-type structure, inner ring fixing screw hole and outer ring flange fixing screw hole
Between be uniformly distributed four strain-ga(u)ge transducers, by strain-ga(u)ge transducer detect strain deformation, feed back joint torque, Jing
Device of overdriving carries out data processing, judges whether state is safe.
Above-mentioned brake is electromagnetic brake, and during energization, its flange is free to rotate, and during power-off, flange is in spring leaf
Under pressure, moment of friction becomes big, and flange is fixed, it is not possible to rotated.When power-off or brake hard, input shaft 18 is in electromagnetic system
It is not free to rotate in the presence of dynamic device；When energized, input shaft is free to rotate.This electromagnetic brake simple structure, installs
It is convenient, dependable performance, low cost, life-span length.
Above-mentioned absolute value encoder 15 is multi-turn absolute value encoder, and each position determined by mechanical location is only
One, when when it, without the need for finding reference point, and without counting always, need location aware without the need for memory
Just go to read its position.Therefore, the anti-interference of the absolute value encoder, data reliability are higher.
Above-mentioned hollow motor 1 is big mesopore motor, including stator and rotor, stator is glued by epoxy glue with joint housing
Knot, rotor is bondd by epoxy glue with input shaft.The central hole structure mode can carry out intra articular mesopore cabling, solve cabling
Problem.This motor load density is with weight than larger, compact conformation.And the hollow motor is furnished with Hall element, reduces into
This, and structure is compacter.
Above-mentioned output shaft 8 is hollow shaft, for transmitting power output, is connected with harmonic speed reducer output end by screw, defeated
Go out driving force, hollow cabling.
Above-mentioned input shaft 18 be hollow shaft, be connected with rotor by epoxy glue, input shaft leading portion pass through screw with it is humorous
Ripple decelerator wave producer connects, and transmits power, end connection absolute value encoder, feedback position information, velocity information.
Above-mentioned sealing device 7 be skeleton sealing structure, good airproof performance, long service life, low cost.It is installed on forward flange
And input shaft between.
Overall structure dexterity in joint of the present utility model, modularization, integrated, there is output end in joint with external connection structure
And input, input is the ring flange of torque sensor 5, connects next joint, there is provided power output, and output end is output method
Blue 10, connect a upper joint.Can be by multigroup joint and connecting rod, the different free degree cooperation robots of composition.
When the robot of 4DOF is formed by 4 joints 101, the output flange and the 2nd on the side wall in the 1st joint
The torque sensor connection in joint, the side wall that the output flange on the side wall in the 2nd joint passes through the joint of big arm link 102 and the 3rd
On output flange connection and the 2nd parallel with the axis in the 3rd joint, the torque sensor in the 3rd joint is connected with the mistake of arc
Connecting rod 104 is crossed, transition connecting rod 104 connects the output flange on the side wall in the 4th joint, and the 3rd and the 4th by little arm link 103
The axis in joint is parallel；
When the free robots of 5-7 are formed by 5-7 joint 101,5-7 joints are sequentially connected in series, and pass described in the 5th
Output flange on the side wall of section is connected with the torque sensor in the 4th joint.
Specifically, as shown in Figures 3 to 5, it is equipped with calmly on big arm link 102, little arm link 103 and transition connecting rod 104
Position hole 201 and screw hole 202, little arm link 103 penetrates the joint of screw hole 202 and the 3rd and the 4th joint and connects by soket head cap screw
Connect, location hole 201 is used to be positioned when connecting, and ensures that joint is in zero-bit by location hole 201, the 3rd joint is closed with the 4th
The axis of section is parallel.Big arm link 102 is connected by soket head cap screw with the 2nd joint and the 3rd joint, and location hole 201 is used for
Positioned during connection, ensured that joint is in zero-bit by location hole 201, the 2nd joint is parallel with the axis in 3 joints.
When using, robot can be supported by pedestal 105, as shown in fig. 6, pedestal 105 includes base plate 203 and base plate 203
Pillar connected vertically 204 and the gripper shoe 205 of the end of pillar 204 is arranged on, between base plate 203 and pillar 204 and gripper shoe
Reinforcement 206 is equipped between 205 and pillar 204；Gripper shoe is used to be connected with the torque sensor in the 1st joint.
, using modular series connection structure, compact conformation, dexterity, solving the cooperation robot free degree can not for the utility model
Become, the shortcomings of joint is heavy, interchangeability is bad, integrated level is not high, structure is not compact enough；Joint electromagnetic brake, solution
Certainly braking response is slow, caloric value is big, application position keeps precision deficiency, brake force deficiency problem；Joint tip designs torque is passed
The shortcomings of sensor, solution force feedback precision deficiency, low-response.
Cooperation robot of the present utility model adopts modularized design, has interchangeability between each joint, can be by certainly
By constituting 4～7 degree-of-freedom manipulators, the more diversification, dexterousr of its structure adapts to the application of more complex environments.
The above is only preferred embodiment of the present utility model, is not limited to the utility model, it is noted that
For those skilled in the art, on the premise of without departing from the utility model know-why, can also do
Go out some improvement and modification, these are improved and modification also should be regarded as protection domain of the present utility model.
Claims (10)
1. one kind can variable freedom modularization cooperation robot, it is characterised in that：It is in series by 4-7 joint, with 4-7
The individual free degree, the joint include joint housing and hollow motor disposed within, harmonic speed reducer, input shaft, output shaft,
Torque sensor, brake, absolute value encoder, driver, the harmonic speed reducer, hollow motor, brake, absolute value are compiled
Code device is sequentially connected in series on the input shaft with driver, wherein
The forward flange and rear flange for supporting input shaft is provided with-the joint housing, between input shaft and forward flange and rear flange
Connected by rolling bearing；
The stator of-the hollow motor is connected with joint housing, rotor and input shaft connect；
The input of-the harmonic speed reducer is connected with input shaft, output end and output shaft connect；
One end of-output shaft connection the harmonic speed reducer connects the torque sensor, the other end by sliding bearing and institute
State input shaft connection；
- the brake is electromagnetic brake, including brake yoke, spring leaf, armature, flange, wherein brake yoke peace
It is mounted on the rear flange, spring leaf, armature are connected by flange with the input shaft；
The inner ring of-the absolute value encoder is connected with the input shaft, outer ring is arranged on the rear flange；
- the driver is arranged on the rear flange, for the hollow motor, brake, absolute value encoder, torque
Sensor power, and the hollow motor and brake are controlled, while entering with torque sensor to absolute value encoder
Row signal transacting；
When 4 free robot is formed by 4 joints, the side wall in joint described in the 1st and the torque in joint described in the 2nd
Sensor connects, and the side wall in joint described in the 2nd is connected by big arm link with the side wall in joint described in the 3rd, joint described in the 3rd
Torque sensor is connected with the transition connecting rod of arc, the side wall that the transition connecting rod passes through joint described in little arm link connection the 4th；
When the free robots of 5-7 are formed by the described joints of 5-7,5-7 joints are sequentially connected in series, and joint described in the 5th
Side wall be connected with the torque sensor in joint described in the 4th.
2. it is according to claim 1 can variable freedom modularization cooperation robot, it is characterised in that：The big arm link,
Location hole and screw hole are equipped with little arm link and transition connecting rod.
3. it is according to claim 1 can variable freedom modularization cooperation robot, it is characterised in that：Also include supporting described
The pedestal of robot, the pedestal includes base plate and base plate pillar connected vertically and is arranged on the gripper shoe of strut ends, institute
State between base plate and pillar and be equipped between gripper shoe and pillar reinforcement；The gripper shoe and the moment sensing in the 1st joint
Device connects.
4. it is according to claim 1 can variable freedom modularization cooperation robot, it is characterised in that：On the input shaft also
It is provided with the Hall element coordinated with the hollow motor.
5. it is according to claim 1 can variable freedom modularization cooperation robot, it is characterised in that：The forward flange and institute
State and be additionally provided between input shaft sealing device.
6. it is according to claim 1 can variable freedom modularization cooperation robot, it is characterised in that：The joint housing side
Wall is provided with the output flange for connecting the joint.
7. it is according to claim 1 can variable freedom modularization cooperation robot, it is characterised in that：The joint housing is remote
End from the torque sensor is provided with bonnet.
8. it is according to claim 1 can variable freedom modularization cooperation robot, it is characterised in that：The force snesor is
Strain beam flange-type structure, is uniformly distributed four foil gauges and passes between its inner ring fixing screw hole and outer ring flange fixing screw hole
Sensor.
9. according to any one of claim 1-8 can variable freedom modularization cooperation robot, it is characterised in that：The pass
Section housing, hollow motor, harmonic speed reducer, brake, encoder, driver are central hole structure.
10. it is according to claim 9 can variable freedom modularization cooperation robot, it is characterised in that：The input shaft with
Output shaft is hollow shaft.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621204021.6U CN206154309U (en) | 2016-11-08 | 2016-11-08 | Variable -freedom -degree modularization cooperation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621204021.6U CN206154309U (en) | 2016-11-08 | 2016-11-08 | Variable -freedom -degree modularization cooperation robot |
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| CN206154309U true CN206154309U (en) | 2017-05-10 |
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| CN201621204021.6U Active CN206154309U (en) | 2016-11-08 | 2016-11-08 | Variable -freedom -degree modularization cooperation robot |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107891442A (en) * | 2017-11-28 | 2018-04-10 | 天津扬天科技有限公司 | The hollow cooperation mechanical arm of multiple degrees of freedom |
| CN108081256A (en) * | 2017-12-07 | 2018-05-29 | 南京航空航天大学 | Detect brake integration robot articular driver |
| CN108247668A (en) * | 2018-02-06 | 2018-07-06 | 北京精密机电控制设备研究所 | A kind of integrated joint of robot module |
| CN108262742A (en) * | 2018-01-24 | 2018-07-10 | 深圳市智能机器人研究院 | The robot and its control method of a kind of modular construction |
| CN109421040A (en) * | 2017-08-21 | 2019-03-05 | 苏州德旺宝机器人智能科技有限公司 | Six degree of freedom intelligence cooperation robot |
| CN109421077A (en) * | 2017-08-21 | 2019-03-05 | 苏州德旺宝机器人智能科技有限公司 | Light weight mechanical arm node |
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| CN111376231A (en) * | 2018-12-27 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Collaboration robot |
| CN109702733A (en) * | 2019-01-22 | 2019-05-03 | 福建（泉州）哈工大工程技术研究院 | A kind of movable type seven freedom smart collaboration robot |
| CN110497442A (en) * | 2019-09-07 | 2019-11-26 | 遨博（江苏）机器人有限公司 | Mechanical arm, cooperation robot and the two working method of high load large arm exhibition |
| CN110666575A (en) * | 2019-10-09 | 2020-01-10 | 珠海格力智能装备有限公司 | Control method and device |
| CN111360806A (en) * | 2020-03-19 | 2020-07-03 | 上海交通大学 | Seven-degree-of-freedom serial collaborative manipulator and robot |
| CN111360786A (en) * | 2020-03-19 | 2020-07-03 | 上海交通大学 | Seven-degree-of-freedom serial-parallel hybrid mechanical arm configuration and mechanical arm |
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