CN101927497A - Rotating and swinging joint module of robot of single degree of freedom - Google Patents
Rotating and swinging joint module of robot of single degree of freedom Download PDFInfo
- Publication number
- CN101927497A CN101927497A CN 201010242196 CN201010242196A CN101927497A CN 101927497 A CN101927497 A CN 101927497A CN 201010242196 CN201010242196 CN 201010242196 CN 201010242196 A CN201010242196 A CN 201010242196A CN 101927497 A CN101927497 A CN 101927497A
- Authority
- CN
- China
- Prior art keywords
- joint
- rotating
- speed reducer
- swinging
- harmonic speed
- 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.)
- Granted
Links
Images
Abstract
The invention relates to a rotating and swinging joint module of a robot of single degree of freedom. The joint module is provided with a rotation degree of freedom, and the joint spindle thereof is vertical to the connection axis of the module to form swinging movement. The joint module is matched with a corresponding control system to realize movement or moment control, and joint parts and limiting position are detected by a Hall switch. The rotating and swinging joint module mainly comprises a servo motor and a photoelectric encoder assembly, a disk-type harmonic wave reducer assembly, a harmonic wave reducer output shaft, a motor base, a joint base, a bearing, a shaft cover, an end cover, a pair of bevel gears, a joint spindle and the like, wherein a motor shaft is connected with the wave generator of the harmonic wave reducer through the shaft sleeve, and the output rigid wheel of the harmonic wave reducer is fixedly connected with an output disk; a pair of bevel gears is arranged between the output disk and the joint spindle; the joint spindle is connected with a joint oscillating piece by a trapezoidal key to finally realize movement and power transmission. The module has compact structure and is convenient to connect with other modules or parts and can be combined and built into various robots or other electromechanical systems.
Description
Technical field
The present invention relates to the Robotics field, in particular to a kind of robot of single degree of freedom joint module.
Background technology
Robotics has obtained very big development so far, but also has sizable distance from a large amount of in social production and human lives and widespread usage.Trace it to its cause, key factor comprises the complexity and the sky high cost of function, performance and intelligence and the system of robot itself.Although robot has very big flexibility and elasticity at certain application, existing most robot systems often have only a kind of major function and fixed configuration at specific application target and occasion, lack the reconstruct of function expansion and configuration.Comprehensive and integrated multiple function is a big important trend of present and future robot system development.In addition, it is very big all to develop the cost that the particular machines people spent at each field and every application, seriously restricts applying of robot.Therefore, multi-functional, easily make up and low cost is a important goal in the new system development of robot.For this reason, modularization is effective ways, is trend and characteristics in the current robot research and development.Modularization can the simplified design manufacturing and maintenance, shortening lead time, is reduced development cost, and flexibility when strengthening system constructing greatly and elasticity are just becoming the significant design method of system development.The core concept of deformable and reconfigurable robot is exactly a modularization, and entire machine people is exactly effective combination of plurality of modules.Because robot modularized have a flexibility when setting up system, can freely make up multivariant system, it is climbing robot and refer to often be used in the hand research and development in mobile robot, climbing robot, pipe not only more, in space robotics's system development, also favored, no matter be Canadian space robotics Canadarm, still 21 frees degree, the 3 robot test beds of U.S. robot research company exploitation have all adopted the modularized design mode.
Make a general survey of design and development present situation both domestic and external, German Amtec company has developed the joint of robot module (German patent DE19939646.A1) and the commercialization of single-degree-of-freedom.Yet because the joint module type is single, contour structures is square, and the contiguous block of the needs special use that is connected with between the module is undesirable on machine configurations by the manipulator that they are built.Korea S has also developed the joint of robot module (patent No.: KR2005113975-A).At home, Harbin Institute of Technology has developed the modularized joint (patent No.: ZL1807032.A), South China Science ﹠ Engineering University has also developed first generation robot, and (patent No.: ZL200820202740.3), but its structure is complicated, the weight torque ratio is not ideal with rotating and swinging joint module.In a word, though existing at present many joint modules are developed, but they or kind single (as the PowerCube of Amtec), perhaps price extremely high (as the module of Robotics Research), perhaps the module free degree is on the high side (has two frees degree as TODOM, can only constitute the robot of the even number free degree), perhaps module itself is simple and easy and targeted (as various microminiature joint modules towards reconstruction robot or snake-shaped robot), and is difficult to satisfy the widespread demand of any robot of building stock size.Therefore, be necessary the single-degree-of-freedom joint module of the conventional size of development structure compactness.
Summary of the invention
The objective of the invention is to overcome the prior art above shortcomings, for reducing the cost of robot design, manufacturing, debugging, operation and maintenance, the flexibility that increases the robot system structure provides a kind of compact conformation with rapidity, is connected and rotating and swinging joint module of robot of single degree of freedom easy to use.
For realizing purpose of the present invention, adopt following technical scheme:
A kind of rotating and swinging joint module of robot of single degree of freedom concrete structure comprises servomotor and photoelectric encoder component, motor cabinet, socket joint, rotating and swinging joint band key end cap, rotating and swinging joint transition end cap, joint swing component, bevel gear, joint rotating shaft, harmonic speed reducer output shaft, disc type harmonic speed reducer assembly, axle sleeve, controller and installing rack thereof.The connected mode of each parts is: servomotor and photoelectric encoder component and motor cabinet are fastening by screw axial, and motor shaft links to each other indirectly by the wave producer of axle sleeve with disc type harmonic speed reducer assembly; Input in the harmonic speed reducer assembly just wheel is fastenedly connected by screw and motor cabinet, and output just wheel then is connected with the dish type end of harmonic speed reducer output shaft by screw; The harmonic speed reducer output shaft is supported in the socket joint by a pair of angular contact ball bearing; Motor cabinet and socket joint are screwed; The other end of harmonic speed reducer output shaft and a bevel gear are joined to beat with taper pin and are connected, this bevel gear again with the joint rotating shaft on bevel gear mesh; Rotating shaft two ends, joint cooperate with rotating and swinging joint band key end cap by trapezoidal key, and rotating and swinging joint band key end cap is connected with the joint swing component indirectly by rotating and swinging joint transition end cap, thereby rotatablely moving of motor shaft is converted to the rotation campaign of joint swing component; Controller is fixed in the motor cabinet by installing rack, in order to gather zero-bit and limit switch information and control servomotor.The dead in line of motor and photoelectric encoder component, motor cabinet, socket joint, disc type harmonic speed reducer assembly, harmonic speed reducer output shaft and input bevel gear, and vertical, joint rotating shaft with the joint rotating shaft also with the axis normal of joint swing component.
Above-mentioned rotating and swinging joint module of robot of single degree of freedom also comprises zero-bit switch and limit switch.This two classes switch is all formed by Hall element with as the small magnet piece that triggers usefulness; The Hall element that is used for detecting two limit switches of positive and negative steering lock position is installed in socket joint neck two little grooves up and down respectively, and the small magnet piece of two corresponding triggering usefulness is embedded in respectively in two apertures up and down of link correspondence of joint swing component; The Hall element of zero-bit switch is installed in the sulculus of socket joint neck side, and the small magnet piece that triggers usefulness then is embedded in the aperture of joint swing component journal stirrup, and the location definition of joint swing component and socket joint was a zero-bit when both fronts were relative.
The joints axes of rotating and swinging joint module of robot of single degree of freedom of the present invention and the axis normal of connecting rod are by driven by servomotor.The rear end of motor directly links with the photoelectric encoder that is used to detect corner displacement and angular speed, and front end links to each other with harmonic speed reducer, carries out deceleration force amplifier.Be the weight and the axial dimension in control joint, decelerator adopts disc type harmonic speed reducer assembly.Harmonic speed reducer drives bevel-gear sett by an output shaft, and transmission direction is changed 90 degree.Output bevel gear and joint rotating shaft one, and the joint rotating shaft is connected by rotating and swinging joint band key end cap and transition end cap swing component indirect and module, with the motion and the power output in joint.
Compared with prior art, the present invention has following advantage:
1. because reducing gear adopts the three-major-items of disc type harmonic speed reducer, and its pedestal and motor cabinet are designed to one, thereby compact conformation of the present invention, axial dimension are less.
2. owing to adopt the snap ring structure directly to be connected soon and lock, do not need other special-purpose transition or commutation connector, connection and dismantling simply, conveniently and fast with other mould;
3. limit switch and zero-bit switch adopt Hall element, and size is little, embeds easily in other parts, installs simple and convenient; There are not machinery contact and wearing and tearing, good reliability.
Description of drawings
Fig. 1 is the outside drawing of T type joint module of the present invention;
Fig. 2 is this profile of testing Novel T-shaped joint module;
Fig. 3 is the scheme of installation (part sectioned view) of joint module limit switch.
The specific embodiment
In order to understand the present invention better, do to describe further below in conjunction with accompanying drawing.
Be illustrated in figure 1 as the outside drawing of rotating and swinging joint module of the present invention.Motor cabinet 02 among the figure and socket joint 07 are fixed together by screw, and as the foundation of whole joint module, and joint swing component 15 and rotating and swinging joint transition end cap 13 also are fixed together by screw.These two parts can be done swing relatively.Clad 20 usefulness screws 14 are fixed on the socket joint 07, and bevel-gear sett and axle thereof are encased, and both have been that safety also is sealing and dustproof.
Be illustrated in figure 2 as the profile of T type joint module of the present invention.In Fig. 2, the joints axes of module is vertical with the connecting rod center line.Parts comprise: servomotor and photoelectric encoder component 01, motor cabinet 02, motor hold-down screw 03, harmonic speed reducer input axial restraint screw 04, the axial attachment screw 05 of harmonic speed reducer output, soket head cap screw 06, socket joint 07, cod end cap 08, small magnet piece 09, Hall element 10, sunk screw 11, rotating and swinging joint band key end cap 12, rotating and swinging joint transition end cap 13, swinging joint clad screw 14, joint swing component 15, swinging joint angular contact ball bearing 16, output bevel gear 17, joint rotating shaft 18, input bevel gear 19, swinging joint clad 20, swinging joint bearing (ball) cover 21, harmonic speed reducer output shaft 22, taper pin 23, angular contact ball bearing 24, axle sleeve 25, jump ring 26, key 27, lock-screw 28, disc type harmonic speed reducer assembly 29, axle sleeve 30, controller 32 and installing rack 31 thereof.Drive motors is a DC servo motor, motor is integrated with the photoelectric encoder that is used for angular displacement and angular velocity detection, be that the motor shaft rear end directly connects photoelectric encoder, become servomotor and photoelectric encoder component 01, the front end face of motor and joint pedestal 02 are fastening by motor hold-down screw 03; Motor shaft links to each other with the wave producer of disc type harmonic speed reducer assembly 29 indirectly by motor output adapter sleeve 30, motor output adapter sleeve 30 with motor shaft by four lock-screws 28 by radially being locked, transmit moment of torsion with the wave producer of disc type harmonic speed reducer assembly 29 by key 27, and prevent to move axially by jump ring 26; The input of disc type harmonic speed reducer assembly 29 just wheel is fastenedly connected by axial restraint screw 04 and motor cabinet 02, and output just wheel then is fastenedly connected with harmonic speed reducer output shaft 22 by axial attachment screw 05; The latter (22) is supported in the socket joint 07 by a pair of angular contact ball bearing 24 and axle sleeve 25, and by cod end cap 08 adjusting play; 07 of socket joint is fixing by six axial bolt and motor cabinet 02; Harmonic speed reducer output shaft 22 outputs are joined to beat with input bevel gear 19 usefulness taper pins and are connected, input bevel gear 19 and 17 engagements of output bevel gear, and the output bevel gear is fixedly welded in the joint rotating shaft 18 by argon arc welding, and both (17 and 18) exist with the form of bevel gear shaft; Rotating shaft 18 usefulness swinging joint angular contact ball bearings 16 in joint are supported on the socket joint 07, and adjust back lash between bearing and the bevel-gear sett by the swinging joint bearing (ball) cover 21 at two ends; Rotating shaft 18 two ends in joint have the trapezoidal key that can cooperate with rotating and swinging joint band key end cap 12, and this trapezoidal key can effectively be eliminated the gap between joint rotating shaft 18 and the end cap 12 first, second can transmit motion and moment of torsion; Rotating and swinging joint band key end cap 12 is connected by four uniform sunk screws 11 with rotating and swinging joint transition end cap 13, rotating and swinging joint transition end cap similarly is connected by screw and joint swing component 15, output transmission and break-in with motor acts on the joint swing component 15 thus, forms the rotation action; Controller 32 is installed on by controller installing rack 31 in the sleeve of motor cabinet 02, and is adjacent with motor, in order to gather zero-bit and limit switch information and control servomotor.The dead in line of motor and photoelectric encoder component 01, motor cabinet 02, socket joint 07, disc type harmonic speed reducer assembly 29, harmonic speed reducer output shaft 22 and input bevel gear 19, and vertical with the center line of joint rotating shaft 18, form a T font; The axis normal of the center line of joint rotating shaft 18 and joint swing component 15.
The spacing Hall switch that all adopts in joint zero-bit and joint detects.Hall switch is formed by Hall element 10 with as the small magnet piece 09 that triggers usefulness.As shown in Figure 2, the Hall element 10 of zero-bit switch is installed in the sulculus of socket joint 07 neck side, sticks with glue, and the small magnet piece 09 that triggers usefulness then is embedded in the aperture of joint swing component 15 journal stirrups.As shown in Figure 3, two Hall elements 10 of limit switch (being used for detecting positive and negative steering lock position) are installed in socket joint 07 neck two little grooves up and down respectively, stick with glue and plastic foil sealing, the small magnet piece 09 of two corresponding triggering usefulness then is embedded in respectively in two apertures up and down of link correspondence of joint swing component 15.
Unified mechanical interface is all designed at the two ends of joint module, on the axle section dovetail groove is arranged.Locate, be the trapezoidal quick connection of snap ring realization and lock by alignment pin between the joint module with the axle section.Alignment pin also has to stop the module that links to each other to act in relative rotation around axis except locating.
Claims (2)
1. rotating and swinging joint module of robot of single degree of freedom, it is characterized in that: comprise servomotor and photoelectric encoder component, motor cabinet, socket joint, rotating and swinging joint band key end cap, rotating and swinging joint transition end cap, joint swing component, bevel gear, joint rotating shaft, harmonic speed reducer output shaft, disc type harmonic speed reducer assembly, axle sleeve, controller and installing rack thereof, the connected mode of each parts is: servomotor and photoelectric encoder component and motor cabinet are fastening by screw axial, and motor shaft links to each other by the wave producer of axle sleeve with disc type harmonic speed reducer assembly; Input in the harmonic speed reducer assembly just wheel is fastenedly connected by screw and motor cabinet, and output just wheel then is connected with the dish type end of harmonic speed reducer output shaft by screw; The harmonic speed reducer output shaft is supported in the socket joint by a pair of angular contact ball bearing; Motor cabinet and socket joint are screwed; The other end of harmonic speed reducer output shaft and a bevel gear are joined to beat with taper pin and are connected, this bevel gear again with the joint rotating shaft on bevel gear mesh; Rotating shaft two ends, joint cooperate with rotating and swinging joint band key end cap by trapezoidal key, and rotating and swinging joint band key end cap is connected with the joint swing component indirectly by rotating and swinging joint transition end cap, thereby rotatablely moving of motor shaft is converted to the rotation campaign of joint swing component; Controller is fixed in the motor cabinet by installing rack, in order to gather zero-bit and limit switch information and control servomotor; The dead in line of motor and photoelectric encoder component, motor cabinet, socket joint, disc type harmonic speed reducer assembly, harmonic speed reducer output shaft and input bevel gear, and vertical, joint rotating shaft with the joint rotating shaft also with the axis normal of joint swing component.
2. rotating and swinging joint module of robot of single degree of freedom according to claim 1, two limit switches that it is characterized in that also comprising the zero-bit switch and be used to detect positive and negative steering lock position, zero-bit switch and limit switch are each free Hall element and form as the small magnet piece that triggers usefulness all; The Hall element that is used for detecting two limit switches of positive and negative steering lock position is installed in socket joint neck two little grooves up and down respectively, and in two apertures up and down of corresponding two link correspondences that are embedded in the joint swing component as the small magnet pieces that trigger usefulness respectively; The Hall element of zero-bit switch is installed in the sulculus of socket joint neck side, and the small magnet piece that triggers usefulness then is embedded in the aperture of joint swing component journal stirrup, and the position of joint swing component and socket joint was a zero-bit when both fronts were relative.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102421967A CN101927497B (en) | 2010-07-30 | 2010-07-30 | Rotating and swinging joint module of robot of single degree of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102421967A CN101927497B (en) | 2010-07-30 | 2010-07-30 | Rotating and swinging joint module of robot of single degree of freedom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101927497A true CN101927497A (en) | 2010-12-29 |
| CN101927497B CN101927497B (en) | 2012-02-01 |
Family
ID=43367061
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010102421967A Expired - Fee Related CN101927497B (en) | 2010-07-30 | 2010-07-30 | Rotating and swinging joint module of robot of single degree of freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101927497B (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102494910A (en) * | 2011-11-30 | 2012-06-13 | 北京航空航天大学 | Performance testing apparatus suitable for flexible legged robot |
| CN104139397A (en) * | 2014-07-28 | 2014-11-12 | 广东工业大学 | Main robot single-degree-of-freedom swing-rotating joint module |
| CN105459107A (en) * | 2016-02-16 | 2016-04-06 | 北京建筑大学 | Mechanical arm for spraying inner wall of large-diameter pipelines |
| CN105666476A (en) * | 2016-04-14 | 2016-06-15 | 哈尔滨工业大学 | Flexible drive structure for external skeleton robot |
| CN105773656A (en) * | 2016-03-30 | 2016-07-20 | 广东工业大学 | Swinging joint module of robot with wires arranged internally |
| CN106182075A (en) * | 2016-07-28 | 2016-12-07 | 上海交通大学 | Two-freedom universal machine Arm Joint drive system and method |
| CN107175682A (en) * | 2017-05-24 | 2017-09-19 | 哈尔滨工业大学 | A kind of modularization snake-shaped robot joint |
| CN107336259A (en) * | 2017-08-09 | 2017-11-10 | 江苏木盟智能科技有限公司 | A kind of joint of robot and robot |
| CN107344360A (en) * | 2017-07-31 | 2017-11-14 | 广州大学 | A kind of double-degree-of-freedom robot module |
| CN107878589A (en) * | 2017-09-19 | 2018-04-06 | 广东工业大学 | A kind of modularization annular rolling robot |
| CN107901075A (en) * | 2017-11-28 | 2018-04-13 | 天津扬天科技有限公司 | The joint module that the hollow cooperation mechanical arm of multiple degrees of freedom uses |
| CN108326822A (en) * | 2018-03-22 | 2018-07-27 | 山东大学 | A kind of restructural mobile robot docking facilities |
| CN109551481A (en) * | 2018-12-20 | 2019-04-02 | 广东工业大学 | A kind of variation rigidity controls integrated robot rotating and swinging joint module |
| CN110155204A (en) * | 2019-05-05 | 2019-08-23 | 昆明理工大学 | A kind of quadruped robot leg |
| US20210122030A1 (en) * | 2019-10-29 | 2021-04-29 | Inner Mongolia Su Meng Technology Power Equipment Co., Ltd. | Bionic robot for all terrains |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102672703B (en) * | 2012-05-30 | 2015-03-11 | 哈尔滨工程大学 | Wheeled mobile service robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101077579A (en) * | 2007-06-20 | 2007-11-28 | 华中科技大学 | Multi-joint flexible mechanical arm |
| CN101130245A (en) * | 2007-09-27 | 2008-02-27 | 上海交通大学 | Active wrist mechanism used for mechanical arm or snake shaped robot |
| CN201052618Y (en) * | 2007-06-20 | 2008-04-30 | 华中科技大学 | Multi-joint flexible mechanical arm |
| JP2009095957A (en) * | 2007-10-19 | 2009-05-07 | Nsk Ltd | Joint module and legged robot |
| CN201291458Y (en) * | 2008-10-31 | 2009-08-19 | 华南理工大学 | T type single-degree-of-freedom robot joint module |
| CN201300421Y (en) * | 2008-11-18 | 2009-09-02 | 华南理工大学 | I-shaped joint module of a single degree-of-freedom robot |
| WO2009124904A1 (en) * | 2008-04-09 | 2009-10-15 | Aldebaran Robotics | Motorized articulation with two pivot joints, and humanoid robot employing the articulation |
| DE102008023926A1 (en) * | 2008-05-16 | 2009-11-19 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Robotic finger as well as robot hand |
| CN201792341U (en) * | 2010-07-30 | 2011-04-13 | 华南理工大学 | Single-DOF swinging joint module of robot |
-
2010
- 2010-07-30 CN CN2010102421967A patent/CN101927497B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101077579A (en) * | 2007-06-20 | 2007-11-28 | 华中科技大学 | Multi-joint flexible mechanical arm |
| CN201052618Y (en) * | 2007-06-20 | 2008-04-30 | 华中科技大学 | Multi-joint flexible mechanical arm |
| CN101130245A (en) * | 2007-09-27 | 2008-02-27 | 上海交通大学 | Active wrist mechanism used for mechanical arm or snake shaped robot |
| JP2009095957A (en) * | 2007-10-19 | 2009-05-07 | Nsk Ltd | Joint module and legged robot |
| WO2009124904A1 (en) * | 2008-04-09 | 2009-10-15 | Aldebaran Robotics | Motorized articulation with two pivot joints, and humanoid robot employing the articulation |
| DE102008023926A1 (en) * | 2008-05-16 | 2009-11-19 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Robotic finger as well as robot hand |
| CN201291458Y (en) * | 2008-10-31 | 2009-08-19 | 华南理工大学 | T type single-degree-of-freedom robot joint module |
| CN201300421Y (en) * | 2008-11-18 | 2009-09-02 | 华南理工大学 | I-shaped joint module of a single degree-of-freedom robot |
| CN201792341U (en) * | 2010-07-30 | 2011-04-13 | 华南理工大学 | Single-DOF swinging joint module of robot |
Non-Patent Citations (3)
| Title |
|---|
| 《华南理工大学学报(自然科学版)》 20071231 袁剑锋等 "一种新型两自由度高速并联机械手的尺度综合" 第39-44页 1-2 第35卷, 第12期 2 * |
| 《机器人》 20100331 兰天等 机器人灵巧手基关节交叉耦合同步控制 第150-156页 1-2 第32卷, 第2期 2 * |
| 《机械设计与制造》 20100630 陈礼顺等 "新型超冗余度机器人关节设计" 第148-150页 1-2 , 2 * |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102494910B (en) * | 2011-11-30 | 2013-09-11 | 北京航空航天大学 | Performance testing apparatus suitable for flexible legged robot |
| CN102494910A (en) * | 2011-11-30 | 2012-06-13 | 北京航空航天大学 | Performance testing apparatus suitable for flexible legged robot |
| CN104139397A (en) * | 2014-07-28 | 2014-11-12 | 广东工业大学 | Main robot single-degree-of-freedom swing-rotating joint module |
| CN104139397B (en) * | 2014-07-28 | 2017-01-25 | 广东工业大学 | Main robot single-degree-of-freedom swing-rotating joint module |
| CN105459107B (en) * | 2016-02-16 | 2018-04-17 | 北京建筑大学 | A kind of mechanical arm for spraying large-diameter pipeline inner wall |
| CN105459107A (en) * | 2016-02-16 | 2016-04-06 | 北京建筑大学 | Mechanical arm for spraying inner wall of large-diameter pipelines |
| CN105773656A (en) * | 2016-03-30 | 2016-07-20 | 广东工业大学 | Swinging joint module of robot with wires arranged internally |
| CN105666476A (en) * | 2016-04-14 | 2016-06-15 | 哈尔滨工业大学 | Flexible drive structure for external skeleton robot |
| CN106182075A (en) * | 2016-07-28 | 2016-12-07 | 上海交通大学 | Two-freedom universal machine Arm Joint drive system and method |
| CN107175682A (en) * | 2017-05-24 | 2017-09-19 | 哈尔滨工业大学 | A kind of modularization snake-shaped robot joint |
| CN107175682B (en) * | 2017-05-24 | 2019-11-05 | 哈尔滨工业大学 | A kind of modularization snake-shaped robot joint |
| CN107344360A (en) * | 2017-07-31 | 2017-11-14 | 广州大学 | A kind of double-degree-of-freedom robot module |
| CN107336259A (en) * | 2017-08-09 | 2017-11-10 | 江苏木盟智能科技有限公司 | A kind of joint of robot and robot |
| CN107878589A (en) * | 2017-09-19 | 2018-04-06 | 广东工业大学 | A kind of modularization annular rolling robot |
| CN107901075A (en) * | 2017-11-28 | 2018-04-13 | 天津扬天科技有限公司 | The joint module that the hollow cooperation mechanical arm of multiple degrees of freedom uses |
| CN107901075B (en) * | 2017-11-28 | 2023-12-01 | 天津扬天科技有限公司 | Joint module adopted by multi-degree-of-freedom hollow cooperative mechanical arm |
| CN108326822A (en) * | 2018-03-22 | 2018-07-27 | 山东大学 | A kind of restructural mobile robot docking facilities |
| CN109551481A (en) * | 2018-12-20 | 2019-04-02 | 广东工业大学 | A kind of variation rigidity controls integrated robot rotating and swinging joint module |
| CN109551481B (en) * | 2018-12-20 | 2023-10-03 | 广东工业大学 | Rigidity-variable driving and controlling integrated robot swing joint module |
| CN110155204A (en) * | 2019-05-05 | 2019-08-23 | 昆明理工大学 | A kind of quadruped robot leg |
| CN110155204B (en) * | 2019-05-05 | 2021-05-07 | 昆明理工大学 | Four-footed robot shank |
| US20210122030A1 (en) * | 2019-10-29 | 2021-04-29 | Inner Mongolia Su Meng Technology Power Equipment Co., Ltd. | Bionic robot for all terrains |
| US11958552B2 (en) * | 2019-10-29 | 2024-04-16 | Inner Mongolia Su Meng Technology Power Equipment Co., Ltd. | Bionic robot for all terrains |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101927497B (en) | 2012-02-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101927497B (en) | Rotating and swinging joint module of robot of single degree of freedom | |
| CN201291458Y (en) | T type single-degree-of-freedom robot joint module | |
| CN101913150B (en) | Robot revolute joint module with single degree of freedom | |
| CN201300421Y (en) | I-shaped joint module of a single degree-of-freedom robot | |
| CN104191434B (en) | Hollow cascade machine mechanical arm | |
| CN201792341U (en) | Single-DOF swinging joint module of robot | |
| CN106499775B (en) | Transmission speed reducer | |
| CN109202956A (en) | A kind of submissive articulated mechanical arm based on series elastic driver | |
| CN101380739B (en) | Multi-foot robot bionic elastic driving joint module | |
| US9322284B2 (en) | Mechanism for synchronously varying pitch of a multi-blade rotor | |
| CN102931760A (en) | Compact electric servo mechanism for linear displacement | |
| CN108189073A (en) | A kind of Dual-motors Driving modularized joint and a kind of mechanical arm | |
| CN102615652B (en) | Two-degree-of-freedom robot joint based on double-electromagnetic clutch | |
| CN106695870B (en) | A kind of flexible joint variation rigidity mechanism | |
| CN103199649A (en) | Mechanical and electrical integration linear driving device | |
| CN201808064U (en) | Single degree of freedom rotating device | |
| CN201913645U (en) | Rotating joint module of single DOF (degree of freedom) robot | |
| CN101844348A (en) | Master-slave modular robot | |
| CN104175329A (en) | Modularized joint for hollow series-connection mechanical arm | |
| CN103802125A (en) | Single-degree-of-freedom rotary joint module | |
| CN201456003U (en) | Compact intelligent joint | |
| CN208133004U (en) | A kind of intelligent robot driving joint and robot | |
| CN201405204Y (en) | Rotary exchanging device for double-exchange workbench of horizontal machining centre | |
| CN208034714U (en) | A kind of compact machines people integral joint module and compact machines people | |
| CN209022101U (en) | A kind of robot wrist structure of motor direct-drive end effector |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120201 Termination date: 20140730 |
|
| EXPY | Termination of patent right or utility model |