CN105459149A - Robot and robot joint thereof - Google Patents
Robot and robot joint thereof Download PDFInfo
- Publication number
- CN105459149A CN105459149A CN201610053232.2A CN201610053232A CN105459149A CN 105459149 A CN105459149 A CN 105459149A CN 201610053232 A CN201610053232 A CN 201610053232A CN 105459149 A CN105459149 A CN 105459149A
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- fixedly connected
- joint
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- 239000003638 chemical reducing agent Substances 0.000 abstract description 23
- 238000001514 detection method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007115 recruitment Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot and a robot joint thereof, wherein the robot joint comprises a shell, a brake, a motor, a speed reducer, a wiring pipe, an incremental encoder and an absolute value encoder, wherein the incremental encoder is arranged on one side of the brake, which is far away from the motor, and is used for detecting the rotation of a motor shaft, and the absolute value encoder is arranged on one side of the speed reducer, which is far away from the motor, and is used for detecting the rotation of an output shaft of the speed reducer; the cavity hole along its axis is all seted up to stopper, motor and speed reducer, the spool of walking passes in proper order the cavity hole of stopper, motor and speed reducer, stopper, motor and the coaxial setting of speed reducer. Because the incremental encoder has been set up in the one side of keeping away from the motor of stopper, the absolute value encoder has been set up in the one side of keeping away from the motor at the speed reducer simultaneously, so incremental encoder detects the rotation of motor shaft, and the absolute value encoder detects the rotation of speed reducer output shaft simultaneously, has improved the precision that detects greatly.
Description
Technical field
The present invention relates to robotics, particularly a kind of robot and joint of robot thereof.
Background technology
Along with the more sternness of the waste phenomenon of recruitment, and under the overall situation of International Industry 4.0, country has put into effect " made in China 2025 " plan, and table top laid out by high-end intelligence equipment, and intelligent robot industry welcomes one and takes turns new development opportunity.How to realize robot to work together with people, simultaneously for security, the consideration that can cooperate and be easy to the aspects such as assembling, expedite the emergence of the generation of lightweight modular robot.
Application number be CN104400794A patent discloses a kind of robot module joint, it installs complexity, a built-in absolute value encoder, and accuracy of detection is not high, and it is higher that brake is embedded in the requirement of motor internal to structural design and parts type selecting.
In sum, how improving the accuracy of detection of joint of robot, is current those skilled in the art's urgent problem.
Summary of the invention
In view of this, first object of the present invention is to provide a kind of joint of robot, the structural design of this joint of robot can improve the accuracy of detection of joint of robot effectively, and second object of the present invention is to provide a kind of robot comprising above-mentioned joint of robot.
In order to reach above-mentioned first object, the invention provides following technical scheme:
A kind of joint of robot, comprise housing, brake, motor, reductor and walk spool, and described brake, motor and speed reducer set gradually along motor axial direction, also comprise the side away from motor being arranged at described brake for detect motor shaft rotate incremental encoder and be arranged at described reductor away from motor side for detect speed reducer output shaft rotate absolute value encoder;
Described brake, motor and speed reducer all offer the hollow hole along its axis, described in walk spool successively through described brake, motor and speed reducer hollow hole, described brake, motor and reductor are coaxially arranged.
Preferably, in above-mentioned joint of robot, described in walk spool one end be rotationally connected by the motor shaft of bearing and described motor;
Also comprise the first output flange be fixedly connected with the firm wheel of described reductor, described in walk spool the other end be rotationally connected by bearing and described first output flange.
Preferably, in above-mentioned joint of robot, described incremental encoder is also provided with and described housing relatively-stationary driver integrated PCB plate away from the side of described brake, described in walk spool through described driver integrated PCB plate being fixedly connected with described driver integrated PCB plate.
Preferably, in above-mentioned joint of robot, also comprise the multiple pillars being parallel to motor shaft axis be fixedly connected with described housing, described pillar is fixedly connected with described driver integrated PCB plate;
Also comprise the support be fixedly connected with described pillar, wherein incremental encoder read head is fixing on the bracket.
Preferably, in above-mentioned joint of robot, the flexbile gear of described reductor is fixedly connected with housing, and absolute value encoder rotor is fixedly connected with described first output flange, and absolute value encoder circuit board is fixedly connected with by the flexbile gear of gripper shoe with described reductor.
Preferably, in above-mentioned joint of robot, also comprise the second output flange be fixedly connected with described first output flange, the wave producer of described reductor is connected with motor shaft by adpting flange.
Preferably, in above-mentioned joint of robot, the motor shaft of described motor is axially divided into first paragraph and second segment along it, and described first paragraph is all fixedly connected with incremental encoder code-disc with described brake rotor hub, and described second segment is positioned at rotor inside and is fixedly connected with it.
Preferably, in above-mentioned joint of robot, also comprise the brake stator installing plate be fixedly connected with described housing, the motor shaft of described motor is rotationally connected by bearing and described brake stator installing plate, and brake stator is fixedly connected with described brake stator installing plate.
Preferably, in above-mentioned joint of robot, between described brake stator installing plate and described housing, be also provided with cushion.
A kind of robot, comprises as the joint of robot according to any one of above-mentioned.
Joint of robot provided by the invention comprises housing, brake, motor, reductor and walks spool, and wherein brake, motor and speed reducer set gradually along motor axial direction, and brake, motor and speed reducer are arranged at enclosure interior.Focus on, this joint of robot also comprises incremental encoder and absolute value encoder, wherein incremental encoder be arranged on brake the side away from motor and can detect motor motor shaft rotate, absolute value encoder be arranged at reductor away from the side of motor and can detect speed reducer output shaft rotate.So, incremental encoder, brake, motor, reductor and absolute value encoder set gradually along motor axial direction.In addition, walk spool successively through the hollow hole of brake, motor and speed reducer, namely brake, motor and speed reducer all offer the hollow hole along its axis, and brake, motor and speed reducer are coaxially arranged.Walk spool also coaxially to arrange with brake, motor and speed reducer.
In joint of robot provided by the invention, because the side away from motor at brake is provided with incremental encoder, simultaneously be provided with absolute value encoder at reductor away from the side of motor, incremental encoder like this detects the rotation of motor shaft, absolute value encoder detects the rotation of speed reducer output shaft simultaneously, with only arrange compared with an encoder in prior art, substantially increase the precision of detection.In addition, brake, motor and speed reducer are coaxially arranged, and walk spool successively through the hollow hole of brake, motor and speed reducer, critical piece like this and brake, motor and speed reducer are hollow structure, make the structure of this joint of robot compacter.
In order to reach above-mentioned second object, present invention also offers a kind of robot, this robot comprises any one joint of robot above-mentioned.Because above-mentioned joint of robot has above-mentioned technique effect, the robot with this joint of robot also should have corresponding technique effect.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The sectional view of the joint of robot that Fig. 1 provides for the embodiment of the present invention.
In FIG:
1-bonnet, 2-pillar, 3-driver integrated PCB plate, 4-brake, 4a-brake rotor hub, 4b-brake stator, 5-brake stator installing plate, 6-motor, 6a-motor stator, 6b-rotor, 6c-motor shaft, 7-adpting flange, 8-reductor, 9-absolute value encoder, 9a-absolute value encoder circuit board, 9b-absolute value encoder rotor, 10-incremental encoder, 11-cushion, 12-housing, 13-walks spool, 14-first output flange, 15-second output flange, 16-support.
Detailed description of the invention
First object of the present invention is to provide a kind of joint of robot, and the structural design of this joint of robot can improve the accuracy of detection of joint of robot effectively, and second object of the present invention is to provide a kind of robot comprising above-mentioned joint of robot.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Refer to Fig. 1, the joint of robot that the embodiment of the present invention provides comprises housing 12, brake 4, motor 6, reductor 8 and walks spool 13, wherein brake 4, motor 6 and reductor 8 set gradually along motor shaft 6c to direction, and brake 4, motor 6 and reductor 8 are arranged at housing 12 inside.Focus on, this joint of robot also comprises incremental encoder 10 and absolute value encoder 9, wherein incremental encoder 10 is arranged on the side away from motor 6 of brake 4 and the motor shaft 6c that can detect motor 6 rotates, and absolute value encoder 9 is arranged at reductor 8 away from the side of motor 6 and can detects reductor 8 output shaft rotation.So, incremental encoder 10, brake 4, motor 6, reductor 8 and absolute value encoder 9 set gradually along motor shaft 6c to direction.In addition, walk spool 13 successively through the hollow hole of brake 4, motor 6 and reductor 8, namely brake 4, motor 6 and reductor 8 all offer the hollow hole along its axis, and brake 4, motor 6 and reductor 8 are coaxially arranged.Walk spool 13 also coaxially to arrange with brake 4, motor 6 and reductor 8.
In the joint of robot that the embodiment of the present invention provides, because the side away from motor 6 at brake 4 is provided with incremental encoder 10, simultaneously be provided with absolute value encoder 9 at reductor 8 away from the side of motor 6, incremental encoder 10 like this detects the rotation of motor shaft 6c, absolute value encoder 9 detects the rotation of reductor 8 output shaft simultaneously, with only arrange compared with an encoder in prior art, substantially increase the precision of detection.In addition, brake 4, motor 6 and reductor 8 are coaxially arranged, and walk spool 13 successively through the hollow hole of brake 4, motor 6 and reductor 8, critical piece like this and brake 4, motor 6 and reductor 8 are hollow structure, make the structure of this joint of robot compacter.
Wherein, incremental encoder 10, brake 4, motor 6, reductor 8 and absolute value encoder 9 are all coaxially arranged, and make this joint of robot symmetrical up and down along the horizontal plane crossing motor shaft 6c axis, structure is compacter.By glued together between rotor 6b and motor shaft 6c.
In order to optimize technique scheme further, this joint of robot also comprises the first output flange 14 be fixedly connected with the firm wheel of reductor 8, the one end wherein walking spool 13 can be rotationally connected by the motor shaft 6c of bearing and motor 6, and the other end walking spool 13 is rotationally connected by bearing and the first output flange 14.The two ends so walking spool 13, all by bearings, substantially increase away the rigidity of spool 13, can resistance to deformation.Certainly, the two ends walking spool 13 also can support by means of only sealing ring, in this no limit.
Further, incremental encoder 10 is also provided with and housing 12 relatively-stationary driver integrated PCB plate 3 away from the side of brake 4, walks spool 13 through driver integrated PCB plate 3, and walks spool 13 and be fixedly connected with driver integrated PCB plate 3.Particularly, can arrange connecting ring in the end walking spool 13, driver integrated PCB plate 3 is fixedly connected with by screw with the connecting ring walking spool 13 end.So, driver integrated PCB plate 3 also and can be walked spool 13 and coaxially arranges with brake 4, makes this joint of robot symmetrical up and down along the horizontal plane crossing electrical axis.
Wherein, the support 16 that this joint of robot can also comprise multiple pillar 2 and be fixedly connected with pillar 2, wherein multiple pillar 2 is fixedly connected with housing 12, and multiple pillar 2 is all parallel to motor shaft axis, driver integrated PCB plate 3 is all fixedly connected with multiple pillar 2, realizes the fixing of driver integrated PCB plate 3 with this.Multiple pillar 2 can distribute along the circumference of this joint of robot, and driver integrated PCB plate 3 can be threaded with pillar 2 particularly, and multiple pillar 2 passes driver integrated PCB plate 3 and is threaded.Certainly, driver integrated PCB plate 3 also can directly be fixedly connected with housing 12, in this no limit.
In addition, support 16 is fixedly connected with pillar 2, and wherein the incremental encoder read head of incremental encoder 10 is fixed on support 16, achieves the fixing of incremental encoder read head with this.Support 16 can be fixedly connected with by screw with incremental encoder read head.Certainly, support 16 also can directly be fixed on housing 12, in this no limit.
This joint of robot can also comprise the bonnet 1 be located at outside driver integrated PCB plate 3 and pillar 2, and end and the housing 12 of bonnet 1 interlock, and bonnet 1 is threaded with pillar 2, and bonnet 1 like this can dismantle the maintenance being more convenient to this joint of robot.
In the present embodiment, the flexbile gear of reductor 8 is fixedly connected with housing 12, the absolute value encoder rotor 9b of absolute value encoder 9 is fixedly connected with the first output flange 14, the absolute value encoder circuit board 9a of absolute value encoder 9 is fixedly connected with by the flexbile gear of gripper shoe with reductor 8, achieves fixed absolute value encoder circuit plate 9a with this.Wherein, gripper shoe can be fixedly connected with by the flexbile gear of screw with reductor 8.
Further, this joint of robot can also comprise the second output flange 15 be fixedly connected with the first output flange 14, and the wave producer of reductor 8 is connected with motor shaft 6c by adpting flange 7.Namely motor shaft 6c passes to power by adpting flange 7 wave producer of reductor 8.The opening of the second output flange 15 covering shell 12.
In another embodiment, the motor shaft 6c of motor axially can be divided into first paragraph and second segment along it, wherein first paragraph is all fixedly connected with incremental encoder code-disc with brake rotor hub 4a, and it is inner that second segment is positioned at rotor 6b, and rotor 6b is fixedly connected with second segment.So, by extending motor shaft 6c, it is fixing that the first paragraph extended is convenient to brake rotor hub 4a and incremental encoder code-disc.Brake rotor hub 4a is positioned by the shaft shoulder and screw, and incremental encoder code-disc is by split washer and screw location.
In addition, this joint of robot can also comprise the brake stator installing plate 5 be fixedly connected with housing 12, the motor shaft 6c of motor 6 is rotationally connected by bearing and brake stator installing plate 5, brake stator 4b is fixedly connected with brake stator installing plate 5, achieves the fixing of brake stator 4b with this.Brake stator installing plate 5 is between brake 4 and motor 6, and brake stator installing plate 5 as the clamping plate of motor stator 6a, effectively can utilize design feature simultaneously, increases integrally-built compact.
Further, brake stator installing plate 5 can be fixedly connected with by screw with between housing 12, and is also provided with cushion 11 between brake stator installing plate 5 and housing 12.
Based on the joint of robot provided in above-described embodiment, present invention also offers a kind of robot, this robot comprises any one joint of robot in above-described embodiment.The joint of robot in above-described embodiment is have employed, so the beneficial effect of this robot please refer to above-described embodiment due to this robot.
In this description, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. a joint of robot, comprise housing (12), brake (4), motor (6), reductor (8) and walk spool (13), and described brake (4), motor (6) and reductor (8) set gradually along motor (6) axial direction, it is characterized in that, also comprise the side away from motor (6) being arranged at described brake (4) for detect motor (6) axle rotate incremental encoder (10) and be arranged at the absolute value encoder (9) for detect reductor (8) output shaft rotation of described reductor (8) away from the side of motor (6),
Described brake (4), motor (6) and reductor (8) all offer the hollow hole along its axis, described walk spool (13) successively through the hollow hole of described brake (4), motor (6) and reductor (8), described brake (4), motor (6) and reductor (8) are coaxially arranged.
2. joint of robot according to claim 1, is characterized in that, described in walk spool (13) one end be rotationally connected by the motor shaft (6c) of bearing and described motor (6);
Also comprise the first output flange (14) be fixedly connected with the firm wheel of described reductor (8), described in walk spool (13) the other end be rotationally connected by bearing and described first output flange (14).
3. joint of robot according to claim 2, it is characterized in that, described incremental encoder (10) is also provided with and described housing (12) relatively-stationary driver integrated PCB plate (3) away from the side of described brake (4), described in walk spool (13) through described driver integrated PCB plate (3) and be fixedly connected with described driver integrated PCB plate (3).
4. joint of robot according to claim 3, it is characterized in that, also comprise the multiple pillars (2) being parallel to motor shaft (6c) axis be fixedly connected with described housing (12), described pillar (2) is fixedly connected with described driver integrated PCB plate (3);
Also comprise the support (16) be fixedly connected with described pillar (2), wherein incremental encoder read head is fixed on described support (16).
5. joint of robot according to claim 2, it is characterized in that, the flexbile gear of described reductor (8) is fixedly connected with housing, absolute value encoder rotor (9b) is fixedly connected with described first output flange (14), and absolute value encoder circuit board (9a) is fixedly connected with by the flexbile gear of gripper shoe with described reductor (8).
6. joint of robot according to claim 5, it is characterized in that, also comprise the second output flange (15) be fixedly connected with described first output flange (14), the wave producer of described reductor (8) is connected with motor shaft (6c) by adpting flange (7).
7. joint of robot according to claim 1, it is characterized in that, the motor shaft (6c) of described motor (6) is axially divided into first paragraph and second segment along it, described first paragraph is all fixedly connected with incremental encoder code-disc with described brake rotor hub (4a), and described second segment is positioned at rotor (6b) inside and is fixedly connected with it.
8. joint of robot according to claim 1, it is characterized in that, also comprise the brake stator installing plate (5) be fixedly connected with described housing (12), the motor shaft (6c) of described motor (6) is rotationally connected by bearing and described brake stator installing plate (5), and brake stator (4b) is fixedly connected with described brake stator installing plate (5).
9. joint of robot according to claim 8, is characterized in that, is also provided with cushion (11) between described brake stator (4b) installing plate and described housing (12).
10. a robot, is characterized in that, comprises joint of robot as claimed in any one of claims 1-9 wherein.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610053232.2A CN105459149A (en) | 2016-01-25 | 2016-01-25 | Robot and robot joint thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610053232.2A CN105459149A (en) | 2016-01-25 | 2016-01-25 | Robot and robot joint thereof |
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| CN105459149A true CN105459149A (en) | 2016-04-06 |
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| CN201610053232.2A Pending CN105459149A (en) | 2016-01-25 | 2016-01-25 | Robot and robot joint thereof |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105904445A (en) * | 2016-07-01 | 2016-08-31 | 济南时代试金试验机有限公司 | Wire arrangement structure of five/six-axis motor of six-degree-of-freedom industrial robot |
| CN106272535A (en) * | 2016-10-21 | 2017-01-04 | 苏州绿的谐波传动科技有限公司 | A kind of robot integral type articulation structure |
| CN106363623A (en) * | 2016-09-30 | 2017-02-01 | 深圳市同川科技有限公司 | Robot position detecting device and method |
| CN106426135A (en) * | 2016-11-22 | 2017-02-22 | 合肥中科艾帝尔机器人技术有限公司 | Light modular robot driving joint |
| CN106426104A (en) * | 2016-11-10 | 2017-02-22 | 慧灵科技（深圳）有限公司 | Direct-driven horizontal-joint four-axis robot |
| CN106493753A (en) * | 2016-12-27 | 2017-03-15 | 上海归墟电子科技有限公司 | Grating speed-measuring structure, code-disc motor and robot |
| CN107150355A (en) * | 2017-07-03 | 2017-09-12 | 华南理工大学 | A kind of lightweight modules joint of mechanical arm |
| CN107471246A (en) * | 2017-08-21 | 2017-12-15 | 北京精密机电控制设备研究所 | A kind of band band-type brake hollow type compact mechanical shoulder joint |
| CN107498580A (en) * | 2017-10-16 | 2017-12-22 | 河北工业大学 | One kind controls integral Dual-encoder structural module joint |
| CN107662221A (en) * | 2017-07-12 | 2018-02-06 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm |
| CN107718036A (en) * | 2017-08-21 | 2018-02-23 | 北京精密机电控制设备研究所 | A kind of pair is fed back compact hollow integral joint in high precision |
| CN108081256A (en) * | 2017-12-07 | 2018-05-29 | 南京航空航天大学 | Detect brake integration robot articular driver |
| CN108214544A (en) * | 2018-02-28 | 2018-06-29 | 北京精密机电控制设备研究所 | A kind of integrated form joint of robot device |
| CN108372516A (en) * | 2018-02-27 | 2018-08-07 | 中科新松有限公司 | Joint of robot and robot |
| CN110561491A (en) * | 2019-08-09 | 2019-12-13 | 哈尔滨工业大学（深圳） | Wrist joint of mechanical arm |
| CN111791262A (en) * | 2020-06-24 | 2020-10-20 | 深圳市优必选科技股份有限公司 | Hollow mechanical arm |
| CN112223341A (en) * | 2019-07-15 | 2021-01-15 | 深圳市零差云控科技有限公司 | Robot joint module |
| CN112776004A (en) * | 2020-12-22 | 2021-05-11 | 深圳市越疆科技有限公司 | Motor encoder detection method and device for mechanical arm, mechanical arm and memory |
| CN112888536A (en) * | 2019-09-30 | 2021-06-01 | 深圳市优必选科技股份有限公司 | Robot and integrated joint thereof |
| CN113765302A (en) * | 2021-08-23 | 2021-12-07 | 浙江锐鹰传感技术有限公司 | Motor using dual encoders and encoding method thereof |
| CN113799168A (en) * | 2021-10-22 | 2021-12-17 | 广东天太机器人有限公司 | Low-cost joint module |
| EP4349546A1 (en) * | 2022-10-08 | 2024-04-10 | Shenzhen Yuejiang Technology Co., Ltd. | Robot arm and joint module |
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|---|---|---|---|---|
| CN105904445A (en) * | 2016-07-01 | 2016-08-31 | 济南时代试金试验机有限公司 | Wire arrangement structure of five/six-axis motor of six-degree-of-freedom industrial robot |
| CN106363623A (en) * | 2016-09-30 | 2017-02-01 | 深圳市同川科技有限公司 | Robot position detecting device and method |
| CN106272535A (en) * | 2016-10-21 | 2017-01-04 | 苏州绿的谐波传动科技有限公司 | A kind of robot integral type articulation structure |
| CN106426104A (en) * | 2016-11-10 | 2017-02-22 | 慧灵科技（深圳）有限公司 | Direct-driven horizontal-joint four-axis robot |
| CN106426135A (en) * | 2016-11-22 | 2017-02-22 | 合肥中科艾帝尔机器人技术有限公司 | Light modular robot driving joint |
| CN106493753A (en) * | 2016-12-27 | 2017-03-15 | 上海归墟电子科技有限公司 | Grating speed-measuring structure, code-disc motor and robot |
| CN107150355A (en) * | 2017-07-03 | 2017-09-12 | 华南理工大学 | A kind of lightweight modules joint of mechanical arm |
| CN107662221A (en) * | 2017-07-12 | 2018-02-06 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm |
| CN107662221B (en) * | 2017-07-12 | 2024-04-05 | 哈尔滨工大特种机器人有限公司 | Mechanical arm joint |
| CN107471246A (en) * | 2017-08-21 | 2017-12-15 | 北京精密机电控制设备研究所 | A kind of band band-type brake hollow type compact mechanical shoulder joint |
| CN107718036A (en) * | 2017-08-21 | 2018-02-23 | 北京精密机电控制设备研究所 | A kind of pair is fed back compact hollow integral joint in high precision |
| CN107498580A (en) * | 2017-10-16 | 2017-12-22 | 河北工业大学 | One kind controls integral Dual-encoder structural module joint |
| CN107498580B (en) * | 2017-10-16 | 2023-06-13 | 河北工业大学 | Drive integrative two encoder structure modularization joints of accuse |
| CN108081256A (en) * | 2017-12-07 | 2018-05-29 | 南京航空航天大学 | Detect brake integration robot articular driver |
| CN108372516A (en) * | 2018-02-27 | 2018-08-07 | 中科新松有限公司 | Joint of robot and robot |
| CN108214544A (en) * | 2018-02-28 | 2018-06-29 | 北京精密机电控制设备研究所 | A kind of integrated form joint of robot device |
| CN108214544B (en) * | 2018-02-28 | 2021-04-13 | 北京精密机电控制设备研究所 | Integrated form robot joint device |
| CN112223341A (en) * | 2019-07-15 | 2021-01-15 | 深圳市零差云控科技有限公司 | Robot joint module |
| CN110561491A (en) * | 2019-08-09 | 2019-12-13 | 哈尔滨工业大学（深圳） | Wrist joint of mechanical arm |
| CN112888536A (en) * | 2019-09-30 | 2021-06-01 | 深圳市优必选科技股份有限公司 | Robot and integrated joint thereof |
| CN111791262B (en) * | 2020-06-24 | 2022-05-10 | 深圳市优必选科技股份有限公司 | Hollow mechanical arm |
| CN111791262A (en) * | 2020-06-24 | 2020-10-20 | 深圳市优必选科技股份有限公司 | Hollow mechanical arm |
| CN112776004A (en) * | 2020-12-22 | 2021-05-11 | 深圳市越疆科技有限公司 | Motor encoder detection method and device for mechanical arm, mechanical arm and memory |
| CN113765302A (en) * | 2021-08-23 | 2021-12-07 | 浙江锐鹰传感技术有限公司 | Motor using dual encoders and encoding method thereof |
| CN113765302B (en) * | 2021-08-23 | 2023-02-28 | 浙江锐鹰传感技术有限公司 | Motor using dual encoders and encoding method thereof |
| CN113799168A (en) * | 2021-10-22 | 2021-12-17 | 广东天太机器人有限公司 | Low-cost joint module |
| EP4349546A1 (en) * | 2022-10-08 | 2024-04-10 | Shenzhen Yuejiang Technology Co., Ltd. | Robot arm and joint module |
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