CN107020644A - Redundant degree of freedom mechanical arm modular joint - Google Patents
Redundant degree of freedom mechanical arm modular joint Download PDFInfo
- Publication number
- CN107020644A CN107020644A CN201710338886.4A CN201710338886A CN107020644A CN 107020644 A CN107020644 A CN 107020644A CN 201710338886 A CN201710338886 A CN 201710338886A CN 107020644 A CN107020644 A CN 107020644A
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- China
- Prior art keywords
- fixing shell
- speed reducer
- harmonic speed
- joint
- motor
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Classifications
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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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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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)
Abstract
The invention discloses a kind of redundant degree of freedom mechanical arm modular joint, it includes arthrodesis part, power assembly and electric part composition；The arthrodesis part includes arthrodesis end cap, driver rack, brake fixing shell, motor fixing shell harmonic decelerator fixing shell；The power assembly includes joint permanent magnet brake, hollow drive shaft, DC servo motor, harmonic speed reducer, harmonic speed reducer output adpting flange and joint output end cap；The electric part includes driver rack, joint driver, Hall sensor, absolute optical encoder.The redundant degree of freedom mechanical arm modular joint of the present invention is compact to design, small volume；Also cause that its weight is smaller simultaneously, with higher integrated level；And also there is higher load deadweight ratio.
Description
Technical field
Closed the present invention relates to a kind of mechanical arm modular joint, more particularly to a kind of redundant degree of freedom mechanical arm modular
Section.
Background technology
With the development of robot technology, mechanical arm application field is increasingly extensive, is expanded to from industrial automation production
The fields such as Aero-Space, military affairs and household services.The continuous extension of mechanical arm application field, the performance to mechanical arm is proposed
Higher requirement.But the mechanical arm product having been commercialized at present, generally existing that volume is big, weight big, load deadweight than it is low,
The low problems of joint integrated level, largely limit the popularization of mechanical arm.
The content of the invention
It is an object of the present invention to provide a kind of lightweight redundant degree of freedom mechanical arm modular joint with hollow structure, with
At least solve that the volume that current mechanical arm is present is big, weight is big, load deadweight is than one of low, low problem of joint integrated level.
The present invention solves technical problem and adopted the following technical scheme that：A kind of redundant degree of freedom mechanical arm modular joint, its
Including arthrodesis part, power assembly and electric part composition；
The arthrodesis part includes arthrodesis end cap, driver rack, brake fixing shell, motor and fixes outer
Shell harmonic decelerator fixing shell；
The power assembly includes joint permanent magnet brake, hollow drive shaft, DC servo motor, harmonic speed reducer, humorous
Ripple decelerator exports adpting flange and joint output end cap；
The electric part includes driver rack, joint driver, Hall sensor, absolute optical encoder；
The arthrodesis end cap is fixed on the left end of the brake fixing shell, the right side of the brake fixing shell
The left end of the motor fixing shell is fixed at end, and the harmonic speed reducer fixing shell is fixed on the motor fixing shell
Right-hand member；
The joint permanent magnet brake is fixedly mounted on the left end of the brake fixing shell, and is connected by brake
Flange is connected to hollow drive shaft；The DC servo motor is fixed in motor fixing shell, and drives the hollow transmission
Axle；
The two ends of the hollow drive shaft are supported in braking by the first deep groove ball bearing and the second deep groove ball bearing respectively
Inside device fixing shell and motor fixing shell；
The right-hand member of the hollow drive shaft exports adpting flange by harmonic speed reducer and harmonic speed reducer and is connected, institute
Harmonic speed reducer is stated to be fixed on inside the harmonic speed reducer fixing shell；
The joint output end cap is connected by screw with the boss that harmonic speed reducer exports adpting flange right-hand member；
The driver rack is fixed on the left end of the brake fixing shell by screw, and joint driver is fixed on
On driver rack, the Hall sensor is fixed on the left end of motor stator.
Optionally, the motor stator of the DC servo motor is fixed in motor fixing shell；Motor pressing cover is fixed on
The left end of the motor fixing shell, and positioned between the brake fixing shell and motor fixing shell；The motor pressure
Lid coordinates with the shaft shoulder inside motor fixing shell, so that motor stator to be fixed on to the shaft shoulder and the institute of the motor fixing shell
State between motor pressing cover；The rotor of the DC servo motor is fixed on the hollow drive shaft.
Optionally, there is positioning shaft shoulder at the hollow drive shaft two ends, respectively with the first deep groove ball bearing and the second deep-groove ball
Bearing inner ring is engaged；The inside shaft shoulder of the brake fixing shell is engaged with the first deep groove ball bearing outer shroud, and motor is solid
The inside shaft shoulder and the second deep groove ball bearing outer shroud for determining shell coordinate, so as to realize the axially position to hollow drive shaft.
Optionally, the right-hand member of the hollow drive shaft is connected with the wave producer of harmonic speed reducer；Harmonic speed reducer
Wave producer is arranged on inside the flexbile gear of harmonic speed reducer；The steel wheel of harmonic speed reducer is arranged on outside the flexbile gear of harmonic speed reducer
Portion, and be fixed on inside harmonic speed reducer fixing shell.
Optionally, the flexbile gear of the harmonic speed reducer is connected by screw with the left end that harmonic speed reducer exports adpting flange
Connect, absolute optical encoder is installed between harmonic speed reducer output adpting flange and harmonic speed reducer fixing shell.
Optionally, the brush of the absolute optical encoder is fixed on the right-hand member of harmonic speed reducer fixing shell, described
The code-disc of absolute optical encoder is fixed on the ring flange of the harmonic speed reducer output adpting flange, the absolute optical
The code-disc of photoelectric coder constitutes joint output end position detection means with brush.
Optionally, the redundant degree of freedom mechanical arm modular joint also include be installed on harmonic speed reducer fixing shell with
Crossed roller bearing between joint output end cap, the crossed roller bearing by the shaft shoulder of harmonic speed reducer fixing shell with
The shaft shoulder of joint output end cap carries out axially position.
Optionally, the base of the joint permanent magnet brake is fixedly mounted on the left end of brake fixing shell；Permanent magnetism system
The output end of dynamic device is connected with hollow drive shaft by brake adpting flange.
The present invention has the advantages that：The redundant degree of freedom mechanical arm modular joint of the present invention is compact to design, body
Product is smaller；Also cause that its weight is smaller simultaneously, with higher integrated level；And higher load deadweight ratio.
Brief description of the drawings
Fig. 1 is the stereogram of the redundant degree of freedom mechanical arm modular joint of the present invention；
Fig. 2 is the sectional view of the redundant degree of freedom mechanical arm modular joint of the present invention；
Fig. 3 is the sectional view of the hollow drive shaft of the present invention.
Fig. 4 is the structural representation of the brake adpting flange of the present invention.
Fig. 5 exports connecting flange structure schematic diagram for the harmonic speed reducer of the present invention.
Embodiment
Technical scheme is further elaborated with reference to embodiment and accompanying drawing.
Embodiment 1
With reference to Fig. 1-Fig. 5, a kind of redundant degree of freedom mechanical arm modular joint is present embodiments provided, especially a kind of tool
Have the lightweight redundant degree of freedom mechanical arm modular joint of hollow structure, it include arthrodesis part, power assembly and
Electric part is constituted；
It is solid that the arthrodesis part includes arthrodesis end cap 1, driver rack 3, brake fixing shell 4, motor
Determine the harmonic decelerator fixing shell 15 of shell 12.
The arthrodesis end cap 1 is fixed on the left end of the brake fixing shell 4, is fixed with closing the brake
The left end of shell 4, and in the present embodiment, the left end of the brake fixing shell 4 is the redundant degree of freedom mechanical arm mould
The power intake in block joint；The right-hand member of the brake fixing shell 4 is fixed on the left end of the motor fixing shell 12,
The harmonic speed reducer fixing shell 15 is fixed on the right-hand member of the motor fixing shell 12.
The power assembly includes joint permanent magnet brake 5, hollow drive shaft 8, DC servo motor 11, harmonic speed reducer
14th, harmonic speed reducer output adpting flange 16 and joint output end cap 19.
The base of the joint permanent magnet brake 5 is fixedly mounted on the left end of brake fixing shell 4；Permanent magnet brake 5
Output end be connected with hollow drive shaft 8 by brake adpting flange 6, the motor stator 11-2 of DC servo motor 11 is fixed
In motor fixing shell 12；The motor pressing cover 9 is fixed on the left end of the motor fixing shell 12, and positioned at the braking
Between device fixing shell 4 and motor fixing shell 12；The motor pressing cover 9 coordinates with the shaft shoulder inside motor fixing shell 12,
So as to which motor stator 11-2 is fixed between the shaft shoulder of the motor fixing shell 12 and the motor pressing cover 9.
The two ends of the hollow drive shaft 8 are supported in system by the first deep groove ball bearing 7, the second deep groove ball bearing 13 respectively
Inside dynamic device fixing shell 4 and motor fixing shell 12, there is positioning shaft shoulder at the two ends of hollow drive shaft 8, deep with first respectively
The inner ring of 7 and second deep groove ball bearing of ditch ball bearing 8 is engaged, the inside shaft shoulder of brake fixing shell 4 and the first deep-groove ball axle
Hold 7 outer shrouds to be engaged, the inside shaft shoulder and the outer shroud of the second deep groove ball bearing 13 of motor fixing shell 12 coordinate, so as to realize centering
The axially position of empty power transmission shaft 8.
The hollow drive shaft 8 is fixedly connected by the way of bonding with rotor 11-1, to cause the direct current to watch
Taking motor 11 can drive the hollow drive shaft 8 to rotate.
The right-hand member of the hollow drive shaft 8 is connected with the wave producer 14-1 of harmonic speed reducer, the ripple of harmonic speed reducer
Generator 14-1 is arranged on inside harmonic reducer flexible wheel 14-3, and harmonic speed reducer steel wheel 14-2 is arranged on harmonic reducer flexible wheel
14-3 outsides are simultaneously fixed on inside harmonic speed reducer fixing shell 15.
The harmonic reducer flexible wheel 14-3 is connected by screw with the left end that harmonic speed reducer exports adpting flange 16,
Harmonic speed reducer exports and is provided with absolute optical encoder 18 between adpting flange 16 and harmonic speed reducer fixing shell 15, absolutely
The right-hand member of harmonic speed reducer fixing shell 15, the code of absolute optical encoder are fixed on to the brush 18-1 of formula photoelectric encoder
Disk 18-2 is fixed on the ring flange of harmonic speed reducer output adpting flange 16, the code-disc 18-2 of the absolute optical encoder
Joint output end position detection means is constituted with brush 18-1.
The joint output end cap 19 is connected by screw with the boss that harmonic speed reducer exports the right-hand member of adpting flange 16,
Crossed roller bearing 17 is installed between harmonic speed reducer fixing shell 15 and joint output end cap 19, solid by harmonic speed reducer
The shaft shoulder that the shaft shoulder and joint for determining shell 15 export end cap 19 carries out axially position.
The electric part includes driver rack 3, joint driver 2, Hall sensor 10, absolute optical encoder
18。
The driver rack 3 is fixed on the left end of the brake fixing shell 4 by screw, and joint driver 2 is consolidated
Due on driver rack 3, the Hall sensor 10 is fixed on motor stator 11-2 left end.
Subtract along the joint permanent magnet brake 5, braking adpting flange 6, hollow rotary shaft 8, the harmonic of harmonic speed reducer 14
The central axis of fast device output adpting flange 16 offers through hole, and the through hole is used to make power line and order wire wear therefrom
Cross, in the present embodiment, due to the joint permanent magnet brake 5, braking adpting flange 6, hollow rotary shaft 8, harmonic speed reducer 14
Harmonic decelerator output adpting flange 16 employs Large central aperture design, when joint series, can make power line and logical
Letter line is passed through from centre bore, so as to play the protective effect to cable, it is to avoid wiring is mixed and disorderly caused by outside cabling and line
The abrasion of cable.
The left end of the hollow drive shaft 8 is connected by brake adpting flange 6 with joint permanent magnet brake 5, works as permanent magnetism
During brake power-off brake, braking moment is delivered to by hollow rotary shaft 8 by brake adpting flange 6, so as to realize joint
Braking and holding.
The rotor 11-1 is fixedly connected with hollow drive shaft 8, what the right-hand member of hollow drive shaft 8 was fastened by screw
Mode is fixedly connected with harmonic speed reducer wave producer 14-1, and passes through harmonic speed reducer wave producer 14-1, harmonic speed reducer
The harmonic speed reducer unit 14 of steel wheel 14-2, decelerator flexbile gear 14-3 composition carries out primary speed-down, decelerator flexbile gear 14-3 conducts
The output par, c of harmonic speed reducer 14, exports adpting flange 16 by decelerator and is fixedly connected with joint output end cap 19, so that real
The existing power output in whole joint.
For ease of description, the quality of embodiment is not only represented for the sequencing of above example.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (8)
1. a kind of redundant degree of freedom mechanical arm modular joint, it is characterised in that including arthrodesis part, power assembly and
Electric part is constituted；
The arthrodesis part include arthrodesis end cap, driver rack, brake fixing shell, motor fixing shell and
Harmonic speed reducer fixing shell；
The power assembly includes joint permanent magnet brake, hollow drive shaft, DC servo motor, harmonic speed reducer, harmonic wave and subtracted
Fast device output adpting flange and joint output end cap；
The electric part includes driver rack, joint driver, Hall sensor, absolute optical encoder；
The arthrodesis end cap is fixed on the left end of the brake fixing shell, and the right-hand member of the brake fixing shell is consolidated
Due to the left end of the motor fixing shell, the harmonic speed reducer fixing shell is fixed on the right side of the motor fixing shell
End；
The joint permanent magnet brake is fixedly mounted on the left end of the brake fixing shell, and passes through brake adpting flange
It is connected to hollow drive shaft；The DC servo motor is fixed in motor fixing shell, and drives the hollow drive shaft；
The two ends of the hollow drive shaft are supported in brake by the first deep groove ball bearing and the second deep groove ball bearing respectively and consolidated
Determine inside shell and motor fixing shell；
The right-hand member of the hollow drive shaft exports adpting flange by harmonic speed reducer and harmonic speed reducer and is connected, described humorous
Ripple decelerator is fixed on inside the harmonic speed reducer fixing shell；
The joint output end cap is connected by screw with the boss that harmonic speed reducer exports adpting flange right-hand member；
The driver rack is fixed on the left end of the brake fixing shell by screw, and joint driver is fixed on driving
On device support, the Hall sensor is fixed on the left end of motor stator.
2. redundant degree of freedom mechanical arm modular joint according to claim 1, it is characterised in that the DC servo electricity
The motor stator of machine is fixed in motor fixing shell；Motor pressing cover is fixed on the left end of the motor fixing shell, and is located at
Between the brake fixing shell and motor fixing shell；The motor pressing cover is matched somebody with somebody with the shaft shoulder inside motor fixing shell
Close, so that motor stator is fixed between the shaft shoulder of the motor fixing shell and the motor pressing cover；The DC servo
The rotor of motor is fixed on the hollow drive shaft.
3. redundant degree of freedom mechanical arm modular joint according to claim 2, it is characterised in that the hollow drive shaft
There is positioning shaft shoulder at two ends, are engaged respectively with the first deep groove ball bearing and the second deep groove ball bearing inner ring；The brake is fixed
The inside shaft shoulder of shell is engaged with the first deep groove ball bearing outer shroud, the inside shaft shoulder of motor fixing shell and the second deep-groove ball axle
Outer shroud cooperation is held, so as to realize the axially position to hollow drive shaft.
4. redundant degree of freedom mechanical arm modular joint according to claim 3, it is characterised in that the hollow drive shaft
Right-hand member be connected with the wave producer of harmonic speed reducer；The wave producer of harmonic speed reducer is arranged on the flexbile gear of harmonic speed reducer
It is internal；The steel wheel of harmonic speed reducer is arranged on outside the flexbile gear of harmonic speed reducer, and is fixed in harmonic speed reducer fixing shell
Portion.
5. redundant degree of freedom mechanical arm modular joint according to claim 4, it is characterised in that the harmonic speed reducer
Flexbile gear left end that adpting flange is exported by screw and harmonic speed reducer be connected, harmonic speed reducer export adpting flange with it is humorous
Absolute optical encoder is installed between ripple decelerator fixing shell.
6. redundant degree of freedom mechanical arm modular joint according to claim 5, it is characterised in that the absolute type photoelectricity
The brush of encoder is fixed on the right-hand member of harmonic speed reducer fixing shell, and the code-disc of the absolute optical encoder is fixed on institute
On the ring flange for stating harmonic speed reducer output adpting flange, code-disc and the brush of the absolute optical encoder constitute joint
Output end position detection means.
7. redundant degree of freedom mechanical arm modular joint according to claim 6, it is characterised in that also humorous including being installed on
Crossed roller bearing between ripple decelerator fixing shell and joint output end cap, the crossed roller bearing passes through harmonic reduction
The shaft shoulder that the shaft shoulder of device fixing shell exports end cap with joint carries out axially position.
8. redundant degree of freedom mechanical arm modular joint according to claim 7, it is characterised in that the joint permanent magnet system
The base of dynamic device is fixedly mounted on the left end of brake fixing shell；The output end of permanent magnet brake passes through system with hollow drive shaft
Dynamic device adpting flange connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710338886.4A CN107020644B (en) | 2017-05-15 | 2017-05-15 | Redundant degree-of-freedom mechanical arm modularized joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710338886.4A CN107020644B (en) | 2017-05-15 | 2017-05-15 | Redundant degree-of-freedom mechanical arm modularized joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107020644A true CN107020644A (en) | 2017-08-08 |
| CN107020644B CN107020644B (en) | 2023-07-25 |
Family
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|---|---|---|---|
| CN201710338886.4A Active CN107020644B (en) | 2017-05-15 | 2017-05-15 | Redundant degree-of-freedom mechanical arm modularized joint |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107398924A (en) * | 2017-09-20 | 2017-11-28 | 河北工业大学 | A kind of hollow type controls integral intelligent modularized joint |
| CN107498580A (en) * | 2017-10-16 | 2017-12-22 | 河北工业大学 | One kind controls integral Dual-encoder structural module joint |
| CN107891442A (en) * | 2017-11-28 | 2018-04-10 | 天津扬天科技有限公司 | The hollow cooperation mechanical arm of multiple degrees of freedom |
| CN107901075A (en) * | 2017-11-28 | 2018-04-13 | 天津扬天科技有限公司 | The joint module that the hollow cooperation mechanical arm of multiple degrees of freedom uses |
| CN107932551A (en) * | 2017-11-28 | 2018-04-20 | 天津扬天科技有限公司 | A kind of seven freedom cooperation mechanical arm |
| 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 |
| CN108247668A (en) * | 2018-02-06 | 2018-07-06 | 北京精密机电控制设备研究所 | A kind of integrated joint of robot module |
| CN109421076A (en) * | 2017-08-21 | 2019-03-05 | 苏州德旺宝机器人智能科技有限公司 | Modularized joint for the robot arm that cooperates |
| CN109421079A (en) * | 2017-08-21 | 2019-03-05 | 苏州德旺宝机器人智能科技有限公司 | Turnable elastic flexible joint for mechanical arm |
| CN109421077A (en) * | 2017-08-21 | 2019-03-05 | 苏州德旺宝机器人智能科技有限公司 | Light weight mechanical arm node |
| CN109551513A (en) * | 2019-01-28 | 2019-04-02 | 河北工业大学 | A kind of Multifunctional height integrated modular joint of robot |
| CN111037547A (en) * | 2019-12-16 | 2020-04-21 | 深圳市佳士科技股份有限公司 | Cooperation robot transmission structure and cooperation robot |
| CN111098296A (en) * | 2020-01-09 | 2020-05-05 | 广东时汇信息科技有限公司 | Transmission structure of robot |
| CN111230922A (en) * | 2020-02-28 | 2020-06-05 | 洛阳尚奇机器人科技有限公司 | Modular robot joint integrating driving function and detection function |
| CN111404345A (en) * | 2020-03-23 | 2020-07-10 | 上海宇航系统工程研究所 | Precision driving joint suitable for space environment |
| CN115199725A (en) * | 2021-09-30 | 2022-10-18 | 深圳市越疆科技有限公司 | Joint, mechanical arm, robot and installation method thereof |
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| CN109421076A (en) * | 2017-08-21 | 2019-03-05 | 苏州德旺宝机器人智能科技有限公司 | Modularized joint for the robot arm that cooperates |
| CN109421077A (en) * | 2017-08-21 | 2019-03-05 | 苏州德旺宝机器人智能科技有限公司 | Light weight mechanical arm node |
| CN109421079A (en) * | 2017-08-21 | 2019-03-05 | 苏州德旺宝机器人智能科技有限公司 | Turnable elastic flexible joint for mechanical arm |
| CN107398924A (en) * | 2017-09-20 | 2017-11-28 | 河北工业大学 | A kind of hollow type controls integral intelligent modularized joint |
| 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 |
| CN107901075A (en) * | 2017-11-28 | 2018-04-13 | 天津扬天科技有限公司 | The joint module that the hollow cooperation mechanical arm of multiple degrees of freedom uses |
| CN107932551B (en) * | 2017-11-28 | 2024-01-26 | 天津扬天科技有限公司 | Seven-degree-of-freedom cooperative mechanical arm |
| CN107932551A (en) * | 2017-11-28 | 2018-04-20 | 天津扬天科技有限公司 | A kind of seven freedom cooperation mechanical arm |
| CN107891442B (en) * | 2017-11-28 | 2024-01-26 | 天津扬天科技有限公司 | Multi-degree-of-freedom hollow cooperative mechanical arm |
| CN107901075B (en) * | 2017-11-28 | 2023-12-01 | 天津扬天科技有限公司 | Joint module adopted by multi-degree-of-freedom hollow cooperative mechanical arm |
| CN107891442A (en) * | 2017-11-28 | 2018-04-10 | 天津扬天科技有限公司 | The hollow cooperation mechanical arm of multiple degrees of freedom |
| CN108247668A (en) * | 2018-02-06 | 2018-07-06 | 北京精密机电控制设备研究所 | A kind of integrated joint of robot module |
| 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 |
| 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 |
| CN109551513B (en) * | 2019-01-28 | 2023-09-22 | 河北工业大学 | Multifunctional high-integration modularized robot joint |
| CN109551513A (en) * | 2019-01-28 | 2019-04-02 | 河北工业大学 | A kind of Multifunctional height integrated modular joint of robot |
| CN111037547A (en) * | 2019-12-16 | 2020-04-21 | 深圳市佳士科技股份有限公司 | Cooperation robot transmission structure and cooperation robot |
| CN111098296A (en) * | 2020-01-09 | 2020-05-05 | 广东时汇信息科技有限公司 | Transmission structure of robot |
| CN111230922A (en) * | 2020-02-28 | 2020-06-05 | 洛阳尚奇机器人科技有限公司 | Modular robot joint integrating driving function and detection function |
| CN111404345A (en) * | 2020-03-23 | 2020-07-10 | 上海宇航系统工程研究所 | Precision driving joint suitable for space environment |
| CN115199725A (en) * | 2021-09-30 | 2022-10-18 | 深圳市越疆科技有限公司 | Joint, mechanical arm, robot and installation method thereof |
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