CN109176596A - A kind of integral joint with moment of elasticity compensating element, - Google Patents
A kind of integral joint with moment of elasticity compensating element, Download PDFInfo
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- CN109176596A CN109176596A CN201811366918.2A CN201811366918A CN109176596A CN 109176596 A CN109176596 A CN 109176596A CN 201811366918 A CN201811366918 A CN 201811366918A CN 109176596 A CN109176596 A CN 109176596A
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- 230000009467 reduction Effects 0.000 claims abstract description 96
- 230000033001 locomotion Effects 0.000 claims description 21
- 230000036316 preload Effects 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 2
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 11
- 230000007246 mechanism Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 3
- 210000003423 ankle Anatomy 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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Abstract
The present invention provides a kind of integral joints with moment of elasticity compensating element, comprising: motor, angular encoder, reduction gearbox, torque sensor, elastic element；Wherein, elastic element is mounted between shell of reduction box and reduction gearbox output shaft, and torque sensor is mounted between accelerating chamber and load.Beneficial effects of the present invention: the torque median that motor and reduction gearbox are exported is 0, can export bigger effective work torque with smaller motor and reduction gearbox；It installs elastic element additional between reduction gearbox output shaft and shell, forms integral joint, pedipulator becomes the combination that connecting rod adds integral joint, and building and controlling for pedipulator and running gear is more easy；Torque sensor may be mounted at after the joint output end by elastic element compensation, so as to feed back joint actual output torque, enables and being possibly realized to the torque of such integral joint, position, speed and power position, the control of power position speed.
Description
Technical field
The present invention relates to a kind of mechanical joints, and in particular to a kind of integral joint with moment of elasticity compensating element, it is main
To be suitable for the joint of pedipulator, belong to robotic technology field.
Background technique
In intelligent mobile robot field, sufficient formula mobile robot, especially bipod walking robot are got over because its is excellent
Barrier ability and environment incorporate ability by high praise.Wherein, what is played a significant role is pedipulator.In general, pedipulator is used to simulate
The structure of the leg of people or animal is rendered as the structure type of " connecting rod between joint rotary motion mechanism+joint ", i.e., needs in leg
Arrange that the joint mutually decoupled, each joint can provide a rotational freedom on movement position, then will be each by connecting rod
Joint connects into pedipulator in the form of in series or in parallel.
In current technology, due to the needs of walking and the particular configuration of pedipulator, the pass of main stress on pedipulator
It saves (such as ankle, ankle, hip joint), the load median being subject to is not zero.When due to joint designs, to consider that load is absolute
The maximum value of value carrys out type selecting, and load median, which is not zero, can enable the type selecting of motor, reduction gearbox be biased to biggish torque side, causes electricity
The ability of machine reduction gearbox wastes, and also increases the demand to motor and reduction gearbox indirectly.
One direct solution is to increase elastic element on joint, enables the load extreme value of joint reality output to two
Side is balanced.However the introducing of elastic element, also enabling joined non-linear factor in pedipulator system, and since traditional approach is arranged
Sensor be unable to measure the torque brought by elastic element in motor or reduction gearbox output position, thus bullet cannot be fed back
The influence of spring interference.Due in pedipulator controls, the output torque in real concern joint and the position in joint, it is therefore necessary to energy
Enough feed back the output torque (wherein containing the influence of elastic element) and joint position in joint.
Summary of the invention
The technical problem to be solved in the present invention:
(1) median for the load that mechanical joint is subject to is not 0, causes driving mechanism type selecting bigger than normal, reduces joint
Load capacity；
(2) in order to solve the above problem (1), the elastic element of installation offsets the loading moment of part, but elastic element draws
An additional moment is brought in membership into, this torque can not acquire in traditional feedback system, thus control system is unable to control.
The invention proposes a kind of integral joint mechanism for meeting above-mentioned requirements, specific technical solution is as follows:
A kind of integral joint with moment of elasticity compensating element, comprising:
Motor, motor include motor stator, rotor and motor output shaft；
Reduction gearbox, reduction gearbox include shell of reduction box, reduction box input shaft and reduction gearbox output shaft；Wherein, outside reduction gearbox
Shell is fixedly connected with motor stator, and reduction box input shaft is fixedly connected with rotor；Reduction gearbox output shaft passes through moment sensing
Device and load connect, and load between output shaft without macroscopical relative motion；
Angular encoder, angular encoder are made of price fixing and Moving plate；Wherein, price fixing is connected with motor stator, Moving plate with
Rotor is connected；
The first end of elastic element, elastic element is connected with shell of reduction box, and the second end and reduction gearbox of elastic element are defeated
Shaft is connected；
Torque sensor, torque sensor is mounted between reduction gearbox output shaft and load, and connects reduction gearbox output shaft
With load, enable between reduction gearbox output shaft and load without macroscopical relative motion；
Control system, the measurement data of control system receiving angle encoder and torque sensor, and for controlling joint.
Further, control system estimates module comprising the torque for elastic element；Torque is estimated module and is compiled with angle
The measurement data of code device calculates the influence introduced after elastic element to articular system according to Joint mechanics characteristic as input, defeated
Out to the Torque Control module of control system.
Further, for elastic element during joint motions, torque and the loading moment part with joint are estimated in generation
Or it all offsets.Elastic element utilizes itself recoverable flexible deformation output estimation torque.Elastic deformation refers to stretching, pressure
Contracting, torsion or bending.
Further, elastic element is selected from one or more of scroll spring, helical spring, rubber band.
Further, elastic element selects scroll spring.Scroll spring controls preload degree, locking group by latch assembly
Part is formed by fixing latch and slide lock stops；Slide lock stops is slidably mounted on shell of reduction box, and limits scroll spring
First end and shell of reduction box relative motion；The sliding opposite with shell of reduction box of slide lock stops, and then drive scrollwork bullet
The preload of spring；Fixed latch is fixedly mounted on reduction gearbox output shaft, and limits the second end and reduction gearbox output of scroll spring
The relative motion of axis.
Further, the mounting groove for accommodating scroll spring is set on the lateral margin of reduction gearbox output shaft.
Further, shell of reduction box is simultaneously as the device for fixing motor stator.
Beneficial effects of the present invention:
(1) the torque median for enabling motor and reduction gearbox be exported is 0, to improve the transmission mechanisms such as motor, reduction gearbox
Utilization rate, bigger effective work torque can be exported with smaller motor and reduction gearbox；
(2) it is compensated using elastic element, while improving joint ability, using between the output shaft and shell of reduction gearbox
The means for installing elastic element additional, enable joint structure compact, form integral joint；
(3) due to using cramped construction, torque sensor may be mounted at the joint output end compensated by elastic element
Later, it so as to feed back joint actual output torque, enables to the torque of such integral joint, position, speed, Yi Jili
Position, the control of power position speed are possibly realized；
(4) flexibly, pedipulator becomes connecting rod and adds the combination of integral joint for combination, enables building for pedipulator and running gear
It is more easy with controlling.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the integral joint in a preferred embodiment of the present invention；
Fig. 2 is the side structure schematic diagram of integral joint in Fig. 1；
Fig. 3 is the cutting structural schematic diagram of integral joint in Fig. 1；
Fig. 4 is the joint structure schematic diagram that torsionspring is used in a preferred embodiment of the present invention；
Fig. 5 is the joint structure schematic diagram that rubber band is used in another preferred embodiment of the invention；
Fig. 6 is the joint structure schematic diagram of right side perspective in Fig. 5；
Fig. 7 is the joint structure schematic diagram of left side perspective in Fig. 5；
Fig. 8 is a kind of work flow diagram of joint structure in the prior art；
Fig. 9 is the work flow diagram of another joint structure in the prior art；
Figure 10 is the work flow diagram of the integral joint in a preferred embodiment of the present invention.
Figure 11 is the work flow diagram of the control system of the integral joint in a preferred embodiment of the present invention.
Marginal data:
1 shell of reduction box
2 reduction box input shafts
3 elastic elements
4 torque sensors
5 reduction gearbox output shafts
The load of 6 connecting rods
7 angular encoder Moving plates
8 angular encoder price fixings
9 motor stators
10 rotors
11 torsionsprings
12 spring mountings
13 rubber bands
14 rubber bands
15 rubber band fixing pieces
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.It should be noted that attached drawing of the present invention is all made of simplified form and uses non-essence
Quasi- ratio, only for the purpose of facilitating and clarifying the purpose of the embodiments of the invention.
In the description of the present invention, it is to be understood that, term " on ", "lower", "horizontal", "top", "bottom" "inner",
The orientation or positional relationship of the instructions such as "outside", " clockwise ", " axial direction ", " radial direction ", " circumferential direction " is orientation based on the figure
Or positional relationship, it is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning
It must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.In this hair
In bright description, unless otherwise indicated, the meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be to be connected directly, the connection inside two elements can also be can be indirectly connected through an intermediary.For this field
For those of ordinary skill, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Joint in the present invention refers to the driving device of driving pedipulator movement, is equipped with motor and biography on the joint
Motivation structure.
As shown in figure 8, being the structure in power control in the prior art joint, motor is that power inputs device, the torsion of output
Square acts in load after reduction gearbox amplifies, and the size of reduction gearbox output torque feeds back to control by torque sensor
System, motor corner feed back to control system by angular encoder, and system is read by calculating torque, position and the feedback of target
The difference of value provides the control amount of motor, enables motor with suitable output torque, rotary speed movement, and motor corner is enabled to the greatest extent may be used
It can be close with target value；As previously mentioned, this system can not efficiently use the ability of its motor and reduction gearbox.
As shown in figure 9, increasing bullet except torque sensor to improve the system for having installed elastic compensation element additional later
Property element.The torque that elastic element generates can not be fed back by torque sensor, therefore can not form effective closed-loop, such machine
Although the more efficient utilization of motor and reduction gearbox may be implemented in structure, but can not be precisely controlled.
System of the invention is as shown in Figure 10, its main feature is that elastic element is put into reduction gearbox output shaft and shell of reduction box
Between, and torque sensor is located at except compensated joint, and said mechanism is more encapsulated as an entirety.In this way, torque passes
Sensor can effectively acquire the torque of feedback joint output end, and accurate moment values are fed back to control system, to enable entire
System is controllable.
As shown in Figure 1, being the model of single degree-of-freedom joint.Integral joint include motor, reduction gearbox, elastic element,
Torque sensor, angular encoder, to drive load movement, CONSTRUCTED SPECIFICATION is as shown in Figure 2 and Figure 3.Motor is mainly by electricity
Machine stator 9, rotor 10 and motor output shaft composition.Reduction gearbox is mainly by shell of reduction box 1, reduction box input shaft 2, deceleration
Case output shaft 5 forms.
Elastic element 3 can select including but not limited to scroll spring, torsionspring, helical spring, rubbery toroidal ring, rubber band
Etc. various elastic elements.Preferably, elastic element 3 selects scroll spring.Scroll spring controls preload degree, lock by latch assembly
Only component is formed by fixing latch and slide lock stops.Slide lock stops is slidably mounted on shell of reduction box 1, and limits scrollwork
The first end of spring and the relative motion of shell of reduction box 1.Slide lock stops can be operated in advance, with shell of reduction box 1
Opposite sliding occurs, and then drives the preload of scroll spring.Fixed latch is fixedly mounted on reduction gearbox output shaft 5, and limits
The second end of scroll spring and the relative motion of reduction gearbox output shaft 5.For the operation is stable and safety of scroll spring, slowing down
Mounting groove for accommodating elastic element is set on the lateral margin of case output shaft 5.
Elastomeric element can use torsionspring, as shown in Figure 4.There are two mounting holes respectively at torsionspring 11 both ends, turn round
Turn 11 1, spring to be fixed by screws on reduction gearbox output shaft 5, other end is fixed on spring mountings 12, release around
The freedom degree of cylinder rotation.It is provided with kidney slot on spring mountings 12, the fixation position of its own is adjusted, thus in a certain range
The preload amount of interior adjustment torsionspring 11.
Elastomeric element can also use rubber band, as shown in Figure 5.Rubber band one shares two, is rubber band 13 and rubber band 14 respectively,
One of every root skin muscle is fixedly connected with reduction gearbox output shaft, as shown in Figure 6.Rubber band 13 and the respective other end of rubber band 14 pass through
The same rubber band fixing piece 15 is connect with shell of reduction box 1.When installation, by the way that rubber band to be connected on shell of reduction box 1, utilize
The fixed rubber band fixing piece 15 of screw enables rubber band stretch further according to needing to pre-tighten rubber band, then the rubber band after stretching is screwed
To reduction gearbox output shaft 5, as shown in Figure 7.By adjusting the amount of tension of rubber band 13 and rubber band 14, the power of adjustable joint output
Square equilbrium position.
Motor stator 9 is connect with shell of reduction box 1, between each other without relative motion, and as the relatively fixed base of movement
It is quasi-.Angular encoder is made of price fixing and Moving plate, wherein angular encoder price fixing 8 is connect with motor stator 9, angular encoder
Moving plate 7 is connect with rotor 10, and can be rotated with rotor 10.Rotor 10 is integrated with motor output shaft, with
Reduction box input shaft 2 connects, and is reduction gearbox input torque.Reduction box input shaft 2, shell of reduction box 1 and reduction gearbox output shaft 5 are total
With the transmission chain for forming reduction gearbox, effect is the high revolving speed of motor to be reduced to relatively low revolving speed, and increase final defeated
Torque out.Elastic element 3 is connected with reduction gearbox output shaft 5 and shell of reduction box 1 respectively, with joint motions, 3 meeting of elastic element
It is elongated or shortens, to provide compensating torque, enabling the median of motor side output torque is 0.Connecting rod load 6 is indirectly coupled to
Reduction gearbox output shaft 5 is equipped with torque sensor 4 between reduction gearbox output shaft 5 and connecting rod load 6, sensor acquisition
It is connecting rod load 6 to the joint output torque of elastic element compensating torque is contained, for feeding back the torque of joint reality output.
The realization principle and means of above-mentioned specific configuration embody are as follows:
(1) it in order to solve the problems, such as that torque median is not 0, is installed between shell of reduction box 1 and reduction gearbox output shaft 5
The elastic element 3 of compensating torque, elastic element 3 are offseted by the intrinsic torque of the torque of pre- next generation and joint itself, this will
The torque median of reduction gearbox is adjusted to 0, so that the median that the torque of motor exports also is adjusted to 0, it means that motor and
The ability of reduction gearbox can more give full play to, to improve the fan-out capability in joint；
(2) torque sensor 4 is installed additional in the end after torque compensation, directly acquisition joint output torque, Er Feichuan
The torque for acquiring reduction gearbox output merely by electric current or other modes of system.3 feedback moment of elastic elements again, this will
The influence income of elastic element 3 has arrived in feedback system, and this kind of mechanism of manipulation is enabled to be possibly realized.
In addition to above-mentioned principle is improved, there are also following improvement on specific structure:
(1) joint is integrally formed in structure, forms integral joint, shell of reduction box 1 is exactly consolidating for motor
Determine device, machine shaft and reduction box input shaft 2 also combine together, and this saves spaces, alleviate weight.
(2) elastic elements 3 between shell of reduction box 1 and reduction gearbox output shaft 5, rather than certain structures will be elastic first
Part is arranged between rack and load.It is more compact using joint structure of the invention, it is unlikely to enable because elastic element is increased
Structure becomes larger very much, influences to actually use.
(3) it slots on reduction gearbox output shaft 5, elastic element 3 is kept off in slot, is avoided unfavorable axial float, is enabled joint work
Make more reliable.
It (4) include that the angular encoder for acquiring motor absolute position can be used for by calculating in integral joint
The accurate location for indicating joint, improves the control performance in joint.
(5) joint provides torque-feedback, and the controllable of output torque may be implemented.
(6) optionally, increase control system as shown in Figure 7, position control, the speed control, power of shutdown may be implemented
Square control and torque, position, speed control.Particularly, control system includes that the torque of elastic element estimates module, and torque is estimated
Module is using the measurement data of angular encoder as variable.
There are multiple application scenarios in above joint:
(1) simple joint constructs, and can be thus achieved by single joint.
(2) pedipulator all built by integral joint of the present invention.For example, one public by 3 present invention institutes
The Three Degree Of Freedom pedipulator that the integral joint opened is built is, it can be achieved that flat in-plane moving.
(3) pedipulator can be realized partially by integral joint another part of the present invention by traditional joint jointly.
For example, a 6DOF pedipulator built by 3 integral joints disclosed in this invention and other 3 common joints, it can
Realize spatial movement.
(4) robot being made of the pedipulator built can be with autonomous.For example, one by 2 above-mentioned 6DOFs
Two leg walking robot of the pedipulator as walking mechanism can walk about on all kinds of ground.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (10)
1. a kind of integral joint with moment of elasticity compensating element, characterized by comprising
Motor, the motor include motor stator, rotor and motor output shaft；
Reduction gearbox, the reduction gearbox include shell of reduction box, reduction box input shaft and reduction gearbox output shaft；Wherein, the deceleration
Box enclosure is fixedly connected with the motor stator, and the reduction box input shaft is fixedly connected with the rotor；The deceleration
Case output shaft is connected by torque sensor and load, and is loaded between output shaft without macroscopical relative motion；
Angular encoder, the angular encoder are made of price fixing and Moving plate；Wherein, the price fixing and the motor stator phase
Even, the Moving plate is connected with the rotor；
Elastic element, the first end of the elastic element are connected with the shell of reduction box, the second end of the elastic element with
The reduction gearbox output shaft is connected；
Torque sensor, the torque sensor are mounted between the reduction gearbox output shaft and the load, and described in connection
Reduction gearbox output shaft and the load enable between the reduction gearbox output shaft and the load without macroscopic view relative motion；
Control system, the control system receive the measurement data of the angular encoder Yu the torque sensor, and are used for
Control the joint.
2. a kind of integral joint with moment of elasticity compensating element, according to claim 1, which is characterized in that the control
System processed estimates module comprising the torque for the elastic element；The torque estimates module with the survey of the angular encoder
Data are measured as input, the influence introduced after the elastic element to articular system is calculated according to the Joint mechanics characteristic, it is defeated
Out to the Torque Control module of the control system.
3. a kind of integral joint with moment of elasticity compensating element, according to claim 2, which is characterized in that the bullet
Property element during the joint motions, generation estimate torque and partly or entirely offset with the loading moment in the joint.
4. a kind of integral joint with moment of elasticity compensating element, according to claim 3, which is characterized in that the bullet
Property element using described in the output of itself recoverable flexible deformation estimate torque.
5. a kind of integral joint with moment of elasticity compensating element, according to claim 4, which is characterized in that the bullet
Property deformation refers to stretching, compression, torsion or bending.
6. a kind of integral joint with moment of elasticity compensating element, according to claim 4, which is characterized in that the bullet
Property element be selected from one or more of scroll spring, helical spring, rubber band.
7. a kind of integral joint with moment of elasticity compensating element, according to claim 6, which is characterized in that the bullet
Property element select scroll spring.
8. a kind of integral joint with moment of elasticity compensating element, according to claim 7, which is characterized in that the whirlpool
Coil spring controls preload degree by latch assembly, and the latch assembly is formed by fixing latch and slide lock stops；
The slide lock stops is slidably mounted on the shell of reduction box, and limit the scroll spring first end and the institute
State the relative motion of shell of reduction box；The slide lock stops is opposite with the shell of reduction box to be slided, and then drives the whirlpool
The preload of coil spring；
The fixed latch is fixedly mounted on the reduction gearbox output shaft, and limit the second end of the scroll spring with it is described
The relative motion of reduction gearbox output shaft.
9. a kind of integral joint with moment of elasticity compensating element, according to claim 8, which is characterized in that described
Mounting groove for accommodating the scroll spring is set on the lateral margin of reduction gearbox output shaft.
10. a kind of integral joint with moment of elasticity compensating element, according to claim 1, which is characterized in that described
Shell of reduction box is simultaneously as the device for fixing the motor stator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811366918.2A CN109176596B (en) | 2018-11-16 | 2018-11-16 | Integrated joint with elastic moment compensation element |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811366918.2A CN109176596B (en) | 2018-11-16 | 2018-11-16 | Integrated joint with elastic moment compensation element |
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| Publication Number | Publication Date |
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| CN109176596A true CN109176596A (en) | 2019-01-11 |
| CN109176596B CN109176596B (en) | 2024-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811366918.2A Active CN109176596B (en) | 2018-11-16 | 2018-11-16 | Integrated joint with elastic moment compensation element |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112141675A (en) * | 2019-06-28 | 2020-12-29 | 安川电机（中国）有限公司 | Workpiece conveying device, workpiece conveying control method and controller |
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| US20110178639A1 (en) * | 2010-01-18 | 2011-07-21 | Samsung Electronics Co., Ltd. | Humanoid robot and walking control method thereof |
| US20110190934A1 (en) * | 2010-02-02 | 2011-08-04 | Gm Global Technology Operations, Inc. | Architecture for robust force and impedance control of series elastic actuators |
| CN107097251A (en) * | 2017-06-15 | 2017-08-29 | 上海岭先机器人科技股份有限公司 | A kind of joint of robot drive mechanism and wherein elastic element rigidity determines method |
| CN207888683U (en) * | 2018-01-30 | 2018-09-21 | 上海岭先机器人科技股份有限公司 | A kind of robot integral joint |
| CN209699141U (en) * | 2018-11-16 | 2019-11-29 | 上海岭先机器人科技股份有限公司 | A kind of integral joint with moment of elasticity compensating element, |
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2018
- 2018-11-16 CN CN201811366918.2A patent/CN109176596B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20110178639A1 (en) * | 2010-01-18 | 2011-07-21 | Samsung Electronics Co., Ltd. | Humanoid robot and walking control method thereof |
| US20110190934A1 (en) * | 2010-02-02 | 2011-08-04 | Gm Global Technology Operations, Inc. | Architecture for robust force and impedance control of series elastic actuators |
| CN107097251A (en) * | 2017-06-15 | 2017-08-29 | 上海岭先机器人科技股份有限公司 | A kind of joint of robot drive mechanism and wherein elastic element rigidity determines method |
| CN207888683U (en) * | 2018-01-30 | 2018-09-21 | 上海岭先机器人科技股份有限公司 | A kind of robot integral joint |
| CN209699141U (en) * | 2018-11-16 | 2019-11-29 | 上海岭先机器人科技股份有限公司 | A kind of integral joint with moment of elasticity compensating element, |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112141675A (en) * | 2019-06-28 | 2020-12-29 | 安川电机（中国）有限公司 | Workpiece conveying device, workpiece conveying control method and controller |
| CN112141675B (en) * | 2019-06-28 | 2022-07-19 | 安川电机（中国）有限公司 | Workpiece conveying device, workpiece conveying control method and controller |
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| Publication number | Publication date |
|---|---|
| CN109176596B (en) | 2024-04-19 |
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