CN222021617U - Humanoid bionic robot arm with variable degrees of freedom based on bevel gear transmission mechanism - Google Patents
Humanoid bionic robot arm with variable degrees of freedom based on bevel gear transmission mechanism Download PDFInfo
- Publication number
- CN222021617U CN222021617U CN202420692574.9U CN202420692574U CN222021617U CN 222021617 U CN222021617 U CN 222021617U CN 202420692574 U CN202420692574 U CN 202420692574U CN 222021617 U CN222021617 U CN 222021617U
- Authority
- CN
- China
- Prior art keywords
- bevel gear
- motor
- arm
- gear
- transmission mechanism
- 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
- 230000005540 biological transmission Effects 0.000 title claims abstract description 31
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 23
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims description 4
- 210000000245 forearm Anatomy 0.000 abstract description 12
- 238000006073 displacement reaction Methods 0.000 abstract description 3
- 210000001503 joint Anatomy 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a variable degree of freedom humanoid bionic robot arm based on a bevel gear transmission mechanism, comprising: the mounting bracket is provided with first drive arrangement on the mounting bracket, and the shoulder frame sets up in one side of first drive arrangement, and first big arm sets up in the below of shoulder frame, and the second big arm sets up in the one end of locating rack, and third drive arrangement sets up in the inside of second big arm, and first forearm sets up in the one end of second big arm, and rotating device sets up in the inside of first forearm, and the second forearm sets up in the one end of first forearm, and fourth drive arrangement sets up in the inside of second forearm, and the linking bridge sets up in the one end of second forearm. The variable degree of freedom humanoid bionic robot arm based on the umbrella-shaped gear transmission mechanism is more durable in structure, can avoid the condition of joint damage caused by displacement of an external force acting on an output end, is driven by a speed reduction stepping motor, and has a service life far exceeding other driving schemes such as a steering engine.
Description
Technical Field
The utility model relates to the field of robots, in particular to a variable degree of freedom humanoid bionic robot arm based on a bevel gear transmission mechanism.
Background
Robots are intelligent machines capable of semi-or fully autonomous operation, the robots being capable of performing tasks such as work or movement by programming and automatic control.
At present, robots are various in types, the humanoid bionic robot is one of the main types, and the movable parts mainly comprise a trunk, two arms, two legs, a neck and a head.
The transverse output joint of the existing robot generally adopts a worm and gear structure for power transmission, and because of the self-locking property of the structure, once an external force acts on an output end to displace, the worm and gear structure is damaged, the structure has high requirements on the use environment and poor stability, and in addition, after the structural design of the existing humanoid mechanical arm is finished, the structural form is fixed, the number of degrees of freedom cannot be changed, and the application flexibility is low.
Therefore, it is necessary to provide a variable degree of freedom humanoid robot arm based on a bevel gear transmission mechanism to solve the above technical problems.
Disclosure of utility model
The utility model provides a variable degree of freedom humanoid bionic robot arm based on a bevel gear transmission mechanism, which solves the problem that a worm and gear structure adopted by the transverse output joint of the existing robot is easy to damage, and the problem that the humanoid robot arm is fixed in structure and low in application flexibility.
In order to solve the technical problems, the utility model provides a variable degree of freedom humanoid bionic robot arm based on a bevel gear transmission mechanism, comprising:
The mounting frame is provided with a first driving device;
A shoulder frame arranged at one side of the first driving device;
the first large arm is arranged below the shoulder frame, a positioning frame is connected below the first large arm through a bolt thread, a second driving device is arranged inside the first large arm and comprises a second motor, one end of an output shaft of the second motor is fixedly connected with a third umbrella-shaped gear through a coupler, one side of the third umbrella-shaped gear is meshed with a fourth umbrella-shaped gear, a second rotating frame is arranged inside the fourth umbrella-shaped gear, one end of the first large arm is provided with a first light control switch on one side of the fourth umbrella-shaped gear, a first touch control rod is arranged inside the first light control switch, and one end of the first touch control rod is connected with one side of the fourth umbrella-shaped gear;
The second large arm is arranged at one end of the positioning frame;
the third driving device is arranged in the second big arm;
the first small arm is arranged at one end of the second large arm;
The rotating device is arranged in the first small arm;
the second small arm is arranged at one end of the first small arm;
A fourth driving means for driving the first and second driving means, the fourth driving device is arranged in the second small arm;
And the connecting frame is arranged at one end of the second small arm.
Preferably, the first driving device comprises a first motor, one end of an output shaft of the first motor is fixedly connected with a first bevel gear through a coupler, one side of the first bevel gear is meshed with a second bevel gear, and a first rotating frame is arranged in the second bevel gear.
Preferably, the third driving device comprises a third motor, one end of an output shaft of the third motor is fixedly connected with a fifth umbrella-shaped gear through a coupler, one side of the fifth umbrella-shaped gear is meshed with a sixth umbrella-shaped gear, a third rotating frame is arranged in the sixth umbrella-shaped gear, one end of a second large arm is located at one side, opposite to the sixth umbrella-shaped gear, of the second large arm, a second light control switch is arranged at one side, opposite to the sixth umbrella-shaped gear, of the second light control switch, a second touch control rod is arranged in the second light control switch, and one end of the second touch control rod is connected with the sixth umbrella-shaped gear.
Preferably, the rotating device comprises a driving motor, one end of an output shaft of the driving motor is fixedly connected with a flange plate through a coupler, one end of the first small arm is provided with a control switch, and one side of the flange plate is connected with a control rod.
Preferably, the fourth driving device comprises a fourth motor, one end of an output shaft of the fourth motor is fixedly connected with a seventh umbrella-shaped gear through a coupler, one side of the seventh umbrella-shaped gear is meshed with an eighth umbrella-shaped gear, a fourth rotating frame is arranged in the eighth umbrella-shaped gear, a third light-operated switch is mounted at one end of the second small arm, and a third touch control rod is arranged in the third light-operated switch.
Preferably, a movable device is arranged between the first large arm and the positioning frame, the movable device comprises a fifth motor, one end of an output shaft of the fifth motor is fixedly connected with a first gear through a coupler, one side of the first gear is meshed with a second gear, one end of the fifth motor is provided with a fourth light-operated switch, a fourth touch control rod is arranged in the fourth light-operated switch, and one end of the fourth touch control rod is connected with one side of the first gear.
Preferably, a protective shell is arranged between the first large arm and the movable device.
Compared with the related art, the variable degree of freedom humanoid bionic robot arm based on the bevel gear transmission mechanism has the following beneficial effects:
The utility model provides a variable degree of freedom humanoid bionic robot arm based on a bevel gear transmission mechanism, wherein a first driving device, a shoulder frame, a first big arm with a second driving device, a second big arm with a third driving device, a first small arm with a rotating device, a second small arm with a fourth driving device and a connecting frame are arranged on a mounting frame to be operated in a matched manner, so that the transmission mode of the existing worm and gear structure can be replaced, the whole structure is more durable, the condition of joint damage caused by displacement of an external force acting on an output end can be avoided, and other driving schemes such as a speed reduction stepping motor driving and the service life far exceeding a steering engine are used.
Drawings
FIG. 1 is a schematic diagram of a first embodiment of a variable degree of freedom humanoid robot arm based on a bevel gear transmission mechanism provided by the present utility model;
fig. 2 is a schematic perspective view of the exterior of the first driving device shown in fig. 1;
FIG. 3 is a schematic view of the first driving device shown in FIG. 2;
FIG. 4 is a schematic perspective view of a first view of the second driving device shown in FIG. 1;
FIG. 5 is a schematic view of a second perspective of the second driving device shown in FIG. 4;
FIG. 6 is a schematic view of the device shown in FIG. 1 in a first perspective view;
FIG. 7 is a schematic perspective view of a rotating device;
FIG. 8 is a schematic perspective view of the rotating device shown in FIG. 7;
FIG. 9 is a schematic view of the device shown in FIG. 6 in a second perspective view;
Fig. 10 is a schematic structural view of a second embodiment of a variable degree of freedom humanoid robot arm based on a bevel gear transmission mechanism provided by the present utility model;
FIG. 11 is a schematic perspective view of a mobile device;
fig. 12 is a schematic perspective view of the whole part of the device.
Reference numerals in the drawings: 1. the mounting frame is provided with a plurality of mounting grooves,
2. A first driving device 21, a first motor 22, a first bevel gear 23, a second bevel gear 24, a first rotating frame,
3. Shoulder frames, 4, a first big arm, 5 and a positioning frame,
6. A second driving device 61, a second motor 62, a third bevel gear 63, a fourth bevel gear 64, a second rotating frame 65, a first light-operated switch 66 and a first touch control rod,
7. A third driving device 71, a third motor 72, a fifth bevel gear 73, a sixth bevel gear 74, a third rotating frame 75, a second light-operated switch 76 and a second touch rod,
8. A second big arm, 9, a first small arm,
10. A rotating device 101, a driving motor 102, a flange plate 103, a control switch 104 and a control rod,
11. The second arm of the first arm is provided with a second arm,
12. Fourth driving device, 121, fourth motor, 122, seventh bevel gear, 123, eighth bevel gear, 124, fourth rotating frame, 125, third light-operated switch, 126, third touch rod,
13. The connecting frame is provided with a connecting groove,
14. A movable device 141, a fifth motor 142, a first gear 143, a second gear 144, a fourth light-operated switch 145, a fourth touch control rod,
15. And (5) protecting the shell.
Detailed Description
The utility model will be further described with reference to the drawings and embodiments.
First embodiment
Referring to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8 and fig. 9 in combination, fig. 1 is a schematic structural diagram of a first embodiment of a variable degree of freedom humanoid robot arm based on a bevel gear transmission mechanism according to the present utility model; fig. 2 is a schematic perspective view of the exterior of the first driving device shown in fig. 1; FIG. 3 is a schematic view of the first driving device shown in FIG. 2; FIG. 4 is a schematic perspective view of a first view of the second driving device shown in FIG. 1; FIG. 5 is a schematic view of a second perspective of the second driving device shown in FIG. 4; FIG. 6 is a schematic view of the device shown in FIG. 1 in a first perspective view; FIG. 7 is a schematic perspective view of a rotating device; FIG. 8 is a schematic perspective view of the rotating device shown in FIG. 7; fig. 9 is a schematic perspective view of the device shown in fig. 6 from a second perspective. Variable degree of freedom humanoid bionic robot arm based on bevel gear drive mechanism includes:
The device comprises a mounting frame 1, wherein a first driving device 2 is arranged on the mounting frame 1;
A shoulder frame 3, wherein the shoulder frame 3 is arranged at one side of the first driving device 2;
The first big arm 4 is arranged below the shoulder frame 3, a positioning frame 5 is connected to the lower side of the first big arm 4 through a bolt thread, a second driving device 6 is arranged inside the first big arm 4, the second driving device 6 comprises a second motor 61, one end of an output shaft of the second motor 61 is fixedly connected with a third umbrella-shaped gear 62 through a coupling, one side of the third umbrella-shaped gear 62 is meshed with a fourth umbrella-shaped gear 63, a second rotating frame 64 is arranged inside the fourth umbrella-shaped gear 63, a first light-operated switch 65 is arranged at one end of the first big arm 4 and positioned at one side of the fourth umbrella-shaped gear 63, a first touch control rod 66 is arranged inside the first light-operated switch 65, and one end of the first touch control rod 66 is connected with one side of the fourth umbrella-shaped gear 63;
The second large arm 8 is arranged at one end of the positioning frame 5;
A third driving device 7, wherein the third driving device 7 is arranged inside the second big arm 8;
A first small arm 9, wherein the first small arm 9 is arranged at one end of the second large arm 8;
a turning device 10, wherein the turning device 10 is arranged inside the first small arm 9;
a second small arm 11, wherein the second small arm 11 is arranged at one end of the first small arm 9;
A fourth driving device 12, wherein the fourth driving device 12 is arranged inside the second forearm 11;
and a connecting frame 13, wherein the connecting frame 13 is arranged at one end of the second small arm 11.
The first driving device 2 comprises a first motor 21, one end of an output shaft of the first motor 21 is fixedly connected with a first bevel gear 22 through a coupler, one side of the first bevel gear 22 is meshed with a second bevel gear 23, and a first rotating frame 24 is arranged inside the second bevel gear 23.
The first rotating frame 24 comprises a rotating rod, a flange plate and a limiting block, the first motor 21 is arranged below the mounting frame 1 through bolts, a protective shell is arranged between the first bevel gear 22, the second bevel gear 23 and the first rotating frame 24 and the mounting frame 1, the first driving device 2 can drive the whole device to lift the arm back and forth, the second motor 61 is arranged inside the positioning frame 5, the positioning frame 5 comprises four positioning plates and four bolts, the flange plates are connected to two ends of the first rotating frame 24, and the second driving device 6 can drive the whole device to lift the arm left and right.
The third driving device 7 comprises a third motor 71, one end of an output shaft of the third motor 71 is fixedly connected with a fifth umbrella-shaped gear 72 through a coupler, one side of the fifth umbrella-shaped gear 72 is meshed with a sixth umbrella-shaped gear 73, a third rotating frame 74 is arranged in the sixth umbrella-shaped gear 73, one end of a second large arm 8 is located at one side opposite to the sixth umbrella-shaped gear 73 and is provided with a second photoswitch 75, a second touch control rod 76 is arranged in the second photoswitch 75, and one end of the second touch control rod 76 is connected with the sixth umbrella-shaped gear 73.
The third motor 71 is installed in the second big arm 8, the third drive device 7 can drive the first forearm 9 to rotate and adjust, the rotating device 10 is installed in the first forearm 9, the rotating device 10 can drive the second forearm 11 to rotate, and the fourth motor 121 is installed in the second forearm 11.
The rotating device 10 comprises a driving motor 101, one end of an output shaft of the driving motor 101 is fixedly connected with a flange plate 102 through a coupler, one end of the first small arm 9 is provided with a control switch 103, and one side of the flange plate 102 is connected with a control rod 104.
The fourth driving device 12 includes a fourth motor 121, one end of an output shaft of the fourth motor 121 is fixedly connected with a seventh umbrella-shaped gear 122 through a coupling, one side of the seventh umbrella-shaped gear 122 is meshed with an eighth umbrella-shaped gear 123, a fourth rotating frame 124 is disposed inside the eighth umbrella-shaped gear 123, a third photoswitch 125 is mounted at one end of the second forearm 11, and a third touch control rod 126 is disposed inside the third photoswitch 125.
And one sides of the first photoswitch 65, the second photoswitch 75, the third photoswitch 125, the control switch 103 and the fourth photoswitch 144 are respectively connected with a limiting rod, the rotating angle of the whole device can be controlled, the first photoswitch 65, the second photoswitch 75, the third photoswitch 125, the control switch 103 and the fourth photoswitch 144 are matched with the first touch control rod 66, the second touch control rod 76, the third touch control rod 126, the control rod 104 and the fourth touch control rod 145 to control the start and stop operation of the second motor 61, the third motor 71, the driving motor 101, the fourth motor 121 and the fifth motor 141, and through grooves are formed in the surfaces of the first big arm 4, the second big arm 8, the first small arm 9, the second small arm 11 and the positioning frame 5, so that the second motor 61, the third motor 71, the driving motor 101, the fourth motor 121 and the fifth motor 141 can be installed with wires.
The working principle of the variable degree of freedom humanoid bionic robot arm based on the umbrella-shaped gear transmission mechanism provided by the utility model is as follows:
When the device is used, when the arm lifting operation is carried out on the whole device, the first motor 21 is started to drive the first bevel gear 22 to rotate, the second bevel gear 23 is driven to rotate when the first bevel gear 22 rotates, the first rotating frame 24 is driven to rotate when the second bevel gear 23 rotates, and the arm lifting operation is carried out on the whole device through the shoulder frame 3 when the first rotating frame 24 rotates.
When the left and right arm lifting is performed, the second motor 61 is started to drive the third bevel gear 62 to rotate, the fourth bevel gear 63 is driven to rotate when the third bevel gear 62 rotates, the second rotating frame 64 is driven to rotate when the fourth bevel gear 63 rotates, and the whole device is driven to the left and right through the first large arm 4 when the second rotating frame 64 rotates.
When the second large arm 8 is driven to lift up and down, the third motor 71 is started to drive the fifth bevel gear 72 to rotate, the sixth bevel gear 73 is driven to rotate when the fifth bevel gear 72 rotates, the third rotating frame 74 is driven to rotate when the sixth bevel gear 73 rotates, and the second large arm 8 is driven to lift up and down when the third rotating frame 74 rotates.
When the second small arm 11 is driven to rotate, the driving motor 101 is started to drive the flange plate 102 to rotate, and when the flange plate 102 rotates, the second small arm 11 is driven to rotate.
When the connecting frame 13 is driven to lift up and down, the fourth motor 121 is started to drive the seventh bevel gear 122 to rotate, the eighth bevel gear 123 rotates when the seventh bevel gear 122 rotates, the fourth rotating frame 124 rotates when the eighth bevel gear 123 rotates, and the connecting frame 13 is driven to lift up and down when the fourth rotating frame 124 rotates.
Compared with the related art, the variable degree of freedom humanoid bionic robot arm based on the bevel gear transmission mechanism has the following beneficial effects:
The utility model provides a variable degree of freedom humanoid bionic robot arm based on an umbrella-shaped gear transmission mechanism, wherein a first driving device 2, a shoulder frame 3, a first big arm 4 with a second driving device 6, a second big arm 8 with a third driving device 7, a first small arm 9 with a rotating device 10, a second small arm 11 with a fourth driving device 12 and a connecting frame 13 are arranged on a mounting frame 1 to be matched with each other, so that the variable degree of freedom humanoid bionic robot arm can replace the transmission mode of the existing worm and gear structure, has a more durable overall structure, can avoid the condition of joint damage caused by displacement of an output end due to external force, is driven by a speed reduction stepping motor, and has a service life far exceeding other driving schemes such as a steering engine.
Second embodiment
Referring to fig. 10, 11 and 12 in combination, a variable degree of freedom humanoid robot arm based on a bevel gear transmission mechanism according to a first embodiment of the present application is provided. The second embodiment is merely a preferred manner of the first embodiment, and implementation of the second embodiment does not affect the implementation of the first embodiment alone.
Specifically, the variable degree of freedom humanoid robot arm based on the bevel gear transmission mechanism provided by the second embodiment of the present application is different in that the variable degree of freedom humanoid robot arm based on the bevel gear transmission mechanism is provided with a movable device 14 between the first big arm 4 and the positioning frame 5, the movable device 14 includes a fifth motor 141, one end of an output shaft of the fifth motor 141 is fixedly connected with a first gear 142 through a coupling, one side of the first gear 142 is meshed with a second gear 143, one end of the fifth motor 141 is provided with a fourth photoswitch 144, a fourth touch lever 145 is provided inside the fourth photoswitch 144, and one end of the fourth touch lever 145 is connected with one side of the first gear 142.
A protective shell 15 is arranged between the first large arm 4 and the movable device 14.
The working principle of the variable degree of freedom humanoid bionic robot arm based on the umbrella-shaped gear transmission mechanism provided by the utility model is as follows:
When the device is used, the fifth motor 141 is started to drive the first gear 142 to rotate when the whole device below the first large arm 4 is driven to rotate, the second gear 143 is driven to rotate when the first gear 142 rotates, and the whole device is driven to rotate when the second gear 143 rotates.
Compared with the related art, the variable degree of freedom humanoid bionic robot arm based on the bevel gear transmission mechanism has the following beneficial effects:
The utility model provides a variable degree-of-freedom humanoid bionic robot arm based on a bevel gear transmission mechanism, wherein a movable device 14 is arranged between a first large arm 4 and a positioning frame 5, so that the 6 th degree of freedom can be adjusted, and the degree of freedom can be rapidly switched between 5 degrees of freedom and 6 degrees of freedom.
The foregoing description is only illustrative of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present utility model.
Claims (7)
1. Variable degree of freedom humanoid bionic robot arm based on bevel gear drive mechanism, its characterized in that includes:
The mounting frame is provided with a first driving device;
A shoulder frame arranged at one side of the first driving device;
the first large arm is arranged below the shoulder frame, a positioning frame is connected below the first large arm through a bolt thread, a second driving device is arranged inside the first large arm and comprises a second motor, one end of an output shaft of the second motor is fixedly connected with a third umbrella-shaped gear through a coupler, one side of the third umbrella-shaped gear is meshed with a fourth umbrella-shaped gear, a second rotating frame is arranged inside the fourth umbrella-shaped gear, one end of the first large arm is provided with a first light control switch on one side of the fourth umbrella-shaped gear, a first touch control rod is arranged inside the first light control switch, and one end of the first touch control rod is connected with one side of the fourth umbrella-shaped gear;
The second large arm is arranged at one end of the positioning frame;
the third driving device is arranged in the second big arm;
the first small arm is arranged at one end of the second large arm;
The rotating device is arranged in the first small arm;
the second small arm is arranged at one end of the first small arm;
A fourth driving means for driving the first and second driving means, the fourth driving device is arranged in the second small arm;
And the connecting frame is arranged at one end of the second small arm.
2. The variable degree of freedom humanoid robot arm based on the bevel gear transmission mechanism according to claim 1, wherein the first driving device comprises a first motor, one end of an output shaft of the first motor is fixedly connected with a first bevel gear through a coupler, one side of the first bevel gear is meshed with a second bevel gear, and a first rotating frame is arranged inside the second bevel gear.
3. The variable degree of freedom humanoid bionic robot arm based on the bevel gear transmission mechanism according to claim 1, wherein the third driving device comprises a third motor, one end of an output shaft of the third motor is fixedly connected with a fifth bevel gear through a coupler, one side of the fifth bevel gear is meshed with a sixth bevel gear, a third rotating frame is arranged in the sixth bevel gear, one end of a second large arm is provided with a second light-operated switch on the opposite side of the sixth bevel gear, a second touch control rod is arranged in the second light-operated switch, and one end of the second touch control rod is connected with the sixth bevel gear.
4. The variable degree of freedom humanoid bionic robot arm based on the bevel gear transmission mechanism according to claim 1, wherein the rotating device comprises a driving motor, one end of an output shaft of the driving motor is fixedly connected with a flange plate through a coupling, one end of the first small arm is provided with a control switch, and one side of the flange plate is connected with a control rod.
5. The variable degree of freedom humanoid bionic robot arm based on the bevel gear transmission mechanism according to claim 1, wherein the fourth driving device comprises a fourth motor, one end of an output shaft of the fourth motor is fixedly connected with a seventh bevel gear through a coupler, one side of the seventh bevel gear is meshed with an eighth bevel gear, a fourth rotating frame is arranged in the eighth bevel gear, a third light-operated switch is mounted at one end of the second small arm, and a third touch control rod is arranged in the third light-operated switch.
6. The human-shaped bionic robot arm with variable degrees of freedom based on the bevel gear transmission mechanism according to claim 1, wherein a movable device is arranged between the first large arm and the positioning frame, the movable device comprises a fifth motor, one end of an output shaft of the fifth motor is fixedly connected with a first gear through a coupler, one side of the first gear is meshed with a second gear, one end of the fifth motor is provided with a fourth light-operated switch, a fourth touch control rod is arranged in the fourth light-operated switch, and one end of the fourth touch control rod is connected with one side of the first gear.
7. The variable degree of freedom humanoid robot arm based on a bevel gear transmission mechanism of claim 6, wherein a protective shell is provided between the first large arm and the movable device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420692574.9U CN222021617U (en) | 2024-04-07 | 2024-04-07 | Humanoid bionic robot arm with variable degrees of freedom based on bevel gear transmission mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420692574.9U CN222021617U (en) | 2024-04-07 | 2024-04-07 | Humanoid bionic robot arm with variable degrees of freedom based on bevel gear transmission mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN222021617U true CN222021617U (en) | 2024-11-19 |
Family
ID=93434917
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202420692574.9U Active CN222021617U (en) | 2024-04-07 | 2024-04-07 | Humanoid bionic robot arm with variable degrees of freedom based on bevel gear transmission mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN222021617U (en) |
-
2024
- 2024-04-07 CN CN202420692574.9U patent/CN222021617U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105522556B (en) | A kind of many loop series-parallel mechanical arms of four-degree-of-freedom | |
| CN102773856A (en) | Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion | |
| CN222021617U (en) | Humanoid bionic robot arm with variable degrees of freedom based on bevel gear transmission mechanism | |
| CN106737720A (en) | One kind drives two degrees of freedom linkage Simple welding mechanical arm using servomotor | |
| CN106625557A (en) | Servo drive multi-rod type variable-freedom-degree mechanical arm for assembly work | |
| CN202825823U (en) | Space six-freedom-degree mechanism capable of independently controlling rotating movement and translation movement | |
| CN202555453U (en) | Two degree-of-freedom parallel spraying robot | |
| CN202825822U (en) | Space five-freedom-degree mechanism capable of independently controlling rotating movement and translation movement | |
| CN110000755A (en) | Parallel institution with a two mobile spirals and a two mobile rotational motion modes | |
| CN109664277B (en) | Full-direct-acting hydraulic cylinder driving mechanical arm | |
| CN113843777A (en) | Four-degree-of-freedom industrial manipulator with large clamping range | |
| CN106695774A (en) | Servo-motor-driven connecting rod type variable-freedom-degree simple coating work mechanical arm | |
| CN106607657A (en) | Connecting rod type variable-freedom-degree welding mechanical arm driven by servo motor | |
| CN106607916A (en) | Connecting rod type variable-degree-of-freedom painting mechanical arm driven by servo motor | |
| CN106625559A (en) | Multi-connecting-rod variable-freedom-degree feed stacking manipulator driven by servo motors | |
| CN106607914A (en) | Servo drive rod type variable freedom degree mechanical arm used for assembling work | |
| CN106695766B (en) | Six-degree-of-freedom parallel device based on grabbing parallel mechanism | |
| CN106717541B (en) | A kind of controllable straight line telescopic lever formula machine for picking fruits of revolution multiple degrees of freedom | |
| CN219504802U (en) | A mechanical arm with telescopic joints | |
| CN110000757A (en) | Parallel institution with a two mobile rotations and a two mobile screw modes | |
| CN212601821U (en) | Tail end linear lifting type multi-joint robot | |
| CN210025277U (en) | Three-degree-of-freedom parallel mechanism with Y and 1R2T motion modes | |
| CN102580883A (en) | Spraying robot with two parallel-connected degrees of freedom | |
| CN110549320B (en) | Series-parallel robot with four degrees of freedom | |
| CN210025276U (en) | Three-DOF Parallel Mechanism with 2T1R and 2T1H Motion Modes |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |