CN106466850A - Mechanical arm wrist unit and its Wiring structure - Google Patents
Mechanical arm wrist unit and its Wiring structure Download PDFInfo
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- CN106466850A CN106466850A CN201510518474.XA CN201510518474A CN106466850A CN 106466850 A CN106466850 A CN 106466850A CN 201510518474 A CN201510518474 A CN 201510518474A CN 106466850 A CN106466850 A CN 106466850A
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- mechanical arm
- motor
- wire
- tool holder
- housing
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Abstract
A kind of mechanical arm wrist unit and its Wiring structure, this mechanical arm wrist unit includes housing and tool holder, and Wiring structure includes wearing the wire-passing tube of tool holder and housing, and wire-passing tube has entrance and exit, entrance is formed at the middle part of tool holder, and outlet is formed on housing.What the present invention was not only beneficial to the cable set of work implement wears installation, and cable set abrasion mechanical arm in can be greatly reduced.
Description
Technical field
The present invention relates to a kind of mechanical arm, particularly a kind of mechanical arm wrist unit and its Wiring structure.
Background technology
Visible small-sized six axis robot arm (the about 700mm or 900mm length) design architecture in market at present,
The mechanics transfer mode difference of the wherein the 5th axle less, is to provide moment of torsion by motor mostly, via when advise belt
Wheel drive the 5th axle reductor and produce rotation.6th shaft design mode then has a more diversity, and wherein one
Kind common design, is to provide moment of torsion with motor, through when rule belt pulley and umbrella tooth coordinate to drive the 6th
Axle reductor, this is the design of wide application, and wherein umbrella braces structure is critical design component.
Prior art proposes a kind of mechanical arm wrist unit, and the torque transmission paths of the wherein the 5th axle are by the 5th axle
Motor through when rule belt sheave structure be transferred to the 5th axle reductor, drive the 5th axle rotation.The moment of torsion of the 6th axle
Bang path by the 6th axle motor through when advise belt sheave structure, drive umbrella tooth group rotation, so that moment of torsion is transferred to
6th axle reductor, drives the 6th axle rotation.In order to reach the purpose of flange center's hollow cabling of the 6th axle,
6th axle selects hollow reducer, and is just being dug hollow to the umbrella tooth at the 6th axle center, inserts away spool, with
Retain the space at the 6th axle center.Cabling for convenience, arm design scoops away on the left and right both sides of the 5th arm
String holes, makes trachea, holding wire can leave the 6th axle work flange through left and right two paths, reaches the 5th arm originally
Body.
Another kind of the 6th common axle design architecture is directly to tie mode with motor, drives the 6th axle reductor, phase
Compared with through when rule belt, umbrella tooth to drive reductor, this kind of design save mechanism's design cost,
The risk of rule belt fracture when saving assembling man-hour, reducing the energy loss of mechanics transmission, avoid, in design
On have its advantage.But due to motor is combined together by it with the 6th pedestal structure, the 6th shaft drive motor
Size, directly affects the size of the 6th pedestal structure.
In the design in past, the 6th axle is directly tied mode and driven with motor is more succinct design, but due to horse
Reach the center blocking reductor it is difficult to the design of the hollow cabling of Zai Zuo flange center.If with hollow motor generation
For general motor, though vacating the space of motor center, it is available for running line, motor center is that there is high density
The environment in magnetic field, holding wire through this environment it is likely that causing serious interference phenomenon, therefore and no good
Design.
Content of the invention
The technical problem to be solved is to provide a kind of mechanical arm wrist unit and its Wiring structure, its
Not only be beneficial to work implement cable set wear installation, and cable set can be greatly reduced in machinery
Abrasion in arm.
To achieve these goals, the invention provides a kind of mechanical arm wrist unit, pacify for a work implement
Dress, described work implement has a cable set, this mechanical arm wrist unit include a first mechanical arm, one the
Two mechanical arms and a Wiring structure, this first mechanical arm includes a pedestal and one first drive being arranged on this pedestal
Motivation structure；This second mechanical arm connects this pedestal, and this second mechanical arm includes being driven by this first drive mechanism
And rotate a housing, be arranged on this housing one second drive mechanism and be arranged on this shell end and be subject to this
The tool holder that second drive mechanism drives and rotates；This Wiring structure includes wearing this tool holder
With a wire-passing tube of this housing, this wire-passing tube has an entrance and an outlet, and this entrance is formed at this instrument peace
The middle part of dress seat, this outlet is formed on the housing, and described cable set is worn from this entrance of this wire-passing tube
Enter and pass from this outlet.
In order to above-mentioned purpose is better achieved, present invention also offers a kind of mechanical arm wrist unit walk knot
Structure, described mechanical arm wrist unit includes a housing and a tool holder, and this Wiring structure includes wearing institute
State a wire-passing tube of tool holder and described housing, this wire-passing tube has an entrance and an outlet, this entrance
It is formed at the middle part of described tool holder, this outlet is formed on the housing.
In order to above-mentioned purpose is better achieved, present invention also offers a kind of mechanical arm wrist unit walk knot
Structure, one second machine that described mechanical arm wrist unit includes a first mechanical arm and connects described first mechanical arm
Tool arm, described second mechanical arm includes a housing and a tool holder, and this Wiring structure includes wearing described
One wire-passing tube of tool holder, described housing and described first mechanical arm, this wire-passing tube have an entrance and
One outlet, this entrance is formed at the middle part of described tool holder, and this outlet is formed at described first machine
On tool arm.
The method have technical effect that：
The present invention both can enjoy the advantage that design directly tied by the 6th axle motor, and the 6th shaft flange center can be added to walk again
The design of string holes.The present invention not only can make second mechanical arm can obtain the advantage that design directly tied by motor, again simultaneously
The design of tool holder center hollow cabling can be added.The present invention can be in there is tool holder in the minds of
Under the framework of empty cabling, head design width is kept to maintain reduced size.Perforated base line using pedestal
With the center of rotation departure of second mechanical arm in the range of 0-2.0cm, when first mechanical arm rotates, line
Cable group can be greatly reduced by the amplitude of whipping.Directly tie rule belt and phase when design can be save using motor
Close the cost of drive mechanism, and be easily assembled to.
Describe the present invention below in conjunction with the drawings and specific embodiments, but not as to the present invention's
Limit.
Brief description
Fig. 1 is first embodiment of the present invention combination appearance figure；
Fig. 2 is the second mechanical arm assembled sectional view of Fig. 1；
Fig. 3 is the combination appearance figure of Fig. 2；
Fig. 4 is that the second mechanical arm of Fig. 1 supplies work implement to install sectional view；
Fig. 5 is second embodiment of the present invention combination appearance figure；
Fig. 6 is second embodiment of the present invention assembled sectional view；
Fig. 7 is third embodiment of the present invention combination appearance figure；
Fig. 8 is third embodiment of the present invention assembled sectional view；
Fig. 9 is fourth embodiment of the present invention combination appearance figure；
Figure 10 is fourth embodiment of the present invention assembled sectional view；
Figure 11 is fifth embodiment of the present invention combination appearance figure；
Figure 12 is sixth embodiment of the present invention combination appearance figure；
Figure 13 is sixth embodiment of the present invention combination of side view.
Wherein, reference
10 first mechanical arms
11 pedestals
111 blind ends
112 openings
113 perforation
12 first drive mechanisms
121 first motors
122 driving belts
123 first reducing gears
13 reductor flanges
20 second mechanical arms
21 housings
211 centre bores
212 side openings
22 second drive mechanisms
221 second motors
222 gear trains
2221 first gears
2222 second gears
222A driving belt
223 second reducing gears
23 tool holders
231 through holes
30 Wiring structures
31st, 31A, 31B wire-passing tube
31C first crosses line segment
31D second crosses line segment
311 entrances
312 outlets
8 work implements
81 cable set
Specific embodiment
Below in conjunction with the accompanying drawings the structural principle and operation principle of the present invention is described in detail：
Refer to shown in Fig. 1 to Fig. 3, the present invention provides a kind of mechanical arm wrist unit, for six shaft mechanicals
For arm, this mechanical arm wrist unit is mainly the 5th shaft mechanical arm and the 6th shaft mechanical arm, but not this kind of type
State is limited, and it mainly includes a first mechanical arm 10, a second mechanical arm 20 and a Wiring structure 30.
First mechanical arm 10 includes a pedestal 11 and one first drive mechanism 12 being arranged on pedestal 11, base
Frame 11 is in substantially a U-shaped, and it has a blind end 111 and an opening 112, in blind end 111
Lateral surface is connected with a reductor flange 13, the first drive mechanism 12 mainly comprise one first motor 121,
One driving belt 122 and one first reducing gear 123, the first motor 121 is fixed on the closing of pedestal 11
End 111, the first reducing gear 123 is arranged on the opening 112 of pedestal 11, and driving belt 122 then connects
First motor 121 and the first reducing gear 123.
Second mechanical arm 20 mainly includes a housing 21, one second drive mechanism 22 and a tool holder
23, housing 21 is a ducted body, and for center cabling, position offers a centre bore 211 therebetween,
Housing 21 is mounted in the opening 112 of pedestal 11 and is connected with the first reducing gear 123, uses and is being subject to
Rotation can be produced when ordering about to the first drive mechanism 12.
Second drive mechanism 22 mainly comprises one second motor 221, a gear train 222 and one second deceleration
Mechanism 223, the second motor 221 is integrally fixed inside housing 21, and its shaft centerline is and centre bore
211 axis is parallel to each other, and the shaft centerline of the second motor 221 is the axis of offset from bore center 211
Being configured, gear train 222 comprises a first gear 2221 and a second gear 2222, this reality for position
The each gear 2221,2222 applying example is all a spur gear, the turning of first gear 2221 and the second motor 221
Axle connects, and second gear 2222 is then connected the second reducing gear 223 and engaged each other with first gear 2221
Transmission, second motor 221 of the present embodiment is to drive in the second reducing gear 223 through gear train 222,
It is not only simple in structure, installs easily, more can the reduction such as element such as driving belt, belt pulley significantly become
This.
Tool holder 23 (or flange) is called one discoid, and the heart offers a through hole 231, this work wherein
Tool mounting seat 23 is arranged on the end of housing 21 and is connected on the second reducing gear 223, and through hole
231 and aforesaid central hole 211 profile at least part superposition, so can be driven by the second drive mechanism 22
Enable and make tool holder 23 produce rotation.
Wiring structure 30 includes a wire-passing tube 31, and the wire-passing tube 31 of the present embodiment is a straight tube, and it is to wear
If tool holder 23 and housing 21, wire-passing tube 31 has an entrance 311 and an outlet 312, entrance
311 through hole 231 middle parts being formed at tool holder 23, can be substantially the center of through hole 231,
Outlet 312 is formed at housing 21 one end away from tool holder 23, and wire-passing tube 31 is installed with instrument
The through hole 231 profile at least part superposition of seat 23.
Refer to shown in Fig. 4, one work implement 8 can be fixed in aforementioned tools mounting seat 23 during use,
This work implement 8 can be an object grabber, such as CCD, soldering mechanism, glue applying mechanism or grinding mechanism
Deng processing hand-held tool, it has a cable set 81, and this cable set 81 includes the phases such as holding wire, trachea
Close element to be formed, during installation, cable set 81 is penetrated and from outlet 312 from the entrance 311 of wire-passing tube 31
Pass, then pass through the bolting elements such as screw and wear work implement 8 and solid lock is on tool holder 23.
Refer to shown in Fig. 5 and Fig. 6, the Wiring structure of the mechanical arm wrist unit of the present invention, except being
Outside above-described embodiment, also can be as the structure of the present embodiment, the housing 21 of wherein second mechanical arm 20 is provided with one
Side opening 212, Wiring structure 30 includes a wire-passing tube 31A, and the wire-passing tube 31A of the present embodiment is a L-shaped
Pipe, it is the side opening 212 wearing tool holder 23 and housing 21, and wire-passing tube 31A has an entrance
311 and one export 312, and entrance 311 is formed at through hole 231 center of tool holder 23, exports 312
Then it is formed at side opening 212 center of housing 21；Additionally, wire-passing tube can also be to comprise two sections of vertical mistakes
Line segment (label 31C and 31D as in Figure 10), wherein one transfixes and connects aforementioned side opening, then wears for another section and connects
Aforementioned through-hole.Another gear train 222 comprises first gear 2221' and second gear 2222', the present embodiment
First gear 2221' by a spur gear, a bevel gear and the axostylus axostyle institute structure connecting spur gear and bevel gear
Become, its central shaft rod is bearing in inside housing 21 through fulcrum bearing, the spur gear of first gear 2221' directly with
The meshed transmission gear of the second motor 221, second gear 2222' connects the second reducing gear 223 and with the
The bevel gear of one gear 2221' engages each other transmission.
Refer to shown in Fig. 7 and Fig. 8, the present embodiment is with the difference of foregoing embodiments：Aforementioned first
The opening 112 of the pedestal 11 of mechanical arm 10 is provided with a perforation 113, the centrage of this perforation 113 and the
The center of rotation departure of two mechanical arms 20 is in the range of 0-2.0cm, and the motor of second mechanical arm 20 is
It is arranged on housing 21 internal (not shown), Wiring structure 30 includes a wire-passing tube 31B, the present embodiment
Wire-passing tube 31B is also a L-shaped pipe, and it is to wear the through hole 231 of tool holder 23, housing 21 and the
The perforation 113 of one mechanical arm 10, wire-passing tube 31B has an entrance 311 and an outlet 312, entrance 311
It is formed at through hole 231 center of tool holder 23, outlet 312 is then formed at the perforation 113 of pedestal 11
Center, so when first mechanical arm 10 rotates, cable set 81 can significantly be dropped by the amplitude of whipping
Low.
Refer to shown in Fig. 9 and Figure 10, the present embodiment is with the difference of 3rd embodiment：First machinery
The opening 112 of the pedestal 11 of arm 10 is provided with a perforation 113, this perforation 113 centrage and the second machine
The center of rotation departure of tool arm 20 is in the range of 0～2.0cm.Second mechanical arm 20 includes one second driving
Mechanism 22, the second drive mechanism 22 includes one second motor 221, a driving belt 222A and one second
Reducing gear 223, the second reducing gear 223 is placed in inside housing 21, and the second motor 221 is placed in
Pedestal 11 is internal and drives the second reducing gear 223 and tool holder 23 to make through driving belt 222A
Dynamic, and former, the rear arrangement side of the first motor 121 of the second motor 221 and aforementioned first drive mechanism 12
Formula is configured.Wiring structure 30 include one first cross line segment 31C and one second cross line segment 31D, first
Cross line segment 31C and wear tool holder 23 and housing 21, entrance 311 is formed at first and crosses line segment 31C
Head end, second crosses line segment 31D wears housing 21 and perforation 113, and outlet 312 is formed at second and crosses line
The end of section 31D, so when second mechanical arm 20 rotates, cable set 81 also can reduce by whipping
Amplitude.
Refer to shown in Figure 11, the present embodiment is with the difference of fourth embodiment：First drive mechanism 12
The first motor 121 and the second motor 221 of the second drive mechanism 22 joined with upper and lower arrangement mode
Put, so can significantly shorten the overall length of pedestal 11 and reduce the radius of gyration, simultaneously remaining sky
Between the motor (not shown) that may also provide to the 4th axle installed.
Refer to shown in Figure 12 and Figure 13, the present embodiment is with the difference of fourth embodiment：First driving
The position of the first motor 121 of mechanism 12 remains unchanged, the second motor 221 of the second drive mechanism 22
Then it is arranged on inside the housing 21 of second mechanical arm 20, the second motor 221 is to drive through gear train 222
Power driven tools mounting seat 23, is so not only simple in structure, installs easily, more can reduction significantly such as pass
The element costs such as dynamic belt, belt pulley.
Certainly, the present invention also can have other various embodiments, in the feelings spiritual and its substantive without departing substantially from the present invention
Under condition, those of ordinary skill in the art work as and can make various corresponding changes and deformation according to the present invention, but
These change accordingly and deform the protection domain that all should belong to appended claims of the invention.
Claims (17)
1. a kind of mechanical arm wrist unit, installs for a work implement, and described work implement has a cable set,
It is characterized in that, this mechanical arm wrist unit includes：
One first mechanical arm, including a pedestal and one first drive mechanism that is arranged on this pedestal；
One second mechanical arm, connects this pedestal, and this second mechanical arm is included by the driving of this first drive mechanism
One housing of rotation, be arranged on this housing one second drive mechanism and be arranged on this shell end and be subject to this
The tool holder that two drive mechanisms drive and rotate；And
One Wiring structure, including the wire-passing tube wearing this tool holder and this housing, this wire-passing tube has
One entrance and an outlet, this entrance is formed at the center of this tool holder, and this outlet forms on the housing,
Described cable set penetrates from this entrance of this wire-passing tube and passes from this outlet.
2. mechanical arm wrist unit as claimed in claim 1 is it is characterised in that this housing offers in one
Heart hole, this tool holder center has a through hole, and this wire-passing tube is a straight tube, and this straight tube wears this through hole
With this centre bore, and this wire-passing tube and this through hole and this centre bore profile at least part superposition.
3. mechanical arm wrist unit as claimed in claim 2 is it is characterised in that this second drive mechanism bag
Containing one second motor, this second motor is fixed on this enclosure interior, the shaft centerline of this second motor with should
The axis of centre bore is parallel to each other, and the shaft centerline of this second motor is that the axis deviateing this centre bore is joined
Put.
4. mechanical arm wrist unit as claimed in claim 3 it is characterised in that this second drive mechanism also
Comprise a gear train and one second reducing gear, this gear train comprises a first gear and a second gear, should
First gear is connected with the rotating shaft of this second motor, this second gear connect this second reducing gear and with this
One meshed transmission gear.
5. mechanical arm wrist unit as claimed in claim 1 is it is characterised in that this housing is provided with a side opening,
The center of this tool holder has a through hole, and this wire-passing tube wears this through hole and this side opening, and this wire-passing tube is
One L-shaped pipe or comprise at least two cross line segments.
6. mechanical arm wrist unit as claimed in claim 1 it is characterised in that this pedestal be in a U-shaped,
It has a blind end and an opening, is connected with a reductor flange in this blind end lateral surface.
7. mechanical arm wrist unit as claimed in claim 6 is it is characterised in that this first drive mechanism bag
Containing one first motor, a driving belt and one first reducing gear, this first motor is fixed on this blind end,
This first reducing gear is arranged on this opening, and this driving belt connects this first motor and this first reductor
Structure.
8. a kind of Wiring structure of mechanical arm wrist unit is it is characterised in that described mechanical arm wrist unit bag
Include a housing and a tool holder, this Wiring structure includes wearing described tool holder and described housing
One wire-passing tube, this wire-passing tube has an entrance and an outlet, and this entrance is formed in described tool holder
The heart, this outlet is formed on the housing.
9. the Wiring structure of mechanical arm wrist unit as claimed in claim 8 is it is characterised in that described shell
Body offers a centre bore, and described tool holder center offers a through hole, and this wire-passing tube is a straight tube,
This straight tube wears described through hole and described centre bore, and this wire-passing tube and described through hole and described centre bore profile
At least part superposition.
10. the Wiring structure of mechanical arm wrist unit as claimed in claim 8 is it is characterised in that described
Housing is provided with a side opening, and described tool holder center offers a through hole, and this wire-passing tube wears described through hole
With described side opening, this wire-passing tube be a L-shaped pipe or comprise at least two cross line segments.
A kind of 11. Wiring structures of mechanical arm wrist unit are it is characterised in that described mechanical arm wrist unit
Including a second mechanical arm of a first mechanical arm and the described first mechanical arm of connection, described second mechanical arm bag
Include a housing and a tool holder, this Wiring structure include wearing described tool holder, described housing and
One wire-passing tube of described first mechanical arm, this wire-passing tube has an entrance and an outlet, and this entrance is formed at institute
State the middle part of tool holder, this outlet is formed in described first mechanical arm.
The Wiring structure of 12. mechanical arm wrist units as claimed in claim 11 is it is characterised in that described
First mechanical arm includes a pedestal, and described pedestal is provided with a perforation, the centrage of described perforation and described second
In the range of 0～2.0cm, this wire-passing tube is a L-shaped pipe to the center of rotation departure of mechanical arm, this L-shaped
Pipe wears described tool holder, described housing and described perforation.
The Wiring structure of 13. mechanical arm wrist units as claimed in claim 11 is it is characterised in that described
First mechanical arm includes a pedestal, and described pedestal is provided with a perforation, the centrage of described perforation and described second
In the range of 0～2.0cm, this wire-passing tube includes one first and crosses line segment and the center of rotation departure of mechanical arm
Second cross line segment, this first cross line segment wear described tool holder and described housing, this second cross line segment wear
If described housing and described perforation.
The Wiring structure of 14. mechanical arm wrist units as claimed in claim 13 is it is characterised in that described
Second mechanical arm includes one second drive mechanism, and described second drive mechanism includes one second motor, a transmission
Belt and one second reducing gear, described second reducing gear is placed in described enclosure interior, described second horse
Reach and be placed in described pedestal inside and drive described second reducing gear through described driving belt.
The Wiring structure of 15. mechanical arm wrist units as claimed in claim 14 is it is characterised in that described
First mechanical arm includes one first drive mechanism, and described first drive mechanism includes one first motor, and described
One motor and described second motor are configured with upper and lower arrangement mode.
The Wiring structure of 16. mechanical arm wrist units as claimed in claim 14 is it is characterised in that described
First mechanical arm includes one first drive mechanism, and described first drive mechanism includes one first motor, and described
One motor and described second is before motor, the configuration of rear arrangement mode.
The Wiring structure of 17. mechanical arm wrist units as claimed in claim 13 is it is characterised in that described
Second mechanical arm includes one second drive mechanism, and described second drive mechanism includes one second motor, and described
Two motor is arranged on described enclosure interior and is formed at the side of this second mistake line segment, and described second motor is saturating
Cross a gear train and drive described tool holder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510518474.XA CN106466850B (en) | 2015-08-21 | 2015-08-21 | Mechanical arm wrist unit and its Wiring structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510518474.XA CN106466850B (en) | 2015-08-21 | 2015-08-21 | Mechanical arm wrist unit and its Wiring structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106466850A true CN106466850A (en) | 2017-03-01 |
| CN106466850B CN106466850B (en) | 2019-02-15 |
Family
ID=58229721
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510518474.XA Active CN106466850B (en) | 2015-08-21 | 2015-08-21 | Mechanical arm wrist unit and its Wiring structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106466850B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109465156A (en) * | 2018-12-29 | 2019-03-15 | 美玛特电子科技（常州）有限公司 | Five axis dispensers of one kind and its working method |
| CN109623869A (en) * | 2019-01-09 | 2019-04-16 | 北京精密机电控制设备研究所 | A kind of joint of mechanical arm |
| CN110039527A (en) * | 2019-03-13 | 2019-07-23 | 苏州汇川技术有限公司 | Robot wrist, industrial robot and assembly method |
| CN113927630A (en) * | 2021-12-20 | 2022-01-14 | 沈阳新松机器人自动化股份有限公司 | Rotary joint wiring structure |
| WO2023051816A1 (en) * | 2021-09-30 | 2023-04-06 | 达闼机器人股份有限公司 | Electric actuator, mechanical arm, and robot |
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| CN100381260C (en) * | 2001-10-22 | 2008-04-16 | 株式会社安川电机 | Industrial robot |
| EP1396314A1 (en) * | 2002-09-04 | 2004-03-10 | Fanuc Ltd | Cable arrangement of a robot with means for electrically shielding the cables |
| CN103158158A (en) * | 2011-12-09 | 2013-06-19 | 鸿富锦精密工业（深圳）有限公司 | Robot arm component |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109465156A (en) * | 2018-12-29 | 2019-03-15 | 美玛特电子科技（常州）有限公司 | Five axis dispensers of one kind and its working method |
| CN109623869A (en) * | 2019-01-09 | 2019-04-16 | 北京精密机电控制设备研究所 | A kind of joint of mechanical arm |
| CN110039527A (en) * | 2019-03-13 | 2019-07-23 | 苏州汇川技术有限公司 | Robot wrist, industrial robot and assembly method |
| WO2023051816A1 (en) * | 2021-09-30 | 2023-04-06 | 达闼机器人股份有限公司 | Electric actuator, mechanical arm, and robot |
| CN113927630A (en) * | 2021-12-20 | 2022-01-14 | 沈阳新松机器人自动化股份有限公司 | Rotary joint wiring structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106466850B (en) | 2019-02-15 |
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