Title:
マスタアームおよびロボット
Document Type and Number:
Japanese Patent JP6914344
Kind Code:
B2
Abstract:
A master arm and a robot. The master arm comprises: a support member (1); a shoulder member (2) rotatably connected to the support member (1); an elbow member (4); an upper arm member (3) rotatably connected to the shoulder member (2) and the elbow member (4); and a forearm member (5) connected to the elbow member (4), wherein the upper arm member (3) comprises a primary upper arm part (30) and a secondary upper arm part (31); a parallelogram can be formed by virtual lines sequentially connecting connection points of the primary upper arm part (30), the secondary upper arm part (31), the shoulder member (2), and the elbow member (4) with straight lines; a first rotational joint is arranged between the support member (1) and the shoulder member (2), a second rotational joint is arranged between the primary upper arm part (30) and the shoulder member (2), and a third rotational joint is arranged between the elbow member (4) and the forearm member (5), wherein an axis of the first rotational joint is parallel to an axis of the third rotational joint, and an axis of the second rotational joint is perpendicular to a plane defined by the axis of the first rotational joint and the axis of the third rotational joint. The master arm based on the parallelogram structure and the joint arrangement mode occupies little space, has a stable structure and high stiffness, and can achieve complete balance of the self-gravity of the master arm, thereby improving the accuracy, flexibility, and comfort of the operation of the master arm.
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Inventors:
Hae, Chao
Yuan, Shuai
Yuan, Shuai
Application Number:
JP2019544862A
Publication Date:
August 04, 2021
Filing Date:
February 21, 2017
Export Citation:
Assignee:
Shanghai Microport Medbot (Group) Company, Limited
International Classes:
B25J13/02; A61B34/37; B25J9/06
Domestic Patent References:
| JP2005103741A | ||||
| JP4294993A | ||||
| JP7000678U | ||||
| JP2015136516A | ||||
| JP61042282U | ||||
| JP61108297U | ||||
| JP2007245263A | ||||
| JP2009291363A |
Foreign References:
| US20160236359 | ||||
| CN106175935A |
Attorney, Agent or Firm:
Hiraki International Patent Office