CN107344365A - Robot joint driving structure and robot - Google Patents
Robot joint driving structure and robot Download PDFInfo
- Publication number
- CN107344365A CN107344365A CN201710531436.7A CN201710531436A CN107344365A CN 107344365 A CN107344365 A CN 107344365A CN 201710531436 A CN201710531436 A CN 201710531436A CN 107344365 A CN107344365 A CN 107344365A
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- plug
- gear
- steering wheel
- servo
- controller
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- 230000001681 protective effect Effects 0.000 claims description 18
- 244000309466 calf Species 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000689 upper leg Anatomy 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot joint driving structure and a robot. The robot joint driving structure comprises a first servo steering engine, a second servo steering engine and an externally hung gear assembly; the first servo steering engine comprises a first steering engine output shaft; the externally-hung gear assembly comprises a first externally-hung gear and a second externally-hung gear which are meshed with each other, and the first externally-hung gear is sleeved on the first steering engine output shaft. The arrangement of the external gear-engaging wheel component in the robot joint driving structure enables the second servo steering engine to rotate relative to the first servo steering engine, so that the driving torque of the first servo steering engine can be increased, and the robot joint driving structure can meet the requirements of small size and large torque.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of joint of robot driving structure and robot.
Background technology
Robot is the machinery equipment that corresponding actions are performed for the control instruction sent according to control terminal, in robot
Articulation structure provided with positions such as the foot for building robot, leg and ancons.Joint of robot driving structure includes rudder
Machine, driving element of the steering wheel as joint of robot driving structure, it can pass through with the controller of robot or other steering wheels and be connected
Wire rod realizes the electrical connection of each joint.In joint of robot driving structure design process, it is desirable to steering wheel decelerator small volume,
Moment of torsion is big, requirement that is compact-sized and meeting specific speed reducing ratio.Steering wheel can not expire simultaneously in current robot joint drive structure
Sufficient small volume and the big demand of moment of torsion.
The content of the invention
The present invention provides a kind of joint of robot driving structure and robot, to solve current robot joint drive structure
Middle steering wheel can not meet the problem of the needs of small volume and big moment of torsion simultaneously.
The technical solution adopted for the present invention to solve the technical problems is：A kind of joint of robot driving structure, including the
One Servo-controller, the second Servo-controller and plug-in gear assembly；First Servo-controller includes the first steering wheel output shaft；It is described
Plug-in gear assembly includes the intermeshing first plug-in gear and the second plug-in gear, and the first plug-in gear is set in institute
State on the first steering wheel output shaft.
Preferably, the number of teeth of the described second plug-in gear is more than the number of teeth of the described first plug-in gear.
Preferably, the joint of robot driving structure also includes assembling assembly, and the assembling assembly is arranged on described
On one Servo-controller, for assembling the described first plug-in gear and the second plug-in gear.
Preferably, the assembling assembly includes protective housing, and the protective housing is arranged on first Servo-controller,
For protecting the described first plug-in gear, and assemble the described second plug-in gear.
Preferably, connecting portion, the Yi Jicong that the protective housing includes shell body, extended from the lateral margin of shell body one
The support that the connecting portion side is extended；The shell body, which is provided with, to be used to house the accommodating of the described first plug-in gear
Chamber；The second plug-in gear is assemblied on the support.
Preferably, the support is provided with assembling screw；
The assembling assembly includes mounting ring and assembling screw, and the mounting ring is set on the support, the dress
Coordinate with screw and the assembling screw, the described second plug-in gear is fixed on the support.
Preferably, the described second plug-in gear is provided with mounting hole；
The mounting ring includes the first ring body and the second ring body extended from the first ring body side, first ring
The external diameter of body is more than the aperture of the mounting hole, and the external diameter of second ring body is less than the aperture of the mounting hole；
The assembling screw includes nut portion and the threaded shank extended from nut portion side, the threaded shank and institute
State assembling screw to coordinate, the external diameter in the nut portion is more than the aperture of the mounting hole.
Preferably, the joint of robot driving structure also includes being used to assemble the first of first Servo-controller
Housing unit；First housing unit includes being oppositely arranged on the first steering wheel left cover and the of the first Servo-controller both sides
One steering wheel right cover, the first steering wheel left cover and the first steering wheel right cover cooperatively form the of accommodating first Servo-controller
One confined space, the first steering wheel right cover are provided with the assembling hole position for being used for housing the shell body.
Preferably, the joint of robot driving structure also includes being used for the second housing for assembling second Servo-controller
Component；Second housing unit includes being oppositely arranged on the second steering wheel left cover and the second rudder of the second Servo-controller both sides
It is second close to cooperatively form accommodating second Servo-controller for machine right cover, the second steering wheel left cover and the second steering wheel right cover
Space is closed, the second steering wheel right cover is connected with the described second plug-in gear.
The present invention also provides a kind of robot, including the joint of robot driving structure.
The present invention has the following advantages that compared with prior art：Joint of robot driving structure provided by the present invention and machine
In device people, the first plug-in gear is arranged on the first steering wheel output shaft of the first Servo-controller, outside the second plug-in gear and first
Wheel intermeshing is mentioned, is turned round so as to which the driving of the first Servo-controller can be increased by the first plug-in gear and the second plug-in gear
Square, so that the joint of robot driving structure meets small volume and the needs of big moment of torsion.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is an exploded view of joint of robot driving structure in one embodiment of the invention.
Fig. 2 is another exploded view of joint of robot driving structure in Fig. 1.
Fig. 3 is another exploded view of joint of robot driving structure in Fig. 1.
Fig. 4 is another exploded view of joint of robot driving structure in Fig. 1.
In figure：10th, the first Servo-controller；11st, the first columnar part；111st, the first fixed via；12nd, the first globular part；13、
First steering wheel output shaft；20th, the second Servo-controller；21st, the second columnar part；211st, the second fixed via；22nd, the second globular part；
30th, plug-in gear assembly；31st, the first plug-in gear；32nd, the second plug-in gear；321st, mounting hole；322nd, the first positioning hole；40、
Assembling assembly；41st, protective housing；411st, shell body；4111st, connecting hole；412nd, connecting portion；413rd, support；4131st, spiral shell is assembled
Hole；42nd, mounting ring；421st, the first ring body；422nd, the second ring body；43rd, screw is assembled；431st, nut portion；432nd, threaded shank；50、
First housing unit；51st, the first steering wheel left cover；511st, the first fixing threaded hole；52nd, the first steering wheel right cover；521st, hole position is assembled；
60th, the second housing unit；61st, the second steering wheel left cover；611st, the second fixing threaded hole；62nd, the second steering wheel right cover；621st, the second positioning
Hole.
Embodiment
In order to which technical characteristic, purpose and the effect of the present invention is more clearly understood, now compares accompanying drawing and describe in detail
The embodiment of the present invention.
Fig. 1-Fig. 4 shows the joint of robot driving structure in the present embodiment.As Figure 1-Figure 4, the joint of robot
Driving structure includes the first Servo-controller 10, the second Servo-controller 20, plug-in gear assembly 30, assembling assembly 40, the first housing
The housing unit 60 of component 50 and second.Wherein, plug-in gear assembly 30 includes the intermeshing first plug-in gear 31 and second
Plug-in gear 32, the first plug-in gear 31 are arranged on the first Servo-controller 10.Second plug-in gear 32 is contained in the second housing
In component 60, the second plug-in gear 32 engages with the first plug-in gear 31.The joint of robot driving structure can be applicable to machine
On the limbs of people, especially on the limbs of anthropomorphic robot.In the present embodiment, the corresponding anthropomorphic robot of the first Servo-controller 10
Big leg joint, the calf joint of the corresponding anthropomorphic robot of the second Servo-controller 20.
As Figure 1-Figure 4, the first Servo-controller 10 include the first columnar part 11, be connected with the first columnar part 11 first
Globular part 12 and the first steering wheel output shaft 13 positioned at the side of the first globular part 12.First steering wheel output shaft 13 is arranged on the first ball
In shape portion 12.Wherein, the first columnar part 11 is provided with some first fixed vias 111 for being used for connecting the first housing unit 50.
In the present embodiment, the first Servo-controller 10 is located at robot thigh joint, for driving the leg joint motion of the machine National People's Congress.
First housing unit 50 is assemblied on the first Servo-controller 10, for protecting the first Servo-controller 10, to reach anti-
Water, purpose that is dust-proof and being conveniently connected with other elements.First housing unit 50 includes being oppositely arranged on the first Servo-controller
The the first steering wheel left cover 51 and the first steering wheel right cover 52 of 10 both sides, the first steering wheel left cover 51 and the first steering wheel right cover 52 cooperatively form
First confined space of accommodating first Servo-controller 10, the first steering wheel right cover 52 are provided with assembling hole position 521.Wherein, the first rudder
It can be fixedly connected between the steering wheel right cover 52 of machine left cover 51 and first by snap fit or with bolt, so that the first steering wheel left cover
51 and first the first confined space for forming accommodating first Servo-controller 10 between steering wheel right cover 52.Specifically, the first steering wheel is left
The inner side of lid 51 is provided with the first fixing threaded hole 511 coordinated with the first fixed via 111.During assembling, screw is passed through into the first post
First fixed via 111 in shape portion 11 coordinates with the first fixing threaded hole 511, and the first Servo-controller 10 is fixed into the first steering wheel
In left cover 51, then the first steering wheel right cover 52 is fastened in the first steering wheel left cover 51, the first steering wheel left cover is fixed using bolt
51 and the first steering wheel right cover 52, to reach the protection purpose of the first Servo-controller 10.
As Figure 1-Figure 4, the second Servo-controller 20 is connected with the first Servo-controller 10 and can relative first Servo-controller
10 rotate.Specifically, the columnar part 21 of the second Servo-controller 20 second, the second globular part 22 for being connected with the second columnar part 21 and position
The second steering wheel output shaft (not shown) in the side of the second globular part 22.Wherein, the second columnar part 21, which is provided with, is used to connect
Connect the second fixed via 211 of the second housing unit 60.Second steering wheel output shaft (not shown) is arranged on the second globular part
On 22, another plug-in gear assembly 30 can be assembled.In the present embodiment, the second Servo-controller 20 is located at robot calf joint,
For driving robot calf joint motion.
Second housing unit 60 is assemblied on the second Servo-controller 20, for protecting the second Servo-controller 20, to reach anti-
Water, purpose that is dust-proof and being conveniently connected with other elements.Second housing unit 60 includes being oppositely arranged on the second Servo-controller
The the second steering wheel left cover 61 and the second steering wheel right cover 62 of 20 both sides, the second steering wheel left cover 61 and the second steering wheel right cover 62 cooperatively form
Second confined space of accommodating second Servo-controller 20, the second steering wheel right cover 62 and the second plug-in gear of plug-in gear assembly 30
32 are connected.In the present embodiment, the second steering wheel right cover 62 is provided with some second positioning holes for being used for connecting the second plug-in gear 32
621.Wherein, can be fixedly connected between the second steering wheel left cover 61 and the second steering wheel right cover 62 by snap fit or with bolt,
So as to the second confined space of accommodating second Servo-controller 20 is formed between the second steering wheel left cover 61 and the second steering wheel right cover 62.Tool
Body, the inner side of the second steering wheel left cover 61 is provided with the second fixing threaded hole 611 coordinated with the second fixed via 211., will during assembling
Screw coordinates through the first fixing threaded hole 511 of the second columnar part 21 with the first fixing threaded hole 511, by the second Servo-controller 20
It is assembled in the second steering wheel left cover 61, the second steering wheel right cover 62 is fastened in the second steering wheel left cover 61, is fixed using bolt
Two steering wheel left covers 61 and the second steering wheel right cover 62, to reach the protection purpose of the second Servo-controller 20.
Plug-in gear assembly 30 includes the intermeshing first plug-in 31 and second plug-in gear 32 of gear, is mentioned outside first
Wheel 31 is set on the first steering wheel output shaft 13, and the inner surface that the first plug-in gear 31 is set on the first steering wheel output shaft 13 is set
There is the internal tooth engaged with the first steering wheel output shaft 13.Second plug-in gear 32 engages with the first plug-in gear 31, and and second shell
Body component 60 is connected.Specifically, the second plug-in gear 32 is provided with mounting hole 321 and some first positioning holes 322, the mounting hole
321 are arranged on the center of the second plug-in gear 32, and some first positioning holes 322 are uniformly arranged on around mounting hole 321.First is fixed
Position hole 322 and the second positioning hole 621 of the second housing unit 60 are correspondingly arranged, and in the present embodiment, bolt can be used to pass through second
Positioning hole 621 coordinates with the first positioning hole 322 on the second plug-in gear 32, so that the second plug-in steering wheel of gear 32 and second is right
Lid 62 is connected.During assembling, the first plug-in gear 31 is set on the first steering wheel output shaft 13 of the first Servo-controller 10, by
One steering wheel left cover 51 and the first steering wheel right cover 52 are assemblied on the first Servo-controller 10, second engaged with the first plug-in gear 31
Plug-in gear 32 is assemblied in the second steering wheel right cover 62, and the second steering wheel left cover 61 and the second steering wheel right cover 62 are assembled and watched second
Take on steering wheel 20.
In the present embodiment, the number of teeth of the second plug-in gear 32 is more than the number of teeth of the first plug-in gear 31.In the first servorudder
When first plug-in gear 31 of the driving of machine 10 rotates, the driving force increase that the first plug-in gear 31 exports the first Servo-controller 10 is simultaneously
The second plug-in gear 32 is driven to, the driving force after the second plug-in gear 32 increases the first plug-in gear 31 further increases,
And then greatly improve the driving force of the first Servo-controller 10 output.The setting of plug-in gear assembly 30, can make the first Servo-controller
10 gear transmission ratio is reduced to 2：1, strength is original 2 times, greatly improves the driving force of the first Servo-controller 10, can be not
In the case of changing the internal structure of the first Servo-controller 10, increase the driving torque of the first Servo-controller 10.
As Figure 1-Figure 4, assembling assembly 40 is arranged on the first Servo-controller 10, for assembling the first plug-in gear 31
With the second plug-in gear 32, and assembling assembly 40 is connected between the first housing unit 50 and the second housing unit 60.Outside second
Mention wheel 32 to engage with the first plug-in gear 31 being arranged on the first steering wheel output shaft 13 so that the first Servo-controller 10 passes through
The driving of first plug-in 31 and second plug-in gear 32 of gear, increase power output.Certainly, in other embodiments, plug-in gear
Number and position can change according to actual demand.
Specifically, assembling assembly 40 includes protective housing 41, mounting ring 42 and assembling screw 43.Wherein, protective housing 41
It is arranged on the first Servo-controller 10, for protecting the first plug-in gear 31 and assembling the second plug-in gear 32.In the present embodiment,
Second plug-in gear 32 is assemblied in protective housing 41 by mounting ring 42 and assembling screw 43, avoids the second plug-in gear 32 from filling
Fit in protective housing 41 and when relative first plug-in gear 31 rotates, occur to loosen and the second plug-in 32 normal work of gear of influence
Make.
As Figure 1-Figure 4, the connecting portion that protective housing 41 includes shell body 411, extended from the lateral margin of shell body 411 1
412 and the support 413 that extends from the side of connecting portion 412.Shell body 411 is provided with some connecting holes 4111, can use
Screw passes through connecting hole 4111 that protective housing 41 is fixed on the first Servo-controller 10 and the first steering wheel right cover 52.Shell body
The accommodating cavity (not shown) for being used for housing the first plug-in gear 31 is provided with 411 towards the side of the first Servo-controller 10,
After the first plug-in gear 31 is assembled on the first steering wheel output shaft 13, protective housing 41 is assembled in the first plug-in gear 31
On so that the first plug-in gear 31 is located in accommodating cavity, to play a part of protecting the first plug-in gear 31.Wherein, support
413 extend from the side of connecting portion 412 towards the side direction of the first steering wheel right cover 52 1, and the second plug-in central axle hole of gear 32 is assemblied in
On support 413, and engaged with the first plug-in gear 31 in accommodating cavity.In the present embodiment, support 413 is set in a tubular form,
And support 413 is provided with the assembling screw 4131 coordinated with assembling screw 43, assembling screw 43 is assemblied in by support 413
Assemble in screw 4131.When the first Servo-controller 10 is assembled in the first steering wheel right cover 52, the shell body of protective housing 41
411 in assembling hole position 521.
Mounting ring 42 is set on support 413, and the second plug-in gear 32 is arranged on mounting ring 42.Specifically, fill
Include the first ring body 421 and the second ring body 422 extended from the side of the first ring body 421, the external diameter of the first ring body 421 with ring 42
More than the aperture of mounting hole 321, the external diameter of the second ring body 422 is less than the aperture of mounting hole 321.Wherein, the first ring body 421 is interior
Footpath is identical with the internal diameter of the second ring body 422, and more than the external diameter of support 413, so that mounting ring 42 can be set in support 413
On.The external diameter of first ring body 421 is more than the aperture of mounting hole 321, and the external diameter of the second ring body 422 is less than the aperture of mounting hole 321,
So that the mounting hole 321 of the second plug-in gear 32 is available for the second ring body 422 to pass through without being available for the first ring body 421 to pass through, so as to
So that the second plug-in gear 32 is connected by mounting ring 42 with protective housing 41, the second plug-in gear 32 is avoided to rotate to containment vessel
Body 41 causes to wear.In the present embodiment, the external diameter of the second ring body 422 is slightly less than the aperture of mounting hole 321, second plug-in to avoid
Gear 32 relative to the second ring body 422 rotate when, axle center shifts and influences the normal work of plug-in gear assembly 30.
Assembling screw 43 coordinates with assembling screw 4131, for the second plug-in gear 32 to be fixed on into support 413.Dress
Include nut portion 431 and the threaded shank 432 extended from the side of nut portion 431, threaded shank 432 and assembling screw with screw 43
4131 coordinate, and the external diameter in nut portion 431 is more than the aperture of mounting hole 321, to avoid the second plug-in gear 32 from protective housing 41
Support 413 come off.
The assembling process of the joint of robot driving structure has a variety of, and one of which assembling process is shown in the present embodiment such as
Under：First Servo-controller 10 is assembled in the first steering wheel left cover 51, the first plug-in gear 31 is assembled in the first Servo-controller
On 10 the first steering wheel output shaft 13, protective housing 41 is assembled on the first Servo-controller 10 and makes the first plug-in gear 31
In in the accommodating cavity of shell body 411, mounting ring 42 is set on the support 413 of protective housing 41, by the second plug-in gear
32 are assemblied on mounting ring 42, assembling screw 43 are assembled in the assembling screw 4131 of support 413, by the first steering wheel right cover
52 are assemblied on the first Servo-controller 10, the second plug-in gear 32 is connected with the second steering wheel right cover 62, by the second steering wheel left cover
61 are assemblied on the second Servo-controller 20, and the second steering wheel left cover 61 is connected with the second steering wheel right cover 62, to complete the machine
The assembling of person joint's driving structure.
Second Servo-controller 20 is similar with the connection of plug-in gear with the first Servo-controller 10 with the connection of plug-in gear, i.e.,
The output shaft of second Servo-controller 20 is again provided with the plug-in gear of two-stage, and second Servo-controller 20 and two plug-in gears and
The connection of first housing unit 50 is connected phase with above-mentioned first Servo-controller 10 with two plug-in gears and the second housing unit 60
Seemingly, will not be repeated here.Certainly, in other embodiments, the number for the plug-in gear being connected with Servo-controller and position can be according to
Change according to actual demand.
In the joint of robot driving structure that the present embodiment is provided, the first plug-in gear 31 is arranged on the first Servo-controller
On 10 the first steering wheel output shaft 13, the second plug-in gear 32 is engaged so as to increase the first Servo-controller with the first plug-in gear 31
10 driving torque, so that the joint of robot driving structure meets small volume and the needs of big moment of torsion.Assembling assembly 40 is set
On the first Servo-controller 10, for protecting plug-in gear assembly 30.
The present invention is illustrated by above-mentioned specific embodiment, it will be appreciated by those skilled in the art that, do not departing from
In the case of the scope of the invention, various conversion and equivalent substitute can also be carried out to the present invention.In addition, it is directed to particular condition or tool
Body situation, various modifications can be made to the present invention, without departing from the scope of the present invention.Therefore, the present invention is not limited to disclosed
Specific embodiment, and whole embodiments for falling within the scope of the appended claims should be included.
Claims (10)
1. a kind of joint of robot driving structure, it is characterised in that mention including the first Servo-controller, the second Servo-controller and outside
Wheel assembly；First Servo-controller includes the first steering wheel output shaft；The plug-in gear assembly includes intermeshing first
Plug-in gear and the second plug-in gear, the first plug-in gear are set on the first steering wheel output shaft.
2. joint of robot driving structure according to claim 1, it is characterised in that the number of teeth of the second plug-in gear
More than the number of teeth of the described first plug-in gear.
3. joint of robot driving structure according to claim 1, it is characterised in that the joint of robot driving structure
Also include assembling assembly, the assembling assembly is arranged on first Servo-controller, for assembling the described first plug-in gear
With the described second plug-in gear.
4. joint of robot driving structure according to claim 3, it is characterised in that the assembling assembly includes containment vessel
Body, the protective housing are arranged on first Servo-controller, for protecting the described first plug-in gear, and assemble described
Two plug-in gears.
5. joint of robot driving structure according to claim 4, it is characterised in that the protective housing includes shell sheet
Body, the connecting portion extended from the lateral margin of shell body one and the support extended from the connecting portion side；The shell
Body is provided with the accommodating cavity for being used for housing the described first plug-in gear；The second plug-in gear is assemblied in the support
On.
6. joint of robot driving structure according to claim 5, it is characterised in that the support is provided with assembling spiral shell
Hole；
The assembling assembly includes mounting ring and assembling screw, and the mounting ring is set on the support, the assembling spiral shell
Silk coordinates with the assembling screw, and the described second plug-in gear is fixed on the support.
7. joint of robot driving structure according to claim 6, it is characterised in that the second plug-in gear is provided with
Mounting hole；
The mounting ring includes the first ring body and the second ring body extended from the first ring body side, first ring body
External diameter is more than the aperture of the mounting hole, and the external diameter of second ring body is less than the aperture of the mounting hole；
The assembling screw includes nut portion and the threaded shank extended from nut portion side, the threaded shank and the dress
Coordinate with screw, the external diameter in the nut portion is more than the aperture of the mounting hole.
8. joint of robot driving structure according to claim 5, it is characterised in that the joint of robot driving structure
Also include being used for the first housing unit for assembling first Servo-controller；First housing unit includes being oppositely arranged on institute
State the first steering wheel left cover and the first steering wheel right cover of the first Servo-controller both sides, the first steering wheel left cover and first steering wheel
Right cover cooperatively forms the first confined space of accommodating first Servo-controller, and the first steering wheel right cover, which is provided with, to be used to house
The assembling hole position of the shell body.
9. joint of robot driving structure according to claim 1, it is characterised in that the joint of robot driving structure
Also include being used for the second housing unit for assembling second Servo-controller；Second housing unit includes being oppositely arranged on institute
State the second steering wheel left cover and the second steering wheel right cover of the second Servo-controller both sides, the second steering wheel left cover and second steering wheel
Right cover cooperatively forms the second confined space of accommodating second Servo-controller, the second steering wheel right cover and described second plug-in
Gear is connected.
10. a kind of robot, it is characterised in that including any one of the claim 1-9 joint of robot driving structures.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710531436.7A CN107344365B (en) | 2017-07-03 | 2017-07-03 | Robot joint driving structure and robot |
| US15/719,532 US10478968B2 (en) | 2017-07-03 | 2017-09-28 | Driving assembly, ankle assembly and robot having the same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710531436.7A CN107344365B (en) | 2017-07-03 | 2017-07-03 | Robot joint driving structure and robot |
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| Publication Number | Publication Date |
|---|---|
| CN107344365A true CN107344365A (en) | 2017-11-14 |
| CN107344365B CN107344365B (en) | 2024-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710531436.7A Active CN107344365B (en) | 2017-07-03 | 2017-07-03 | Robot joint driving structure and robot |
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| CN102026782A (en) * | 2008-04-09 | 2011-04-20 | 奥尔德巴伦机器人公司 | Motorized articulation with two pivot joints, and humanoid robot employing the articulation |
| CN105082174A (en) * | 2015-08-14 | 2015-11-25 | 哈尔滨工大服务机器人有限公司 | Two-degree-of-freedom active elbow joint driving device of clothing model robot |
| CN205434968U (en) * | 2015-12-29 | 2016-08-10 | 广东奥飞动漫文化股份有限公司 | Intelligent robot toy |
| CN206072248U (en) * | 2016-09-06 | 2017-04-05 | 深圳市优必选科技有限公司 | Speed reduction device, joint servo steering engine and robot |
| CN106335055A (en) * | 2016-10-31 | 2017-01-18 | 上海未来伙伴机器人有限公司 | Robot steering engine assembly and robot |
| CN206263968U (en) * | 2016-12-13 | 2017-06-20 | 黄国彬 | A kind of service robot |
| CN106826759A (en) * | 2016-12-29 | 2017-06-13 | 深圳市优必选科技有限公司 | Foot structure and anthropomorphic robot |
| CN106828655A (en) * | 2017-02-22 | 2017-06-13 | 武汉科技大学 | With multivariant climbing robot |
| CN106863347A (en) * | 2017-03-07 | 2017-06-20 | 江苏安格尔机器人有限公司 | A kind of modularization Two dimension of freedom robot joint |
| CN206998962U (en) * | 2017-07-03 | 2018-02-13 | 深圳市优必选科技有限公司 | Robot joint driving structure and robot |
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