CN104768716B - actuator assembly - Google Patents
actuator assembly Download PDFInfo
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- CN104768716B CN104768716B CN201280076721.XA CN201280076721A CN104768716B CN 104768716 B CN104768716 B CN 104768716B CN 201280076721 A CN201280076721 A CN 201280076721A CN 104768716 B CN104768716 B CN 104768716B
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- adapter
- actuator assembly
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
According to one embodiment of present invention, actuator assembly includes：Motor；A more than one reduction gearing, it passes through above-mentioned motor and is rotated；And the lower frame of rectangular shape, it is provided with above-mentioned motor and an above-mentioned reduction gearing, and with the two basic change face being parallel to each other and two link surfaces vertical with above-mentioned faying face, above-mentioned lower frame has the multiple combined mouths being separated to form with first interval parallel with the side long of above-mentioned faying face and first width parallel with the short side of above-mentioned faying face.
Description
Technical field
The present invention relates to actuator assembly, more specifically, relate to carry out as needed the driver of various expansions
Component.
Background technology
Robot is used in a variety of ways from industrial robot to class mankind robot, by the drive with deceleration
Dynamic device can carry out flexible joint motions.
Especially, in the machine ergonomics technology for drastically developing recently, the machine ergonomics mechanism of industry was only used in the past
It is converted to other industrial fields and carries out technological incorporation, for example, can enumerates family expenses sweeping robot, programming teaching robot, play
The exploitation and production of tool robot, amusement robot etc..
In this robot technology, the driver related to driving is very important core component, and then as structure
Primary structure into driver can enumerate decelerator, and multiple species can be enumerated as this decelerator, used as representational example
Gear reducer, electronic ball decelerator, cycloidal reducer etc. can be enumerated.
In addition, driver is arranged as required to provide power in various positions, robot can be carried out by driver
Various actions.Then, driver needs to be arranged on desired position, it is necessary to according to machine by mechanical link and assembling
The structure of device people and variously-shaped and size is provided.
The content of the invention
Technical task
It is an object of the invention to provide a kind of actuator assembly that can be deformed to shapes and sizes as needed.
It is a further object of the present invention to provide a kind of actuator assembly that can as needed carry out various expansions.
Other objects of the present invention will be definitely according to following detailed description and accompanying drawings.
Means for solving technical task
According to one embodiment of present invention, actuator assembly includes：Motor；A more than one reducing gear
Wheel, it passes through above-mentioned motor and is rotated；And the lower frame of rectangular shape, its be provided with above-mentioned motor and
An above-mentioned reduction gearing, and with the two basic change face being parallel to each other and two link surfaces vertical with above-mentioned faying face,
Above-mentioned lower frame has with parallel with the side long of above-mentioned faying face the first interval and parallel with the short side of above-mentioned faying face
Multiple combined mouths that first width is separated to form.
Above-mentioned actuator assembly can also include extension adapter, the extension adapter have for above-mentioned lower frame along
Length direction insertion quadrilateral shape opening, above-mentioned extension adapter on the face corresponding with above-mentioned faying face with it is above-mentioned
First the second spaced and parallel interval and above-mentioned first width are separated to form the multiple tops corresponding with above-mentioned combined mouth and prolong
Combined mouth long.
Above-mentioned extension adapter is more with what is formed respectively on the face corresponding with above-mentioned faying face and above-mentioned link surface
Individual bottom extends combined mouth, and above-mentioned actuator assembly also includes the profile adapter of the bottom for being fastened on above-mentioned extension adapter,
Above-mentioned profile adapter possesses：The profile flange of writing board shape；And outline frame, it has the one side from above-mentioned profile flange
The opening of prominent quadrilateral shape, and be separated to form and above-mentioned bottom extension knot with the above-mentioned first interval and above-mentioned first width
The multiple outline frames for healing up corresponding link mouth.
Above-mentioned profile flange can have in the mode corresponding with above-mentioned combined mouth with the above-mentioned first interval and above-mentioned the
Multiple the first profile flanges that one width is separated to form link mouth.
Above-mentioned lower frame in one end of above-mentioned link surface there are the multiple frameworks being separated to form with above-mentioned first width to connect
Knot mouth, above-mentioned actuator assembly also includes：More than one secondary speed-reducing gear, it is by the unlimited upper of above-mentioned lower frame
One end is stated, is engaged with an above-mentioned reduction gearing and rotated；Upper frame, its be provided with above-mentioned secondary speed-reducing gear and with it is above-mentioned
Lower frame links, and possesses the main body of drum and link respectively with the two ends of aforementioned body and be formed with out in center
The upper flange and lower flange of the writing board shape of mouth；And output block, it is fastened on above-mentioned secondary speed-reducing gear and upper
State and rotated on upper frame, above-mentioned lower flange is had in side and be separated to form with above-mentioned first width and and said frame
Link the corresponding multiple flanges of mouth and link mouth.
Above-mentioned actuator assembly can also include profile adapter, and the profile adapter is fastened on above-mentioned output block
The multiple output blocks being formed on the basis of pivot on concentric circles link mouth, and above-mentioned profile adapter possesses：It is plate shaped
The profile flange of shape；And outline frame, it has the opening of the quadrilateral shape protruded from the one side of above-mentioned profile flange, above-mentioned
Profile flange is had and is formed on the basis of center on concentric circles and links corresponding multiple second of mouth with above-mentioned output block
Profile flange links mouth.
Above-mentioned output block can have the multiple output blocks being formed on the basis of pivot on concentric circles to link
Mouthful, above-mentioned actuator assembly also includes：Extension flange, it is combined with the other end of above-mentioned lower frame；Rotary part, its with it is upper
State extension flange link and can rotate, and be formed on the basis of center on concentric circles and with above-mentioned output block connect
The corresponding multiple rotary parts of knot mouth link mouth；Rotating frame, it connects with above-mentioned output block and above-mentioned rotary part respectively
Knot, and there are the multiple rotations corresponding with above-mentioned output block link mouth and above-mentioned rotary part link mouth difference to link respectively
Mouthful；And the framework of writing board shape, it enters joining line to above-mentioned rotating frame.
Above-mentioned framework can have with along the length direction of above-mentioned framework it is above-mentioned first interval and along
Multiple first frameworks that above-mentioned first width in the direction vertical with above-mentioned length direction is separated to form link mouth, above-mentioned drive
Dynamic device assembly also includes being fastened on the profile adapter that above-mentioned first framework links mouth, and above-mentioned profile adapter possesses：It is flat
The profile flange of plate shape, its have with above-mentioned first framework linking the corresponding mode of mouth with the above-mentioned first interval and
Multiple the first profile flanges that above-mentioned first width is separated to form link mouth；And outline frame, it has convex from above-mentioned profile
The opening of the quadrilateral shape that the one side of edge is protruded.
Above-mentioned framework can have with along the length direction of above-mentioned framework it is above-mentioned first interval and along
Multiple second frameworks that second width in the direction vertical with above-mentioned length direction is separated to form link mouth, above-mentioned lower box
Frame has multiple binding grooves, and the plurality of binding groove is formed and at two ends along the seamed edge that above-mentioned faying face intersects with above-mentioned link surface
Face is respectively formed with fastening port, and above-mentioned fastening port is separated with the second width parallel with the short side of above-mentioned short side and above-mentioned link surface
Formed.
Above-mentioned lower frame can have multiple binding grooves, and the plurality of binding groove is along above-mentioned faying face and above-mentioned link surface
Intersecting seamed edge is formed and is respectively formed with fastening port in both ends of the surface, and above-mentioned fastening port is with second width parallel with above-mentioned short side
It is separated to form, above-mentioned actuator assembly also includes the link adapter combined with the other end of above-mentioned lower frame, above-mentioned link
Adapter possesses：Adaptor plate, it is combined with the above-mentioned other end of above-mentioned lower frame, and is separated to form with above-mentioned second width
There are multiple first adapters corresponding with above-mentioned fastening port to link mouth；And adapter flange, its respectively with above-mentioned adapter
The both sides of plate link.
Above-mentioned lower frame can have multiple binding grooves, and the plurality of binding groove is along above-mentioned faying face and above-mentioned link surface
Intersecting seamed edge is formed and is respectively formed with fastening port in both ends of the surface, and above-mentioned fastening port is with second width parallel with above-mentioned short side
It is separated to form, above-mentioned actuator assembly also includes the link adapter combined with above-mentioned faying face, above-mentioned link adapter possesses：
Adaptor plate, it is opposed with above-mentioned link surface；And adapter flange, it links with the both sides of above-mentioned adaptor plate respectively, and
The multiple flanges corresponding with above-mentioned combined mouth are separated to form with the above-mentioned first interval and link mouth.
Above-mentioned actuator assembly can also include linking adapter, and the link adapter is fastened on above-mentioned output block
The multiple output blocks being formed on the basis of pivot on concentric circles link mouth, and above-mentioned link adapter possesses：Adaptor plate,
It is fastened with above-mentioned output block, and be formed on the basis of center on concentric circles and with above-mentioned output block link mouth phase
Corresponding multiple second adapters link mouth；And adapter flange, it links with the both sides of above-mentioned adaptor plate respectively.
Above-mentioned framework can have with along the length direction of above-mentioned framework it is above-mentioned first interval and along
Multiple first frameworks that above-mentioned first width in the direction vertical with above-mentioned length direction is separated to form link mouth, above-mentioned drive
Dynamic device assembly also includes being fastened on the link adapter that above-mentioned first framework links mouth, and above-mentioned link adapter possesses：It is suitable
Dispenser plate, there are multiple 3rd adapters to link mouths for it, the plurality of 3rd adapter link mouth with above-mentioned first framework
Link the corresponding mode of mouth, be separated to form with the above-mentioned first interval and above-mentioned first width；And outline frame, its have from
The opening of the quadrilateral shape that the one side of above-mentioned profile flange is protruded.
Above-mentioned framework can have with along the length direction of above-mentioned framework it is above-mentioned first interval and along
Multiple second frameworks that above-mentioned second width in the direction vertical with above-mentioned length direction is separated to form link mouth, above-mentioned drive
Dynamic device assembly also includes being fastened on the link adapter that above-mentioned second framework links mouth, and above-mentioned link adapter possesses：It is suitable
Dispenser plate, there are multiple 4th adapters to link mouths for it, the plurality of 4th adapter link mouth with above-mentioned second framework
Link the corresponding mode of mouth, be separated to form with above-mentioned second width；And outline frame, it has from above-mentioned profile flange
The opening of the quadrilateral shape for simultaneously protruding.
Invention effect
According to one embodiment of present invention, shapes and sizes that can be as needed to actuator assembly deform.
Further, it is possible to carry out various expansions to actuator assembly as needed.
Brief description of the drawings
Fig. 1 is the stereogram of the actuator assembly for roughly representing first embodiment of the invention.
Fig. 2 is the stereogram for roughly representing a slowdown module and secondary speed-reducing module shown in Fig. 1.
Fig. 3 is roughly to represent a figure for slowdown module shown in Fig. 1.
Fig. 4 is to carry out biopsy cavity marker devices and the stereogram for roughly representing to the secondary speed-reducing module shown in Fig. 1.
Fig. 5 is the exploded perspective view of the secondary speed-reducing module shown in Fig. 1.
Fig. 6 is the exploded perspective view of the section for representing the secondary speed-reducing module shown in Fig. 1.
Fig. 7 is the exploded perspective view for representing secondary speed-reducing module and position detector shown in Fig. 1.
Fig. 8 is to represent swingle and magnet, the exploded perspective view of rod bearing shown in Fig. 7.
Fig. 9 is the stereogram for roughly representing actuator assembly according to the second embodiment of the present invention.
Figure 10 is the stereogram for roughly representing actuator assembly according to the third embodiment of the invention.
Figure 11 is the figure for representing the profile flange shown in Figure 10.
Figure 12 is the stereogram for roughly representing actuator assembly according to the fourth embodiment of the invention.
Figure 13 is the stereogram for roughly representing actuator assembly according to the fifth embodiment of the invention.
Figure 14 is the stereogram for roughly representing actuator assembly according to the sixth embodiment of the invention.
Figure 15 and Figure 16 are the stereograms for roughly representing actuator assembly according to the seventh embodiment of the invention.
Figure 17 is the stereogram of the actuator assembly for roughly representing the 8th embodiment of the invention.
Figure 18 is the stereogram of the actuator assembly for roughly representing the 9th embodiment of the invention.
Figure 19 is the stereogram for roughly representing the link adapter shown in Figure 18.
Figure 20 is the stereogram of the actuator assembly for roughly representing the tenth embodiment of the invention.
Figure 21 is the stereogram of the actuator assembly for roughly representing the 11st embodiment of the invention.
Figure 22 is the stereogram of the actuator assembly for roughly representing the 12nd embodiment of the invention.
Specific embodiment
Hereinafter, the preferred embodiments of the present invention are described in detail referring to figs. 1 to Fig. 8.Embodiments of the invention
Can deform in a variety of forms, it is impossible to be interpreted as the scope of the present invention and be confined to embodiment explained below.The present embodiment be for
Those skilled in the art are illustrated in greater detail with the present invention and is provided.Therefore, have can for the shape of each key element shown in the drawings
Can exaggerate and represent, more clearly to emphasize.
Fig. 1 is the stereogram of the actuator assembly for roughly representing first embodiment of the invention, and Fig. 2 is roughly
Represent the stereogram of the slowdown module and secondary speed-reducing module shown in Fig. 1.As shown in figure 1, driver of the invention
Component includes a slowdown module and secondary speed-reducing module.Slowdown module and secondary speed-reducing module have speed reducing ratio respectively,
Various speed reducing ratio can be realized by being mutually combined.
Fig. 3 is roughly to represent a figure for slowdown module shown in Fig. 1.As shown in figure 3, a slowdown module includes：
The lower frame 100 of rectangular shape；It is built in the motor 120 of lower frame 100；Perform the confession with a slowdown module
Electricity and power-off, the main printed circuit board (PCB) 130 of the relevant control that communicates；Receive the position of output shaft feedback and to drive
The secondary printed circuit board 140 that the driving of motor 120 is controlled；It is fixed on the drive gear in the rotary shaft of motor 120
150；The driven gear 160 for being engaged with drive gear 150 and being guided to once slowing down；And it is integrally formed at driven gear
The travelling gear 170 of power is transmitted on 160 and to secondary speed-reducing module.As shown in figure 3, a slowdown module can be by slowing down
The power for comparing motor 120 is once slowed down.
In the case, realizing the above-mentioned drive gear 150 and driven gear 160 of reduction part can use spur gear class
Type or harmonic gear type and combinations thereof form.Now, spur gear type can be understood as general straight tooth column tooth
Wheel type, harmonic gear type is different from other gear-types and does not almost have the known gear of backlash (Backlash)
Type, is preferably applied to require the robot of accurate control.
And, in the present invention, output shaft for slowdown module combined with the input shaft of secondary speed-reducing module with gear,
The form that for example straight spur gear is combined enters joining line, therefore except performing the decelerator that slowdown module possesses
Produced by the secondary speed-reducing device that a deceleration and secondary speed-reducing module produced by (drive gear+driven gear) possess
Secondary speed-reducing function beyond, also perform the deceleration (straight-tooth in slowdown module and the linking part of secondary speed-reducing module
Roller gear combination), i.e. intermediate reduction gear, therefore retardation efficiency further enhances.
Also, in order to detect the position of the output shaft of secondary speed-reducing module and feeding back to printed circuit board to possess
The position detector of magnetic absolute encoder, potentiometer, optical profile type rotation absolute encoder etc..
In addition, as shown in Figures 1 and 2, lower frame 100 is the rectangular shape with two basic change face and link surface,
Faying face and link surface are the rectangular shapes respectively with side long and short side.Combined mouth 182 is formed at faying face, and with
The the first parallel interval d1 and first width W1 parallel with short side of side long is separated to form.Also, framework links mouth 188 and is formed at
Link surface, and be separated to form with the first width W1 parallel with short side.
Also, there is lower frame 100 seamed edge that intersects with link surface along faying face to be recessed the binding groove 186 to be formed,
Fastening port 184 is formed at the both ends of the surface of binding groove 186.Fastening port 184 is wide with respectively parallel with faying face and link surface second
Degree W2 is separated to form.
Also, as shown in Fig. 2 alignment pin 190 inserts a slowdown module and secondary speed-reducing module respectively, can rapidly and
The assembling of a slowdown module and secondary speed-reducing module is successfully completed in a short time.
Fig. 4 is to carry out biopsy cavity marker devices and the stereogram for roughly representing to the secondary speed-reducing module shown in Fig. 1.Fig. 5 is Fig. 1
The exploded perspective view of shown secondary speed-reducing module, Fig. 6 is the exploded perspective of the section for representing the secondary speed-reducing module shown in Fig. 1
Figure.
Secondary speed-reducing module according to an embodiment of the invention uses epitrochoid (Epitrochoid) tooth form
The decelerator of inside engaged gear.Pin gear described later 110 and tabular gear 301 have a tooth form of epitrochoid form, but can be with
With involute (involute) tooth form unlike this.In addition, secondary speed-reducing module can be used：Typically make in the art
With most gear reducers, mainly use the decelerator of involute profile (Involute Tooth Form)；In epicycloid
Make in the guiding groove of curve (Epicycloid Curve) shape facing with hypocycloid curve (Hypocycloid Curve)
Ball is rolled and is performed the roller decelerator being rotated in deceleration；Pass through if the wave producer module of ovalize is rotated
The oval bearing for being rotated of deflection and only elliptic motion is partially transferred to flexible gear and flexible gear slowly lattice
Rotated while cross outermost internal gear one lattice ground and guided the harmonic speed reducer of deceleration；Fixed pin gear simultaneously makes
The tabular gear for having epitrochoid tooth form as planetary gear carries out eccentric rotary and obtains cycloidal reducer of speed reducing ratio etc.,
In addition, naturally it is also possible to use the decelerator of the deformation being made up of combinations thereof.
As shown in Figures 4 and 5, upper frame 200 possess drum main body 204 and respectively with the two ends of main body 204
The upper flange 202 and lower flange 206 of link.Main body 204 have drum installing space, upper flange 202 and under
Portion's flange 206 is to be formed with the writing board shape of opening in center.Upper flange 202 has upper face fastening port 210 and side
Fastening port 212, similarly, lower flange 206 has lower surface fastening port and side fastening port.Upper face fastening port 210 exists
The top of upper flange 202 is separated to form with the second width W2, and side fastening port 212 is in the side of upper flange 202 with first
Width W1 is separated to form.
Pin gear 110 is protruded from the inner peripheral surface of installing space and formed along inner peripheral surface.Pin gear 110 can be in upper box
Frame 200 is integrally formed when being molded.
Conversely, as disclosed in Korean Patent Laid 2010-0038146, conventional pin gear 110 is employed and will rolled
The pin of post shapes has fully embedded into upper frame 200 and the mode that is fixed one by one.Therefore, build-up tolerance is not only produced,
And mismachining tolerance is produced when making due to being fabricated separately, so as to be difficult to reach, requirement is high-accuracy and purpose of deceleration high,
The reason for as causing work bad.But, according to one embodiment of present invention, in the formative stage of upper frame 200, will
Shaping and integration, thus miss processing together with the pin gear 110 corresponding with the tabular gear 301 with epitrochoid tooth form
Difference and rigging error are minimized, and can reduce manufacturing expense.
Input gear 290 can be arranged in the installing space of upper frame 200, can be by under lower frame 100
End (on the basis of Fig. 4) (or input side) links with motor 120.The travelling gear 170 and input gear for illustrating before
290 engagements simultaneously transmit power to input gear 290.That is, travelling gear 170 and input gear 290 is with straight spur gear (spur
Gear) type or the engagement of helical gear (helical gear) type, the rotary shaft of travelling gear 170 and the rotation of input gear 290
Rotating shaft is configured to be parallel to each other.But, different from the present embodiment, input gear 290 can also directly with the rotation of motor 120
Rotating shaft links, or is engaged with travelling gear 170 with bevel gear type.
First and second eccentric shaft S1, S2 is protruded successively from input gear 290 towards outlet side, and the first eccentric shaft S1 is located at
Closer to the position of input gear 290 compared with the second eccentric shaft S2.Rotation of first and second eccentric shaft from input gear 290
Center is eccentric, and eccentric direction is rightabout, and offset is roughly the same.First and second eccentric shaft S1, S2 pass through central shaft
210 link with input gear 290.
First and second tabular gear 302,304 is the disc-shape of formed objects, and with epitrochoid tooth form.First
And second tabular gear 302,304 be mutually close to and fix, and with being formed at multiple plate holes of surrounding on the basis of center
310.As shown in fig. 6, first and second tabular gear 302,304 is mutually tied by the steady pin 330 being inserted into plate hole 310
Close, power can be transmitted to output block 220.
First tabular gear 302 is arranged on the first eccentric shaft S1 in the way of it can rotate, and the second tabular gear 304 is with energy
The mode of enough rotations is arranged on the second eccentric shaft S2.First and second tabular gear 302,304 is mutually prejudicially configured, and with
Rotated while the rotation of first and second eccentric shaft S1, S2 and contacted with pin gear 110, according to first and second plate
Shape gear 302,304 is slowed down with the number of teeth (number of teeth) difference of pin gear 110.
The number of teeth of one more than the number of teeth that tabular gear 300 has than pin gear 110, thus tabular gear 300 with input
The speed reducing ratio that the rotating speed of gear 290 is in a ratio of " 1/n " (number of teeth of n=tabulars gear 300) is slowed down and is rotated.For example, such as
The number of teeth of fruit tabular gear 300 is 50, then the number of teeth of pin gear 110 is 51, and tabular gear 300 has 1/50 speed reducing ratio.
In addition, make first and second tabular gear 302,304 round about bias in the state of to output block 220
Transmission power in the case of, can by first and second tabular gear 302,304 offset produced by vibration, can by with pin
The engagement reinforcing twice of gear 110.Also, output block 220 has combined hole 520, protruded from the one side of tabular gear 300
In with reference to the Intercalation hole 520 of pin 340, first and second tabular gear 302,304 is set to be combined with output block 220.
As shown in FIG. 6 and 7, lower frame 200 has be recessed along the inner peripheral surface bearing groove 120 to be formed, bearing groove 120
Positioned at the outlet side of pin gear 110.Crossed roller bearing 400 is arranged on the outlet side of tabular gear 300, and output block 220 sets
Put the outlet side in crossed roller bearing 400.The part insertion of crossed roller bearing 400 is arranged in bearing groove 120, remaining
Partial insertion is arranged in the groove (not shown) formed from lower surface (on the basis of Fig. 4) depression of output block 220.Output
Part 220 can flexibly be rotated in the state of being supported by crossed roller bearing 400.In the present embodiment with crossed roller
It is illustrated as a example by bearing 400, but crossed roller bearing 400 can also be replaced by other bearings.
It has been fixedly installed in addition including crossed roller bearing 400 on the output side external surface of lower frame 200 in the past
Bear box (not shown).But, according to this embodiment, it can regard outer ring and the lower frame 200 of crossed roller bearing 400 as
It is integrally formed, thus, it is possible to crossed roller bearing 400 and the one of lower frame 200 are realized such that it is able to make rigging error or
Mismachining tolerance is minimized.
Especially, it is not necessary to other fixing bearing housing as in the past, therefore, it is possible to omit the fixing bolt of additional needs
And expense can be reduced, can be omitted in assembling it is accurate carry out center operation and precision and productivity ratio can be improved.
At the same time, lightweight and miniaturization can be realized by minimizing volume and weight.
Output block 220 is round flange form, therefore with the very freedom of the connection for exporting and easy advantage.
That is, the output shaft being made up of axle (Shaft) form needs to be assembled in the form of linking shaft coupling or bond conjunction on axle
And the power after slowing down is used, thus it is very inconvenient, and the output block 220 of round flange type only needs to form multiple defeated
Go out part link mouth and simply fastening bolt just can enter one using the power after slowing down, ease of use on required position
Step enhancing.In addition, output block 220 has centrally disposed output shaft 510.
Fig. 7 is the exploded perspective view for representing secondary speed-reducing module and position detector shown in Fig. 1, and Fig. 8 is to represent Fig. 7 institutes
Swingle and magnet, the exploded perspective view of rod bearing for showing.
As shown in Figures 7 and 8, secondary speed-reducing module also includes position detector 600, can detect output block 220
Rotation.Position detector 600 can be that detection detects output block 220 according to the rotating speed of the direction of rotation of output block 220
The encoder of the position of (or output shaft 510), or the magnetic encoder as absolute encoder.But, as described later,
Position detector 600 can also be replaced by potentiometer (potentiometer) or optical profile type rotation absolute encoder.Detect position
The positional information that device 600 will be detected is transferred to controller (not shown) after being converted to electric signal, and controller can be by anti-
Present and the input value of motor is controlled.
Swingle 610 is successively in insertion input gear 290, first and second eccentric shaft S1, S2 and tabular gear 300
The heart is simultaneously fixed on output shaft 510.Magnet 620 is built in the input side of swingle 610.Rod shell 640 is arranged on upper frame
200 input side center, the insertion of rod bearing 630 is arranged in rod shell 640, and the swingle 610 to being built-in with magnet 620 is carried out
Support.
Printed circuit board (PCB) 650 separates setting from magnet 620, is arranged on as the magnetic encoder of position detecting element 652
On printed circuit board (PCB) 650.Position detecting element 652 is located on the opening (not shown) of rod shell 640 and when magnet 620 rotates
Detect the change of magnetic flux density, the position thus, it is possible to detect swingle 610.
From the description above, the power being input into by travelling gear 170 is via secondary speed-reducing module with fixed speed reducing ratio
Exported by output block 220 after deceleration, the positional information of output block 220 is fed back to controller by position detector 600,
It is capable of the rotation of critically controlled output part 220 so as to controller.
The present invention has been described in detail by preferred embodiment, but the present invention can also be in the form of unlike this
Embodiment is implemented.Therefore, the technological thought and scope of the claim below recorded are not limited to preferred embodiment.
The form of implementation of invention
Hereinafter, the Fig. 9 to Figure 22 with reference to appended by is described in detail to embodiments of the invention.Implementation of the invention
Example can deform in a variety of forms, it is impossible to be construed to the scope of the present invention and be limited to embodiment explained below.The present embodiment be for
Those skilled in the art are illustrated in greater detail with the present invention and is provided.Therefore, the shape of each key element for being represented in accompanying drawing has
May exaggerate and represent more clearly to emphasize.Hereinafter only pair content different from the embodiment for illustrating before is said
Bright, explanation omitted below can be replaced by the content for illustrating before.
Fig. 9 be roughly represent actuator assembly according to the second embodiment of the present invention stereogram, as shown in figure 9,
Actuator assembly also includes being fastened on the extension adapter 20 of lower frame 100, and extension adapter 20 has for lower frame 100
The opening of the quadrilateral shape alongst inserted.Also, extension adapter 20 is relative with the faying face of lower frame 100
It is formed with multiple upper extension combined mouths 24 on the face answered, upper extension combined mouth 24 is in the same manner as combined mouth 182 with first
The second interval d1 parallel interval d2 and the first width W1 is separated to form.Extension adapter 20 can utilize other secure component
(not shown) fastens to upper extension combined mouth 24 and combined mouth 182 such that it is able under being fixed on extension adapter 20
Portion's framework 100, the position of lower frame 100 can be adjusted along the length direction of extension adapter 20, and can be
It is fixed by upper extension combined mouth 24 and combined mouth 182 on position after regulation.Now, combined mouth 182 can including
Ridge is formed with side face, secure component can be screwed with combined mouth 182.
Figure 10 is the stereogram for roughly representing actuator assembly according to the third embodiment of the invention.Such as Figure 10 institutes
Show, actuator assembly also includes the profile adapter 30 being fastened on extension adapter 20.Profile adapter 30 possesses plate shaped
The outline frame 34 that the profile flange 32 of shape and the one side from profile flange 32 are protruded.Outline frame 34 has opening for quadrilateral shape
Mouthful, it is same with combined mouth 182, multiple outline frames link mouths 36 with along the first of projected direction be spaced d1 and with profile flange
32 the first parallel width W1 are separated to form.Outline frame 34 be inserted into extension adapter 20 among with lower frame 100
The opposite position in insertion position.
In addition, extension adapter 20 has the multiple bottoms formed on face corresponding with faying face and link surface respectively
Extension combined mouth 26.Bottom extension combined mouth 26 is formed in insertion position phase with lower frame 100 among extension adapter 20
On anti-position, formed with the first width W1 in the same manner as outline frame link mouth 36.Therefore, by other secure component
(not shown) links mouth 36 and fastens to bottom extension combined mouth 26 and outline frame such that it is able to consolidate profile adapter 30
It is scheduled on extension adapter 20, the position of profile adapter 30 can be adjusted along the length direction of extension adapter 20,
And can be after adjustment position on combined mouth 26 and outline frame extended by bottom link mouth 36 and be fixed.
Figure 11 is the figure for representing the profile flange shown in Figure 10.In addition, as shown in figure 11, profile flange 32 have first to
Fourth contoured flange links mouth 33,35,38,39.Second profile flange links mouth 33 to be formed at the central of profile flange 32
Configured on concentric circles centered on opening.The first profile flange link mouth 35 by the second profile flange link mouth 33 centered on and
Configuration is constituted square in both sides so that the first interval d1 is separated to form from the second profile flange link mouth 33.Third round
Wide flange links mouth 38 and is formed in four edge portions of profile flange 32, and is constituted just so that the second width W2 is separated to form
It is square.Fourth contoured flange is linked mouth 39 and is located at the foursquare seamed edge for being linked the formation of mouth 33 by the second profile flange, and
It is separated to form with the first width W1.
Figure 12 is the stereogram for roughly representing actuator assembly according to the fourth embodiment of the invention.Shown in Figure 11
3rd embodiment on the basis of, profile adapter 30 can be fastened on other lower frame 100'.By other tight
Gu part (not shown) links mouth 35 to combined mouth 182' with the first profile flange fasten such that it is able to by profile adapter
30 are fixed on lower frame 100', and the position of profile adapter 30 can be adjusted along the length direction of lower frame 100'
Section, and can be after adjustment position on, mouth 35 is linked by combined mouth 182' and the first profile flange and is fixed.
Figure 13 is the stereogram for roughly representing actuator assembly according to the fifth embodiment of the invention.Illustrate before
Profile adapter 30 can be fastened on output block 220.Output block 220 has centered on output shaft 510 and configures
Multiple output blocks on concentric circles link mouth, and mouth 33 is linked to the second profile flange by other secure component (not shown)
Link mouth with output block to be fastened such that it is able to which profile adapter 30 is fixed on output block 220.
Figure 14 is the stereogram for roughly representing actuator assembly according to the sixth embodiment of the invention, Figure 15 and Figure 16
It is the stereogram for roughly representing actuator assembly according to the seventh embodiment of the invention.First, as shown in Figure 15 and Figure 16,
Actuator assembly possesses extension flange 300 and rotary part 320.Bottom (the upper box of extension flange 300 and lower frame 100
The opposition side of frame 200) combine, rotary part 320 links and can rotate with extension flange 300.Rotary part 320 have with it is defeated
Go out the same structure of part 220, mouth is linked with the multiple rotary parts being formed on the basis of center on concentric circles.
Also, actuator assembly also includes the hinge adapter 10 being fastened on output block 220 and rotary part 320,
Hinge adapter 10 possesses rotating frame 14,16 and framework 12.Rotating frame 14 have be formed on the basis of center
Fastening port 15a on concentric circles, links mouth 15a to rotation and links mouth with output block by other secure component (not shown)
Fastened such that it is able to which rotating frame 14 is fixed on output block 220.With this similarly, the rotation of rotating frame 16 connects
Knot mouth can link open tightening with the rotary part of rotary part 320, and rotating frame 16 can be fixed on rotary part 320.
Framework 12 is to enter the writing board shape of joining line to rotating frame 14,16, and along the length of lower frame 100
Direction is configured in outside.There is framework 12 first and second framework to link mouth 17,13.First framework links mouth
17 are separated to form with the first interval d1 alongst and along the first width W1 in the direction vertical with length direction, the
Two frameworks link second of mouth 13 with the first interval d1 alongst and along the direction vertical with length direction
Width W2 is separated to form.
Figure 14 is observed again, and profile adapter 30 can be fastened in framework 12.By other secure component (not
Diagram) the first profile flange link mouth 35 and the first framework link mouth 17 are fastened such that it is able to profile is adapted to
Device 30 is fixed in framework 12, and the position of profile adapter 30 can be adjusted along the length direction of framework 12
Section, and can be after adjustment position on mouth 35 and first framework linked by the first profile flange link mouth 17 and carry out
It is fixed.Also, link the framework of mouth 38 and second to third round exterior feature flange by other secure component (not shown) to link
Mouth 13 is fastened such that it is able to profile adapter 30 is fixed in framework 12, the position of profile adapter 30 can
Be adjusted along the length direction of framework 12, and can be after adjustment position on by third round exterior feature flange link
The framework of mouth 38 and second links mouth 13 and is fixed.
Figure 17 is the stereogram of the actuator assembly for roughly representing the 8th embodiment of the invention.Such as Figure 17 institutes
Show, lower frame 100 can be fastened in framework 12.By other secure component (not shown) to fastening port 184 with
Second framework links mouth 13 and is fastened such that it is able to lower frame 100 is fixed in framework 12, lower frame
100 position can be adjusted along the length direction of framework 12, and can be after adjustment position on by tight
Gu the framework of mouth 184 and second links mouth 13 it is fixed.
Figure 18 is the stereogram of the actuator assembly for roughly representing the 9th embodiment of the invention, and Figure 19 is outline
The stereogram of the link adapter shown in earth's surface diagram 18.As shown in Figure 18 and Figure 19, actuator assembly also includes linking being adapted to
Device 40, linking adapter 40 can be fastened in mutually different lower frame 100,100'.Link adapter 40 and possess adaptation
Device plate 42 and adapter flange 44, adapter flange 44 link with the both sides of adaptor plate 42 respectively.
There is adaptor plate 42 first to fourth adapter to link mouth 43,47,48,49.Second adapter link mouth 47 with
It is formed at centered on the central opening of adaptor plate 42 and configures on concentric circles.It is suitable with second that 3rd adapter links mouth 48
Configured in both sides centered on orchestration link mouth 47, and mouth 47 is linked from the second adapter with the first interval d1 and be separated to form and structure
Into square.4th adapter links mouth 49 positioned at the foursquare seamed edge for linking the formation of mouth 48 by the 3rd adapter, and with
First width W1 is separated to form.First adapter links four edge portions that mouth 43 is formed in adaptor plate 42, and with second
Width W2 is separated to form and constitutes square.Also, there are adapter flange 44 multiple flanges to link mouth 46, and flange links mouth 46
It is separated to form with the first interval d1 along the length direction of adapter flange 44.
Adaptor plate 42 with structure as described above can be fastened in mutually different lower frame 100,100'.
Link mouth 43 to fastening port 184 and the first adapter by other secure component (not shown) to fasten such that it is able to will
Link adapter 40 to be fixed in lower frame 100.Also, mouth 46 is linked to flange by other secure component (not shown)
Fastened with combined mouth 182' such that it is able to adapter 40 will be linked and be fixed on lower frame 100', link adapter 40
Position can be adjusted along the length direction of lower frame 100', and can be after adjustment position on pass through flange
Link mouth 46 and combined mouth 182' is fixed.
Figure 20 is the stereogram of the actuator assembly for roughly representing the tenth embodiment of the invention.Illustrate before
Linking adapter 40 can be fastened on output block 220.The second adapter is connected by other secure component (not shown)
Knot mouth 47 links mouth and is fastened with output block such that it is able to will link adapter 40 and is fixed on output block 220.
Figure 21 is the stereogram of the actuator assembly for roughly representing the 11st embodiment of the invention.Illustrate before
The embodiment for Figure 18 and Figure 20 can be applied as shown in figure 21.
Figure 22 is the stereogram of the actuator assembly for roughly representing the 12nd embodiment of the invention.Such as Figure 22 institutes
Show, linking adapter 40 can be fastened in framework 12.By other secure component (not shown) to the 3rd adapter
Link mouth 48 to be fastened with the first framework link mouth 17 such that it is able to adapter 40 will be linked and be fixed on framework 12
On, the position for linking adapter 40 can be adjusted along the length direction of framework 12, and can be after adjustment
Link the framework of mouth 48 and first link mouth 17 by the 3rd adapter on position to be fixed.Also, by other tight
Gu part (not shown) links mouth 43 to the first adapter fastened with the first framework link mouth 17 such that it is able to will be even
Knot adapter 40 is fixed in framework 12, and the position for linking adapter 40 can be entered along the length direction of framework 12
Row regulation, and can be after adjustment position on by the first adapter link mouth 43 and first framework and link mouth 17
Row is fixed.
Detailed description according to more than, actuator assembly can be to shape by the combination of various structures and these structures
Various modifications or expansion are carried out with size, thus enables that the free degree of robot is maximized, while not limited by set location
Make and can freely set.
The present invention has been described in detail by preferred embodiment, but the present invention can also be with the reality of form unlike this
Apply example implementation.Therefore, the technological thought and scope of the claim below recorded are not limited to preferred embodiment.
Industrial applicability
The present invention can be applied to include in the various decelerators of cycloidal reducer and driver.
Claims (13)
1. a kind of actuator assembly, it is characterised in that including：
Motor；
A more than one reduction gearing, it passes through above-mentioned motor and is rotated；
The lower frame of rectangular shape, it is provided with above-mentioned motor and an above-mentioned reduction gearing, and with mutual
Parallel two basic change face and two link surfaces vertical with above-mentioned faying face；
More than one secondary speed-reducing gear, its by unlimited one end of above-mentioned lower frame, with an above-mentioned reduction gearing
Engage and rotate；
Upper frame, its be provided with above-mentioned secondary speed-reducing gear and with above-mentioned lower frame link, and possess main body and with it is upper
The two ends for stating main body link and are formed with the upper flange and lower flange of opening in center respectively；And
Output block, it is fastened on above-mentioned secondary speed-reducing gear, and is rotated on above-mentioned upper frame,
Above-mentioned lower frame has with parallel with the side long of above-mentioned faying face the first interval and is put down with the short side of above-mentioned faying face
Multiple combined mouths that the first capable width is separated to form,
There are above-mentioned output block the multiple output blocks being formed on the basis of pivot on concentric circles to link mouth,
Above-mentioned actuator assembly also includes：
Extension flange, it is combined with the other end of above-mentioned lower frame；
Rotary part, it links with above-mentioned extension flange and can rotate, and with being formed in concentric circles on the basis of center
Upper and corresponding with above-mentioned output block link mouth multiple rotary parts link mouth；
Rotating frame, it links with above-mentioned output block and above-mentioned rotary part respectively, and has and above-mentioned output block respectively
Link mouth and above-mentioned rotary part links the corresponding multiple rotations of mouth difference and links mouth；And
The framework of writing board shape, it enters joining line to above-mentioned rotating frame.
2. actuator assembly according to claim 1, it is characterised in that
Above-mentioned actuator assembly also includes extension adapter, and the extension adapter has for above-mentioned lower frame alongst
The opening of the quadrilateral shape of insertion,
Above-mentioned extension adapter on the face corresponding with above-mentioned faying face with spaced and parallel with above-mentioned first second interval and
Above-mentioned first width is separated to form the multiple upper extension combined mouths corresponding with above-mentioned combined mouth.
3. actuator assembly according to claim 2, it is characterised in that
Above-mentioned extension adapter has under the multiple formed respectively on the face corresponding with above-mentioned faying face and above-mentioned link surface
Portion extends combined mouth,
Above-mentioned actuator assembly also includes the profile adapter of the bottom for being fastened on above-mentioned extension adapter,
Above-mentioned profile adapter possesses：
The profile flange of writing board shape；And
Outline frame, it has the opening of the quadrilateral shape protruded from the one side of above-mentioned profile flange, and with the above-mentioned first interval
And above-mentioned first width is separated to form the multiple outline frames corresponding with above-mentioned bottom extension combined mouth and links mouth.
4. actuator assembly according to claim 3, it is characterised in that
Above-mentioned profile flange has in the mode corresponding with above-mentioned combined mouth with the above-mentioned first interval and above-mentioned first width point
Link mouth every the multiple the first profile flanges for being formed.
5. actuator assembly according to claim 1, it is characterised in that
Above-mentioned lower frame in above-mentioned one end of above-mentioned link surface there are the multiple frameworks being separated to form with above-mentioned first width to connect
Knot mouth,
Above-mentioned lower flange is had in side and is separated to form with above-mentioned first width and links corresponding many of mouth with said frame
Individual flange links mouth.
6. actuator assembly according to claim 5, it is characterised in that
Above-mentioned actuator assembly also includes profile adapter, and the profile adapter is fastened on the pivot of above-mentioned output block
On the basis of and be formed in the multiple output blocks on concentric circles link mouth,
Above-mentioned profile adapter possesses：
The profile flange of writing board shape；And
Outline frame, it has the opening of the quadrilateral shape protruded from the one side of above-mentioned profile flange,
Above-mentioned profile flange have be formed on the basis of center on concentric circles and with above-mentioned output block link mouth it is corresponding
Multiple second profile flanges link mouth.
7. actuator assembly according to claim 5, it is characterised in that
Above-mentioned framework have with along the length direction of above-mentioned framework it is above-mentioned first interval and along with above-mentioned length
Multiple first frameworks that above-mentioned first width in the vertical direction in degree direction is separated to form link mouth,
Above-mentioned actuator assembly also includes being fastened on the profile adapter that above-mentioned first framework links mouth,
Above-mentioned profile adapter possesses：
The profile flange of writing board shape, it has and links the corresponding mode of mouth with above-mentioned first framework, with above-mentioned the
Multiple the first profile flanges that one interval and above-mentioned first width are separated to form link mouth；And
Outline frame, it has the opening of the quadrilateral shape protruded from the one side of above-mentioned profile flange.
8. actuator assembly according to claim 5, it is characterised in that
Above-mentioned framework have with along the length direction of above-mentioned framework it is above-mentioned first interval and along with above-mentioned length
Multiple second frameworks that second width in the vertical direction in degree direction is separated to form link mouth,
Above-mentioned lower frame has multiple binding grooves, the rib that the plurality of binding groove intersects along above-mentioned faying face with above-mentioned link surface
Side forms and is respectively formed with fastening port in both ends of the surface, and above-mentioned fastening port is with parallel with the short side of above-mentioned short side and above-mentioned link surface
The second width be separated to form.
9. actuator assembly according to claim 1, it is characterised in that
Above-mentioned lower frame has multiple binding grooves, the rib that the plurality of binding groove intersects along above-mentioned faying face with above-mentioned link surface
Side forms and is respectively formed with fastening port in both ends of the surface, and above-mentioned fastening port separates shape with the second width parallel with above-mentioned short side
Into,
Above-mentioned actuator assembly also includes the link adapter combined with the other end of above-mentioned lower frame,
Above-mentioned link adapter possesses：
Adaptor plate, it is combined with the above-mentioned other end of above-mentioned lower frame, and with above-mentioned second width be separated to form with it is upper
State corresponding multiple first adapters of fastening port and link mouth；And
Adapter flange, it links with the both sides of above-mentioned adaptor plate respectively.
10. actuator assembly according to claim 1, it is characterised in that
Above-mentioned lower frame has multiple binding grooves, the rib that the plurality of binding groove intersects along above-mentioned faying face with above-mentioned link surface
Side forms and is respectively formed with fastening port in both ends of the surface, and above-mentioned fastening port separates shape with the second width parallel with above-mentioned short side
Into,
Above-mentioned actuator assembly also includes the link adapter combined with above-mentioned faying face,
Above-mentioned link adapter possesses：
Adaptor plate, it is opposed with above-mentioned link surface；And
Adapter flange, it links with the both sides of above-mentioned adaptor plate respectively, and with the above-mentioned first interval be separated to form with it is upper
State the corresponding multiple flanges of combined mouth and link mouth.
11. actuator assemblies according to claim 5, it is characterised in that
Above-mentioned actuator assembly also includes linking adapter, and the link adapter is fastened on the pivot of above-mentioned output block
On the basis of be formed in multiple output blocks on concentric circles and link mouth,
Above-mentioned link adapter possesses：
Adaptor plate, it is fastened with above-mentioned output block, and with being formed on the basis of center on concentric circles and defeated with above-mentioned
Go out part and link the corresponding multiple second adapters link mouth of mouth；And
Adapter flange, it links with the both sides of above-mentioned adaptor plate respectively.
12. actuator assemblies according to claim 5, it is characterised in that
Above-mentioned framework have with along the length direction of above-mentioned framework it is above-mentioned first interval and along with above-mentioned length
Multiple first frameworks that above-mentioned first width in the vertical direction in degree direction is separated to form link mouth,
Above-mentioned actuator assembly also includes being fastened on the link adapter that above-mentioned first framework links mouth,
Above-mentioned link adapter possesses：
Adaptor plate, there are multiple 3rd adapters to link mouth for it, and the plurality of 3rd adapter links mouth and connects with above-mentioned first
Knot framework links the corresponding mode of mouth, is separated to form with the above-mentioned first interval and above-mentioned first width；And
Adapter flange, it links with the both sides of above-mentioned adaptor plate respectively.
13. actuator assemblies according to claim 5, it is characterised in that
Above-mentioned framework have with along the length direction of above-mentioned framework it is above-mentioned first interval and along with above-mentioned length
Multiple second frameworks that second width in the vertical direction in degree direction is separated to form link mouth,
Above-mentioned actuator assembly also includes being fastened on the link adapter that above-mentioned second framework links mouth,
Above-mentioned link adapter possesses：
Adaptor plate, there are multiple 4th adapters to link mouth for it, and the plurality of 4th adapter links mouth and connects with above-mentioned second
Knot framework links the corresponding mode of mouth, is separated to form with above-mentioned second width；And
Adapter flange, it links with the both sides of above-mentioned adaptor plate respectively.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/KR2012/009073 WO2014069696A1 (en) | 2012-10-31 | 2012-10-31 | Actuator assembly |
| KR10-2012-0122118 | 2012-10-31 | ||
| KR1020120122118A KR101398073B1 (en) | 2012-10-31 | 2012-10-31 | Actuator assembly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104768716A CN104768716A (en) | 2015-07-08 |
| CN104768716B true CN104768716B (en) | 2017-06-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201280076721.XA Active CN104768716B (en) | 2012-10-31 | 2012-10-31 | actuator assembly |
Country Status (3)
| Country | Link |
|---|---|
| KR (1) | KR101398073B1 (en) |
| CN (1) | CN104768716B (en) |
| WO (1) | WO2014069696A1 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101587833B1 (en) * | 2015-01-20 | 2016-01-22 | 주식회사 세진아이지비 | A transmission device for converting a torque |
| KR20160097769A (en) | 2015-02-10 | 2016-08-18 | 동 규 김 | Housing Ventilation systems |
| CN107199557B (en) * | 2016-08-31 | 2024-08-16 | 工心（上海）科技有限公司 | Robot structural unit, robot and robot construction method |
| KR101977692B1 (en) * | 2017-08-11 | 2019-05-13 | 한국기계연구원 | Integrated drive apparatus and industrial robot having the same |
| KR102062503B1 (en) | 2019-10-08 | 2020-01-03 | 주식회사 다성기술 | An actuator module for angle variable |
| CN112091956B (en) * | 2020-07-31 | 2021-07-27 | 深圳市优必选科技股份有限公司 | Steering wheel fixing device and robot |
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- 2012-10-31 WO PCT/KR2012/009073 patent/WO2014069696A1/en active Application Filing
- 2012-10-31 KR KR1020120122118A patent/KR101398073B1/en active IP Right Grant
- 2012-10-31 CN CN201280076721.XA patent/CN104768716B/en active Active
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| US6123375A (en) * | 1998-02-23 | 2000-09-26 | Phd, Inc. | Parts gripper |
| CN1437523A (en) * | 2000-02-25 | 2003-08-20 | 株式会社万代 | Unit set for robot |
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| CN201931466U (en) * | 2010-12-31 | 2011-08-17 | 东莞理工学院 | Manipulator structure with machine vision navigating function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104768716A (en) | 2015-07-08 |
| WO2014069696A1 (en) | 2014-05-08 |
| KR101398073B1 (en) | 2014-05-27 |
| KR20140055389A (en) | 2014-05-09 |
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