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 PDF

Info

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
Application number
CN 201010242196
Other languages
Chinese (zh)
Other versions
CN101927497B (en
Inventor
朱海飞
李湛初
管贻生
张宪民
Original Assignee
华南理工大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 华南理工大学 filed Critical 华南理工大学
Priority to CN2010102421967A priority Critical patent/CN101927497B/en
Publication of CN101927497A publication Critical patent/CN101927497A/en
Application granted granted Critical
Publication of CN101927497B publication Critical patent/CN101927497B/en

Links

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

A kind of rotating and swinging joint module of robot of single degree of freedom

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.
CN2010102421967A 2010-07-30 2010-07-30 Rotating and swinging joint module of robot of single degree of freedom CN101927497B (en)

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 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 (7)

* Cited by examiner, † Cited by third party
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

Families Citing this family (1)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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

Patent Citations (9)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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 (11)

* Cited by examiner, † Cited by third party
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
CN102494910B (en) * 2011-11-30 2013-09-11 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
CN105459107A (en) * 2016-02-16 2016-04-06 北京建筑大学 Mechanical arm for spraying inner wall of large-diameter pipelines
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
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

Also Published As

Publication number Publication date
CN101927497B (en) 2012-02-01

Similar Documents

Publication Publication Date Title
CN203697006U (en) Intelligent five-shaft manipulator
CN102632509B (en) Elastically-driven modular joint with force feedback control
CN104260106B (en) A kind of joint module of stiffness variable
CN201618973U (en) Tool rotary switchboard of horizontal processing center
CN201841545U (en) Three-rotation one-movement freedom parallel robot with driving telescopic rod
CN103962423A (en) Servo direct-driven harmonic drive spiral bending machine
CN202955193U (en) Swinging guide-bar type ball screw transmission mechanism
CN205097207U (en) A series connection elastic drive ware for robot joint
CN205168685U (en) Wall climbing robot adsorbs chassis
CN103840601A (en) Electric-mechanical actuator
CN100563949C (en) Modularized joint of space manipulator
WO2011150756A1 (en) Downwind variable pitch wind motor
CN102101290B (en) Modular reconfigurable robot
CN202185919U (en) Driving module for building underwater electric manipulator
CN104191434B (en) Hollow cascade machine mechanical arm
CN104786217B (en) Variable-freedom-degree modular mechanical arm
CN205105041U (en) Electric bicycle wheel hub
CN104400794A (en) Double-arm robot modularized joint with hollow structure
CN103223669A (en) Light mechanical arm mechanism
CN101913151B (en) Ontract replaceable joint of large space service robot
CN201093144Y (en) Self-adaption pipe mobile mechanism
CN101435521B (en) Self-adapting pipe moving mechanism
US20080252079A1 (en) Generator Device with Both Driving Units
CN104864014A (en) Shock absorber for energy recovery by converting mechanical energy into electric energy and recovery method thereof
CN102962848A (en) Three-degree-of-freedom parallel mechanism for wrists and shoulders of robot

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
EXPY Termination of patent right or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20120201

Termination date: 20140730