CN104942820A - Space humanoid robot arm joint - Google Patents
Space humanoid robot arm joint Download PDFInfo
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- CN104942820A CN104942820A CN201510302523.6A CN201510302523A CN104942820A CN 104942820 A CN104942820 A CN 104942820A CN 201510302523 A CN201510302523 A CN 201510302523A CN 104942820 A CN104942820 A CN 104942820A
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Abstract
The invention discloses a space humanoid robot arm joint. The space humanoid robot arm joint comprises a joint driving assembly, a joint transmission assembly and a joint electrical assembly. The joint driving assembly comprises a locking nut (11), a brake rotating disc (12), a brake permanent magnet (13), a bearing gland (14), a motor shell (15), a bearing retainer ring (16), a first bearing (17), a transmission shaft (18), a motor rotor (19), a motor stator (110), a second bearing (111), a first angle measuring element rotor (112), an adjustment sleeve (113), a motor clamping sheet (114), an angle measuring element reading head (115), a first connecting key (116), a second connecting key (117), a pressing gasket (118) and a shaft sleeve (119).
Description
Technical field
The present invention relates to robot for space mechanical arm technical field, particularly a kind of space anthropomorphic robot arm joint.
Background technology
The core component of space anthropomorphic robot is driving joint, and it is that robot arm completes motion planning, end is located and the basis of power control.
China's manned space flight, a large amount of space tasks of manned moon landing's project planning, some is only difficult to complete independently by astronaut, in order to improve spatial operation level, expand activity space and working space, alleviate spacefarer's work load, reduce deliver from vault risk, need the autonomous or auxiliary spacefarer of robot astronaut to complete many spatial operation tasks.
The research of the space anthropomorphic robot of China still has certain gap apart from world lead level, in robot for space joint, mainly prototype design carried out to the joint of space large scale computer mechanical arm and tested in-orbit, less for the research of space anthropomorphic robot arm joint.Existing space mechanical arm because arthritic volume quality is comparatively large, power consumption is large, positioning precision is not high, not easily to change in-orbit and being unsuitable for of causing uses on anthropomorphic robot.Therefore, need to design a kind of modularized joint being suitable for the application of space anthropomorphic robot, become more meticulous with meeting spatial operation task, complicated and diversified requirement.
Summary of the invention
The present invention is directed to prior art above shortcomings, provide a kind of space anthropomorphic robot arm joint.The present invention is achieved through the following technical solutions:
A kind of space anthropomorphic robot arm joint, comprises joint drive assembly and is separately positioned on joint transmission assembly, the joint electric component at joint drive assembly two ends;
Joint drive assembly comprises: locking nut (11), brake rolling disc (12), brake permanent magnet (13), bearing gland (14), electric machine casing (15), end ring (16), clutch shaft bearing (17), power transmission shaft (18), rotor (19), motor stator (110), second bearing (111), first angle measurement element rotor (112), adjustment sleeve (113), motor card (114), angle measurement element reading head (115), first connecting key (116), second connecting key (117), compress gasket (118) and axle sleeve (119),
Power transmission shaft (18) is from left to right set with electric machine casing (15), brake permanent magnet (13), clutch shaft bearing (17) is provided with between power transmission shaft (18) and electric machine casing (15), electric machine casing (15) is installed with end ring (16), end ring (16) is for encapsulating clutch shaft bearing (17), rotor (19) is arranged in electric machine casing (15), and rotor (19) and axle sleeve (119) are connected, be fixedly mounted on power transmission shaft (18) by the second connecting key (117), motor stator (110) is arranged in electric machine casing (15), and keep circumference to locate by compress gasket (114) and electric machine casing (15), motor stator (110) is sleeved on the outside of rotor (19), the second bearing (111) is provided with between power transmission shaft (18) and bearing gland (14), second bearing (111) completes axial location by axle sleeve (119) and bearing gland (14), bearing gland (14) is fixedly connected with electric machine casing (15), and jointly limit the axial location of motor stator (110) with electric machine casing (15), adjustment sleeve (113) is sleeved on power transmission shaft (18), brake rolling disc (12) is fixedly mounted on power transmission shaft (18) by the first connecting key (116), and brake rolling disc (12) is positioned at the right-hand member of adjustment sleeve (113), the axial installation site of adjustment sleeve (113) adjustable brake rolling disc (12), brake rolling disc (12) is by locking nut (11), first connecting key (116) is fixedly mounted on power transmission shaft (18), brake permanent magnet (13) is sleeved on the outside of brake rolling disc (12), and be fixed on bearing gland (14), first angle measurement element rotor (112) is arranged between adjustment sleeve (113) and axle sleeve (119), and be fixed on axle sleeve (119), angle measurement cell readings head (115) is fixed on bearing gland (14) by compress gasket (118).
Preferably, joint transmission assembly comprises torque sensor (21), the second angle measurement element stator (22), the second angle measurement element rotor (23), decelerator flange (24), output shaft (25), adpting flange (26), angle measurement element pressure ring (27), joint inner casing (28), articular shell (29), the 3rd bearing (210), bearing (ball) cover (211), bearing trim ring (212), hollow shaft (213), harmonic speed reducer steel wheel (214), harmonic speed reducer wave producer (215) and harmonic reducer flexible wheel (216);
Joint inner casing (28) is arranged in articular shell (29), joint inner casing (29) is connected by harmonic speed reducer steel wheel (214) and electric machine casing (15), 3rd bearing (210) is installed between electric machine casing (15) and articular shell (29), bearing (ball) cover (211) is connected on articular shell (29), bearing trim ring (212) is fixed on electric machine casing (15), the axial location of the 3rd bearing (210) is collectively defined with bearing (ball) cover (211), hollow shaft (213) is arranged in power transmission shaft (18), power transmission shaft (18) is arranged in joint inner casing (28), and hollow shaft (213) and power transmission shaft (18), joint inner casing (28) and articular shell (29) are coaxially set, joint inner casing (28) left side by harmonic speed reducer steel wheel (214) indirectly and electric machine casing (15) be connected, electric machine casing (15) is for limiting the axial location of the 3rd bearing (210), harmonic speed reducer wave producer (215) is connected by adpting flange (217) and power transmission shaft (18), harmonic reducer flexible wheel (216) is sleeved on the outside of harmonic speed reducer wave producer (215), and be connected by decelerator flange (24) and output shaft (25), second angle measurement element rotor (23) is enclosed within the interior axle of articular shell (29), its axial location is limited by angle measurement element pressure ring (27), second angle measurement element stator (22) is fixed on joint inner casing (28), the inner ring of torque sensor (21) is connected on output shaft (25), outer ring is connected on articular shell (29).
Preferably, joint electric component comprises circuit board upper cover (31), circuit board bonnet (32), the first motherboard (33), the second motherboard (34) and circuit board support (35); Circuit board upper cover (31), circuit board bonnet (32) surround formation housing, four circuit board supports (35) are fixed on the inner surface of circuit board upper cover (31), first motherboard (33) and the second motherboard (34) are fixed on four circuit board supports (35), and circuit board bonnet (32) is fixedly connected on the second motherboard (34) rear side.
Preferably, the hold down gag of the second angle measurement element rotor (23) comprises angle measurement element stage clip and pressure ring (27), rotor is fixed on articular shell (29) power shaft by hold down gag, second angle measurement element stator (22) adopts half opening formula screw to be fixed on joint inner casing (28), is connected to electric machine casing (15).
The present invention adopts above technical scheme, makes it compared with prior art, has following advantage and good effect:
1, the present invention only has electric machine casing and the two-layer housing of articular shell, reduces joint total quality;
2, the rigidity angle of torque sensor of the present invention, can resist part moment of flexure, therefore has only joined an outer bearing, reduces joint overall volume;
3, hollow shaft of the present invention is as cable passage, can ensure joint energising and the reliability communicated;
4, joint of the present invention circuit board is contained on circuit board support, and circuit board support is stuck on circuit board and covers, and can dismantle easily.
Accompanying drawing explanation
Fig. 1 is the appearance schematic diagram of a kind of space provided by the invention anthropomorphic robot arm joint;
Fig. 2 is the main sectional view of a kind of space provided by the invention anthropomorphic robot arm joint;
Fig. 3 is the main sectional view of joint drive assembly provided by the invention;
Fig. 4 is broken section Fig. 1 of joint drive assembly provided by the invention;
Fig. 5 is broken section Fig. 2 of joint drive assembly provided by the invention;
Fig. 6 is the main sectional view of joint transmission assembly provided by the invention;
Fig. 7 is the main sectional view of joint provided by the invention electric component;
Fig. 8 is the partial sectional view of joint provided by the invention electric component;
Illustrate:
11-locking nut, 12-brake rolling disc, 13-brake permanent magnet, 14-bearing gland, 15-electric machine casing, 16-end ring, 17-clutch shaft bearing, 18-power transmission shaft, 19-rotor, 110-motor stator, 111-the second bearing, 112-the first angle measurement element rotor, 113-adjustment sleeve, 114-motor card, 115-angle measurement element reading head, 116-the first connecting key, 117-the second connecting key, 118-compress gasket, 119-axle sleeve, 21-torque sensor, 22-the second angle measurement element stator, 23-the second angle measurement element rotor, 24-decelerator flange, 25-output shaft, 26-adpting flange, 27-angle measurement element pressure ring, 28-joint inner casing, 29-articular shell, 210-the three bearing, 211-bearing (ball) cover, 212-bearing trim ring, 213-hollow shaft, 214-harmonic speed reducer steel wheel, 215-harmonic speed reducer wave producer, 216-harmonic reducer flexible wheel, 31-circuit board upper cover, 32-circuit board bonnet, 33-the first motherboard, 34-the second motherboard, 35-circuit board support.
Detailed description of the invention
Below with reference to accompanying drawing of the present invention; clear, complete description and discussion are carried out to the technical scheme in the embodiment of the present invention; obviously; as described herein is only a part of example of the present invention; it is not whole examples; based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belongs to protection scope of the present invention.
For the ease of the understanding to the embodiment of the present invention, be further explained for specific embodiment below in conjunction with accompanying drawing, and each embodiment does not form the restriction to the embodiment of the present invention.
As shown in Figures 1 to 8, a kind of space anthropomorphic robot arm joint that present embodiment provides comprises joint drive assembly, joint transmission assembly and joint electric component; Joint drive group valency comprises locking nut 11, brake rolling disc 12, brake permanent magnet 13, bearing gland 14, electric machine casing 15, end ring 16, clutch shaft bearing 17, power transmission shaft 18, rotor 19, motor stator 110, second bearing 111, first angle measurement element rotor 112, adjustment sleeve 113, motor card 114, the reading of angle measurement element the 115, first connecting key 116, second connecting key 117, compress gasket 118, axle sleeve 119 and multiple fastening bolt 120;
As shown in Figures 2 to 5, power transmission shaft 18 is from left to right set with electric machine casing 15, brake permanent magnet 13, clutch shaft bearing 17 is provided with between power transmission shaft 18 and electric machine casing 15, electric machine casing 15 is installed with end ring 16, end ring 16 is for encapsulating clutch shaft bearing 17, rotor 19 is arranged in electric machine casing 15, and rotor 19 and axle sleeve 119 are connected, be fixedly mounted on power transmission shaft 18 by the second connecting key 117, motor stator 110 is arranged in electric machine casing 15, and keep circumference to locate by compress gasket 114 and electric machine casing 15, motor stator 110 is sleeved on the outside of rotor 19, the second bearing 111 is provided with between power transmission shaft 18 and bearing gland 14, second bearing 111 completes axial location by axle sleeve 119 and bearing gland 14, bearing gland 14 is fixedly connected with electric machine casing 15, and jointly limit the axial location of motor stator 110 with electric machine casing 15, adjustment sleeve 113 is sleeved on power transmission shaft 18, brake rolling disc 12 is fixedly mounted on power transmission shaft 18 by the first connecting key 116, and brake rolling disc 12 is positioned at the right-hand member of adjustment sleeve 113, the axial installation site of adjustment sleeve 113 adjustable brake rolling disc 12, brake rolling disc 12 is by locking nut 11, first connecting key 116 is fixedly mounted on power transmission shaft 18, brake permanent magnet 13 is sleeved on the outside of brake rolling disc 12, and be fixed on bearing gland 14, first angle measurement element rotor 112 is arranged between adjustment sleeve 113 and axle sleeve 119, and be fixed on axle sleeve 119, angle measurement cell readings head 115 is fixed on bearing gland 14 by compress gasket 118,
As shown in Figure 6, joint transmission assembly comprises torque sensor 21, second angle measurement element stator 22, second angle measurement element rotor 23, decelerator flange 24, output shaft 25, adpting flange 26, angle measurement element pressure ring 27, joint inner casing 28, articular shell 29, the 3rd bearing 210, bearing (ball) cover 211, bearing trim ring 212, hollow shaft 213, harmonic speed reducer steel wheel 214, harmonic speed reducer wave producer 215 and harmonic reducer flexible wheel 216;
Joint inner casing 28 is arranged in articular shell 29, joint inner casing 29 is connected by harmonic speed reducer steel wheel 214 and electric machine casing 15, 3rd bearing 210 is installed between electric machine casing 15 and articular shell 29, bearing (ball) cover 211 is connected on articular shell 29, bearing trim ring 212 is fixed on electric machine casing 15, the axial location of the 3rd bearing 210 is collectively defined with bearing (ball) cover 211, hollow shaft 213 is arranged in power transmission shaft 18, power transmission shaft 18 is arranged in joint inner casing 28, and hollow shaft 213 and power transmission shaft 18, joint inner casing 28 and articular shell 29 are coaxially set, joint inner casing 28 left side by harmonic speed reducer steel wheel 214 indirectly and electric machine casing 15 be connected, electric machine casing 15 is for limiting the axial location of the 3rd bearing 210, harmonic speed reducer wave producer 215 is connected by adpting flange 217 and power transmission shaft 18, harmonic reducer flexible wheel 216 is sleeved on the outside of harmonic speed reducer wave producer 215, and be connected by decelerator flange 24 and output shaft 25, second angle measurement element rotor 23 is enclosed within the interior axle of articular shell 29, its axial location is limited by angle measurement element pressure ring 27, second angle measurement element stator 22 is fixed on joint inner casing 28, the inner ring of torque sensor 21 is connected on output shaft 25, outer ring is connected on articular shell 29,
As shown in Figure 7, Figure 8, joint electric component comprises circuit board upper cover 31, circuit board bonnet 32, first motherboard 33, second motherboard 34, circuit board support 35; Circuit board upper cover 31, circuit board bonnet 32 surround formation housing, four circuit board supports 35 are fixed on the inner surface of circuit board upper cover 31, first motherboard 33 and the second motherboard 34 are fixed on four circuit board supports 35, and circuit board bonnet 32 is fixedly connected on rear side of the second motherboard 34;
The gap of power transmission shaft 18 upper-part of present embodiment is regulated by axle sleeve 119 and adjustment sleeve 113.In joint drive assembly, the first angle measurement element rotor 112 is for detecting the output angle of power transmission shaft.
The harmonic speed reducer wave producer 215 of present embodiment is fixedly connected with power transmission shaft 18 by adpting flange 26, achieves joint drive assembly and is connected with the power of joint transmission assembly, and the adpting flange that moves through of motor is delivered to outside; Electric machine casing 15 is joined at 120 directional spreding and is equipped with three screwed holes identical with on motor card 114, utilize jackscrew to realize the circumference location of joint drive assembly.
Present embodiment circuit board upper cover 31 and circuit board support 35 form an assembly, and this assembly can, as the boundary of joint electric component and joint transmission assembly, can be again that the installation of the first motherboard 33 and the second motherboard 34 provides support and fixes.
Operation principle of the present invention: moment and power are passed to the moment output of power transmission shaft 18 as shutdown driven unit by axle sleeve 119 and the second connecting key 117 by rotor 19, motor stator 110.This power transmission shaft 18 is supported by clutch shaft bearing 17 and the second bearing 111, is compressed the parts on power transmission shaft 18 by end ring 16 and bearing gland 14.Power transmission shaft 18 not only achieves the transmission of power, also achieves the function of motor angle measurement and braking.First angle measurement element rotor 112 is fixed on axle sleeve 119, achieves circumference location by the second connecting key 117.Adjustment sleeve 113 for adjusting the position of brake rolling disc 12, thus realizes the adjustment of brake air gap.Power transmission shaft 18 is equipped with the first connecting key 116, achieves the circumference location of brake rolling disc 12.Electromagnetic brake adopts dead electricity mode of braking, and brake permanent magnet 13 by brake rolling disc 12 adhesive, realizes braking effect in dead electricity situation.Whole joint drive assembly is fixed by locking nut 11.Harmonic speed reducer wave producer 215 is fixedly connected with power transmission shaft 18 by adpting flange 26, achieves joint drive assembly and is connected with the power of joint transmission assembly, and the adpting flange that moves through of motor is delivered to outside; Electric machine casing 15 is joined at the directional spreding of 120 ° and is equipped with three screwed holes identical with on motor card 114, utilize jackscrew to realize the circumference location of joint drive assembly.
Electric machine casing 15 is supported by the 3rd bearing 210.3rd bearing 210 carries out axial location by bearing trim ring 212, is carried out the adjustment of pretightning force by bearing (ball) cover 211.In joint transmission assembly, be provided with hollow shaft 213, be directly fixedly connected with circuit board upper cover 31, it is as cable passage, therefore not load-bearing.The output shaft 25 arranged in joint transmission assembly is fixedly connected with harmonic reducer flexible wheel 216, and dynamic force and moment is passed to torque sensor 21, and torque sensor 21 is fixedly connected with articular shell 29, and final Power output is realized by articular shell 29.Second angle measurement element rotor 23 is compressed by angle measurement element pressure ring 27, is fixed on the power shaft of articular shell 29, the output angle in joint can be detected, this mounting means makes the measurement result of angle measurement element contain the windup-degree of torque sensor, makes measurement result more accurate.
The invention solves existing space mechanical arm because arthritic volume quality is comparatively large, power consumption is large, positioning precision is not high, not easily change in-orbit and the problem being unsuitable for using on anthropomorphic robot that causes, and then propose a kind of arm joint being applied to space anthropomorphic robot, be applicable in the anthropomorphic robot of space.
The above; be only the present invention's preferably detailed description of the invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (4)
1. a space anthropomorphic robot arm joint, is characterized in that, comprises joint drive assembly and is separately positioned on joint transmission assembly, the joint electric component at described joint drive assembly two ends;
Described joint drive assembly comprises: locking nut (11), brake rolling disc (12), brake permanent magnet (13), bearing gland (14), electric machine casing (15), end ring (16), clutch shaft bearing (17), power transmission shaft (18), rotor (19), motor stator (110), second bearing (111), first angle measurement element rotor (112), adjustment sleeve (113), motor card (114), angle measurement element reading head (115), first connecting key (116), second connecting key (117), compress gasket (118) and axle sleeve (119),
Described power transmission shaft (18) is from left to right set with described electric machine casing (15), described brake permanent magnet (13), described clutch shaft bearing (17) is provided with between described power transmission shaft (18) and described electric machine casing (15), described electric machine casing (15) is installed with described end ring (16), described end ring (16) is for encapsulating described clutch shaft bearing (17), described rotor (19) is arranged in described electric machine casing (15), and described rotor (19) and described axle sleeve (119) are connected, be fixedly mounted on described power transmission shaft (18) by described second connecting key (117), described motor stator (110) is arranged in described electric machine casing (15), and keep circumference to locate by described compress gasket (114) and described electric machine casing (15), described motor stator (110) is sleeved on the outside of described rotor (19), described second bearing (111) is provided with between described power transmission shaft (18) and described bearing gland (14), described second bearing (111) completes axial location by described axle sleeve (119) and described bearing gland (14), described bearing gland (14) is fixedly connected with described electric machine casing (15), and jointly limit the axial location of described motor stator (110) with described electric machine casing (15), described adjustment sleeve (113) is sleeved on described power transmission shaft (18), described brake rolling disc (12) is fixedly mounted on described power transmission shaft (18) by described first connecting key (116), and described brake rolling disc (12) is positioned at the right-hand member of described adjustment sleeve (113), the axial installation site of brake rolling disc (12) described in described adjustment sleeve (113) adjustable, described brake rolling disc (12) is by described locking nut (11), described first connecting key (116) is fixedly mounted on described power transmission shaft (18), described brake permanent magnet (13) is sleeved on the outside of described brake rolling disc (12), and be fixed on described bearing gland (14), described first angle measurement element rotor (112) is arranged between described adjustment sleeve (113) and described axle sleeve (119), and be fixed on described axle sleeve (119), described angle measurement cell readings head (115) is fixed on described bearing gland (14) by described compress gasket (118).
2. space according to claim 1 anthropomorphic robot arm joint, it is characterized in that, described joint transmission assembly comprises torque sensor (21), second angle measurement element stator (22), second angle measurement element rotor (23), decelerator flange (24), output shaft (25), adpting flange (26), angle measurement element pressure ring (27), joint inner casing (28), articular shell (29), 3rd bearing (210), bearing (ball) cover (211), bearing trim ring (212), hollow shaft (213), harmonic speed reducer steel wheel (214), harmonic speed reducer wave producer (215) and harmonic reducer flexible wheel (216),
Described joint inner casing (28) is arranged in described articular shell (29), described joint inner casing (29) is connected by described harmonic speed reducer steel wheel (214) and described electric machine casing (15), described 3rd bearing (210) is installed between described electric machine casing (15) and described articular shell (29), described bearing (ball) cover (211) is connected on described articular shell (29), described bearing trim ring (212) is fixed on described electric machine casing (15), the axial location of described 3rd bearing (210) is collectively defined with described bearing (ball) cover (211), described hollow shaft (213) is arranged in described power transmission shaft (18), described power transmission shaft (18) is arranged in described joint inner casing (28), and described hollow shaft (213) and described power transmission shaft (18), described joint inner casing (28) and described articular shell (29) are coaxially set, inner casing (28) left side, described joint is connected with described electric machine casing (15) indirectly by described harmonic speed reducer steel wheel (214), described electric machine casing (15) is for limiting the axial location of described 3rd bearing (210), described harmonic speed reducer wave producer (215) is connected by described adpting flange (217) and described power transmission shaft (18), described harmonic reducer flexible wheel (216) is sleeved on the outside of described harmonic speed reducer wave producer (215), and be connected by described decelerator flange (24) and described output shaft (25), described second angle measurement element rotor (23) is enclosed within the interior axle of described articular shell (29), its axial location is limited by described angle measurement element pressure ring (27), described second angle measurement element stator (22) is fixed on described joint inner casing (28), the inner ring of described torque sensor (21) is connected on described output shaft (25), outer ring is connected on described articular shell (29).
3. space according to claim 2 anthropomorphic robot arm joint, it is characterized in that, described joint electric component comprises circuit board upper cover (31), circuit board bonnet (32), the first motherboard (33), the second motherboard (34) and circuit board support (35); Described circuit board upper cover (31), circuit board bonnet (32) surround formation housing, described four circuit board supports (35) are fixed on the inner surface of circuit board upper cover (31), described first motherboard (33) and the second motherboard (34) are fixed on four circuit board supports (35), and circuit board bonnet (32) is fixedly connected on the second motherboard (34) rear side.
4. space according to claim 3 anthropomorphic robot arm joint, it is characterized in that, the hold down gag of described second angle measurement element rotor (23) comprises angle measurement element stage clip and pressure ring (27), rotor is fixed on described articular shell (29) power shaft by hold down gag, described second angle measurement element stator (22) adopts half opening formula screw to be fixed on described joint inner casing (28), is connected to described electric machine casing (15).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510302523.6A CN104942820B (en) | 2015-06-05 | 2015-06-05 | A kind of space anthropomorphic robot arm joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510302523.6A CN104942820B (en) | 2015-06-05 | 2015-06-05 | A kind of space anthropomorphic robot arm joint |
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| CN104942820A true CN104942820A (en) | 2015-09-30 |
| CN104942820B CN104942820B (en) | 2017-07-14 |
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| CN201510302523.6A Expired - Fee Related CN104942820B (en) | 2015-06-05 | 2015-06-05 | A kind of space anthropomorphic robot arm joint |
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| CN105437255A (en) * | 2015-12-12 | 2016-03-30 | 常州大学 | Mechatronics joint with hollow wiring |
| CN105479436A (en) * | 2015-12-25 | 2016-04-13 | 马鞍山永耀智能装备有限公司 | Six-shaft joint robot based on hollow shafts |
| CN105962878A (en) * | 2016-04-22 | 2016-09-28 | 重庆金山科技（集团）有限公司 | Endoscope capsule controller and reducer bending-resisting device thereof |
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| CN107433616A (en) * | 2017-08-21 | 2017-12-05 | 北京精密机电控制设备研究所 | A kind of high positioning mechanical shoulder joint of high-precision compact |
| CN107504052A (en) * | 2017-08-24 | 2017-12-22 | 合肥工业大学 | A kind of precision rotating pitching articulation mechanism |
| CN107504052B (en) * | 2017-08-24 | 2019-09-06 | 合肥工业大学 | A kind of precision rotating pitching articulation mechanism |
| CN108638075A (en) * | 2018-06-12 | 2018-10-12 | 郑宝生 | A kind of steering engine |
| CN110253619A (en) * | 2019-07-11 | 2019-09-20 | 北京理工大学 | Joint of robot support construction and robot |
| US11364627B2 (en) | 2019-07-11 | 2022-06-21 | Beijing Institute Of Technology | Joint support structure of a robot and a robot having the same |
| CN112888536A (en) * | 2019-09-30 | 2021-06-01 | 深圳市优必选科技股份有限公司 | Robot and integrated joint thereof |
| CN113771086A (en) * | 2021-09-28 | 2021-12-10 | 深圳市零差云控科技有限公司 | Joint module, control method and coaxiality adjusting method thereof, and joint robot |
| CN113771086B (en) * | 2021-09-28 | 2023-11-10 | 深圳市零差云控科技有限公司 | Control method of joint module and joint robot |
| CN115199725A (en) * | 2021-09-30 | 2022-10-18 | 深圳市越疆科技有限公司 | Joint, mechanical arm, robot and installation method thereof |
| CN114227665A (en) * | 2021-12-24 | 2022-03-25 | 达闼机器人有限公司 | Double-coupling actuator, mechanical limb and robot |
| CN114227665B (en) * | 2021-12-24 | 2024-03-26 | 达闼机器人股份有限公司 | Dual-coupling actuator, mechanical limb and robot |
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