CN107344365B - Robot joint driving structure and robot - Google Patents
Robot joint driving structure and robot Download PDFInfo
- Publication number
- CN107344365B CN107344365B CN201710531436.7A CN201710531436A CN107344365B CN 107344365 B CN107344365 B CN 107344365B CN 201710531436 A CN201710531436 A CN 201710531436A CN 107344365 B CN107344365 B CN 107344365B
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- steering engine
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- servo steering
- servo
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- 230000001681 protective effect Effects 0.000 description 5
- 210000000689 upper leg Anatomy 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000004078 waterproofing Methods 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)
- Manipulator (AREA)
- Retarders (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 external gear assembly comprises a first external gear and a second external gear which are meshed with each other, and the first external gear is sleeved on the first steering engine output shaft. The externally hung gear assembly in the robot joint driving structure is arranged, so that when the second servo steering engine rotates relative to the first servo steering engine, 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 invention relates to the field of robots, in particular to a robot joint driving structure and a robot.
Background
The robot is a machine device for executing corresponding actions according to control instructions sent by the control terminal, and the robot is provided with a joint structure for building the feet, the legs, the elbows and other parts of the robot. The robot joint driving structure comprises a steering engine, wherein the steering engine is used as a driving element of the robot joint driving structure and can be electrically connected with a controller of the robot or other steering engines at all joints through connecting wires. In the design process of the robot joint driving structure, the steering engine speed reducer is required to be small in size, large in torque and compact in structure, and meets the requirement of a specific reduction ratio. Steering engines in the current robot joint driving structure cannot meet the requirements of small size and large torque at the same time.
Disclosure of Invention
The invention provides a robot joint driving structure and a robot, which are used for solving the problem that a steering engine in the current robot joint driving structure cannot meet the requirements of small volume and large torque at the same time.
The technical scheme adopted for solving the technical problems is as follows: a 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 external gear assembly comprises a first external gear and a second external gear which are meshed with each other, and the first external gear is sleeved on the first steering engine output shaft.
Preferably, the number of teeth of the second external gear is greater than the number of teeth of the first external gear.
Preferably, the robot joint driving structure further comprises an assembly component, wherein the assembly component is arranged on the first servo steering engine and is used for assembling the first externally hung gear and the second externally hung gear.
Preferably, the assembly component comprises a protection shell, wherein the protection shell is arranged on the first servo steering engine and is used for protecting the first externally hung gear and assembling the second externally hung gear.
Preferably, the protection case includes a case body, a connection part extending from one side edge of the case body, and a support part extending from one side of the connection part; the shell body is provided with an accommodating cavity for accommodating the first externally hung gear; the second outside gear is fitted on the support portion.
Preferably, the supporting part is provided with an assembling screw hole;
The assembly comprises an assembly ring and an assembly screw, the assembly ring is sleeved on the supporting portion, and the assembly screw is matched with the assembly screw hole so as to fix the second outer gear on the supporting portion.
Preferably, the second externally hung gear is provided with a mounting hole;
The assembly ring comprises a first ring body and a second ring body extending from one side of the first ring body, the outer diameter of the first ring body is larger than the aperture of the mounting hole, and the outer diameter of the second ring body is smaller than the aperture of the mounting hole;
The assembly screw comprises a nut portion and a screw rod portion extending from one side of the nut portion, the screw rod portion is matched with the assembly screw hole, and the outer diameter of the nut portion is larger than the aperture of the mounting hole.
Preferably, the robot joint driving structure further comprises a first housing assembly for assembling the first servo steering engine; the first shell component comprises a first steering engine left cover and a first steering engine right cover which are oppositely arranged on two sides of the first servo steering engine, the first steering engine left cover and the first steering engine right cover are matched to form a first closed space for accommodating the first servo steering engine, and an assembly hole site for accommodating the shell body is formed in the first steering engine right cover.
Preferably, the robot joint driving structure further comprises a second housing assembly for assembling the second servo steering engine; the second shell component comprises a second steering engine left cover and a second steering engine right cover which are oppositely arranged on two sides of the second servo steering engine, the second steering engine left cover and the second steering engine right cover are matched to form a second closed space for accommodating the second servo steering engine, and the second steering engine right cover is connected with the second outer gear.
The invention also provides a robot, which comprises the robot joint driving structure.
Compared with the prior art, the invention has the following advantages: according to the robot joint driving structure and the robot, the first externally hung gear is arranged on the first steering engine output shaft of the first servo steering engine, and the second externally hung gear is meshed with the first externally hung gear, so that driving torque of the first servo steering engine can be increased through the first externally hung gear and the second externally hung gear, and the robot joint driving structure meets the requirements of small size and large torque.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is an exploded view of a robot joint driving structure in an embodiment of the present invention.
Fig. 2 is another exploded view of the robot joint driving structure of fig. 1.
Fig. 3 is another exploded view of the robot joint driving structure of fig. 1.
Fig. 4 is another exploded view of the robot joint drive structure of fig. 1.
In the figure: 10. the first servo steering engine; 11. a first columnar portion; 111. a first fixing through hole; 12. a first spherical portion; 13. the first steering engine output shaft; 20. the second servo steering engine; 21. a second column section; 211. a second fixing through hole; 22. a second spherical portion; 30. externally hung gear components; 31. a first externally hung gear; 32. a second externally hung gear; 321. a mounting hole; 322. a first positioning hole; 40. assembling the assembly; 41. a protective housing; 411. a housing body; 4111. a connection hole; 412. a connection part; 413. a support section; 4131. assembling a screw hole; 42. a mounting ring; 421. a first ring body; 422. a second ring body; 43. assembling a screw; 431. a nut portion; 432. a screw portion; 50. a first housing assembly; 51. the left cover of the first steering engine; 511. a first fixing screw hole; 52. the right cover of the first steering engine; 521. assembling hole sites; 60. a second housing assembly; 61. the left cover of the second steering engine; 611. the second fixing screw hole; 62. the right steering engine cover; 621. and a second positioning hole.
Detailed Description
For a clearer understanding of technical features, objects and effects of the present invention, a detailed description of embodiments of the present invention will be made with reference to the accompanying drawings.
Fig. 1 to 4 show a robot joint driving structure in the present embodiment. As shown in fig. 1 to 4, the robot joint driving structure includes a first servo steering engine 10, a second servo steering engine 20, an external gear assembly 30, a fitting assembly 40, a first housing assembly 50, and a second housing assembly 60. The externally hung gear assembly 30 comprises a first externally hung gear 31 and a second externally hung gear 32 which are meshed with each other, and the first externally hung gear 31 is arranged on the first servo steering engine 10. The second external gear 32 is accommodated in the second housing assembly 60, and the second external gear 32 is meshed with the first external gear 31. The robot joint driving structure can be applied to limbs of robots, in particular to limbs of humanoid robots. In this embodiment, the first servo steering engine 10 corresponds to a thigh joint of the humanoid robot, and the second servo steering engine 20 corresponds to a shank joint of the humanoid robot.
As shown in fig. 1 to 4, the first servo steering engine 10 includes a first columnar portion 11, a first spherical portion 12 connected to the first columnar portion 11, and a first steering engine output shaft 13 located on one side of the first spherical portion 12. The first steering engine output shaft 13 is provided on the first spherical portion 12. The first columnar portion 11 is provided with a plurality of first fixing through holes 111 for connecting the first housing assembly 50. In this embodiment, the first servo steering engine 10 is located at the thigh joint of the robot and is used for driving the thigh joint of the robot to move.
The first housing assembly 50 is assembled on the first servo steering engine 10 for protecting the first servo steering engine 10 for the purpose of waterproofing, dust-proofing, and convenient connection with other components. The first housing assembly 50 comprises a first steering engine left cover 51 and a first steering engine right cover 52 which are oppositely arranged on two sides of the first servo steering engine 10, the first steering engine left cover 51 and the first steering engine right cover 52 are matched to form a first closed space for accommodating the first servo steering engine 10, and an assembly hole site 521 is formed in the first steering engine right cover 52. The first steering engine left cover 51 and the first steering engine right cover 52 can be fixedly connected in a clamping manner or through bolts, so that a first closed space for accommodating the first servo steering engine 10 is formed between the first steering engine left cover 51 and the first steering engine right cover 52. Specifically, a first fixing screw hole 511 matched with the first fixing through hole 111 is formed on the inner side of the first steering engine left cover 51. During assembly, a screw penetrates through the first fixing through hole 111 of the first columnar portion 11 to be matched with the first fixing screw hole 511 so as to fix the first servo steering engine 10 on the first steering engine left cover 51, then the first steering engine right cover 52 is buckled on the first steering engine left cover 51, and the first steering engine left cover 51 and the first steering engine right cover 52 are fixed through bolts so as to achieve the purpose of protecting the first servo steering engine 10.
As shown in fig. 1-4, the second servo steering engine 20 is connected to the first servo steering engine 10 and is rotatable relative to the first servo steering engine 10. Specifically, the second servo steering engine 20 includes a second cylindrical portion 21, a second spherical portion 22 connected to the second cylindrical portion 21, and a second steering engine output shaft (not shown) located on one side of the second spherical portion 22. Wherein, the second cylindrical portion 21 is provided with a second fixing through hole 211 for connecting the second housing assembly 60. A second steering engine output shaft (not shown) is provided on the second ball portion 22 and may be fitted with a further external gear assembly 30. In this embodiment, the second servo steering engine 20 is located at the robot shank joint for driving the robot shank joint to move.
The second housing assembly 60 is assembled on the second servo steering engine 20, and is used for protecting the second servo steering engine 20 so as to achieve the purposes of water resistance, dust resistance and convenient connection with other elements. The second housing assembly 60 includes a second left steering engine cover 61 and a second right steering engine cover 62 that are disposed on two sides of the second servo steering engine 20, where the second left steering engine cover 61 and the second right steering engine cover 62 cooperate to form a second closed space for accommodating the second servo steering engine 20, and the second right steering engine cover 62 is connected to the second external gear 32 of the external gear assembly 30. In this embodiment, the second steering engine right cover 62 is provided with a plurality of second positioning holes 621 for connecting the second external gear 32. The second steering engine left cover 61 and the second steering engine right cover 62 may be connected through a clamping manner or by bolts, so that a second closed space for accommodating the second servo steering engine 20 is formed between the second steering engine left cover 61 and the second steering engine right cover 62. Specifically, a second fixing screw hole 611 matched with the second fixing through hole 211 is formed on the inner side of the second steering engine left cover 61. During assembly, a screw passes through the first fixing screw hole 511 of the second cylindrical part 21 to be matched with the first fixing screw hole 511, so that the second servo steering engine 20 is assembled on the second steering engine left cover 61, the second steering engine right cover 62 is buckled on the second steering engine left cover 61, and the second steering engine left cover 61 and the second steering engine right cover 62 are fixed by bolts so as to achieve the purpose of protecting the second servo steering engine 20.
The external gear assembly 30 comprises a first external gear 31 and a second external gear 32 which are meshed with each other, the first external gear 31 is sleeved on the first steering engine output shaft 13, and the inner surface of the first external gear 31 sleeved on the first steering engine output shaft 13 is provided with inner teeth meshed with the first steering engine output shaft 13. The second external gear 32 is meshed with the first external gear 31 and is connected with the second housing assembly 60. Specifically, the second external gear 32 is provided with a mounting hole 321 and a plurality of first positioning holes 322, the mounting hole 321 is arranged at the center of the second external gear 32, and the plurality of first positioning holes 322 are uniformly arranged around the mounting hole 321. The first positioning hole 322 is disposed corresponding to the second positioning hole 621 of the second housing assembly 60, and in this embodiment, a bolt may be used to pass through the second positioning hole 621 to cooperate with the first positioning hole 322 on the second external gear 32, so that the second external gear 32 is connected to the second steering engine right cover 62. During assembly, the first externally hung gear 31 is sleeved on the first steering engine output shaft 13 of the first servo steering engine 10, the first steering engine left cover 51 and the first steering engine right cover 52 are assembled on the first servo steering engine 10, the second externally hung gear 32 meshed with the first externally hung gear 31 is assembled on the second steering engine right cover 62, and the second steering engine left cover 61 and the second steering engine right cover 62 are assembled on the second servo steering engine 20.
In the present embodiment, the number of teeth of the second outside-hanging gear 32 is larger than that of the first outside-hanging gear 31. When the first servo steering engine 10 drives the first external gear 31 to rotate, the first external gear 31 increases the driving force output by the first servo steering engine 10 and transmits the driving force to the second external gear 32, and the second external gear 32 further increases the driving force after the first external gear 31 is increased, so that the driving force output by the first servo steering engine 10 is greatly improved. The externally hung gear assembly 30 can reduce the gear transmission ratio of the first servo steering engine 10 to 2:1, the strength is original 2 times, improves the driving force of first servo steering wheel 10 greatly, can increase the driving torque of first servo steering wheel 10 under the condition that does not change the internal structure of first servo steering wheel 10.
As shown in fig. 1 to 4, the assembly 40 is disposed on the first servo steering engine 10 for assembling the first external gear 31 and the second external gear 32, and the assembly 40 is connected between the first housing assembly 50 and the second housing assembly 60. The second external gear 32 is meshed with the first external gear 31 arranged on the first steering engine output shaft 13, so that the first servo steering engine 10 increases output force through driving of the first external gear 31 and the second external gear 32. Of course, in other embodiments, the number and positions of the external gears can be changed according to actual requirements.
Specifically, the mounting assembly 40 includes a protective housing 41, a mounting ring 42, and mounting screws 43. Wherein, the protection casing 41 is arranged on the first servo steering engine 10, and is used for protecting the first externally hung gear 31 and assembling the second externally hung gear 32. In this embodiment, the second external gear 32 is assembled on the protection housing 41 through the assembly ring 42 and the assembly screw 43, so as to avoid the second external gear 32 from loosening and affecting the normal operation of the second external gear 32 when the second external gear 32 is assembled on the protection housing 41 and rotates relative to the first external gear 31.
As shown in fig. 1 to 4, the protection case 41 includes a case body 411, a connection portion 412 extending from one side edge of the case body 411, and a support portion 413 extending from one side of the connection portion 412. The housing body 411 is provided with a plurality of connecting holes 4111, and screws can be used to pass through the connecting holes 4111 to fix the protection housing 41 on the first servo steering engine 10 and the first steering engine right cover 52. The housing body 411 is provided with a receiving cavity (not shown in the figure) for receiving the first external gear 31 on a side facing the first servo steering engine 10, and after the first external gear 31 is assembled on the first steering engine output shaft 13, the protection housing 41 is assembled on the first external gear 31, so that the first external gear 31 is located in the receiving cavity, so as to play a role in protecting the first external gear 31. The supporting portion 413 extends from the connecting portion 412 toward the first steering engine right cover 52, and the central shaft hole of the second external gear 32 is assembled on the supporting portion 413 and is meshed with the first external gear 31 in the accommodating cavity. In this embodiment, the supporting portion 413 is provided in a tubular shape, and the supporting portion 413 is provided with an assembling screw hole 4131 to be engaged with the assembling screw 43, and the assembling screw 43 is assembled in the assembling screw hole 4131 through the supporting portion 413. When the first servo steering engine 10 is assembled to the first steering engine right cover 52, the housing body 411 of the protection housing 41 is positioned in the assembly hole 521.
The mounting ring 42 is fitted over the support 413, while the second outside gear 32 is disposed on the mounting ring 42. Specifically, the assembly ring 42 includes a first ring body 421 and a second ring body 422 extending from one side of the first ring body 421, the first ring body 421 has an outer diameter larger than the aperture of the mounting hole 321, and the second ring body 422 has an outer diameter smaller than the aperture of the mounting hole 321. Wherein, the inner diameter of the first ring 421 is the same as the inner diameter of the second ring 422 and is larger than the outer diameter of the supporting portion 413, so that the assembling ring 42 can be sleeved on the supporting portion 413. The outer diameter of the first ring body 421 is larger than the aperture of the mounting hole 321, and the outer diameter of the second ring body 422 is smaller than the aperture of the mounting hole 321, so that the mounting hole 321 of the second external gear 32 can be penetrated by the second ring body 422 but not penetrated by the first ring body 421, and the second external gear 32 is connected with the protective housing 41 through the assembly ring 42, so that the abrasion of the protective housing 41 caused by the rotation of the second external gear 32 is avoided. In the embodiment, the outer diameter of the second ring body 422 is slightly smaller than the aperture of the mounting hole 321, so as to prevent the axle center from being deviated to affect the normal operation of the external gear assembly 30 when the second external gear 32 rotates relative to the second ring body 422.
The fitting screw 43 is fitted with the fitting screw hole 4131 for fixing the second outside gear 32 to the support portion 413. The fitting screw 43 includes a nut portion 431 and a screw portion 432 extending from one side of the nut portion 431, the screw portion 432 being fitted with the fitting screw hole 4131, the outer diameter of the nut portion 431 being larger than the aperture of the mounting hole 321 so as to prevent the second outside gear 32 from coming off the support portion 413 of the protective housing 41.
The assembly process of the robot joint driving structure is various, and one of the assembly processes shown in this embodiment is as follows: the first servo steering engine 10 is assembled on the first steering engine left cover 51, the first externally hung gear 31 is assembled on the first steering engine output shaft 13 of the first servo steering engine 10, the protection shell 41 is assembled on the first servo steering engine 10, the first externally hung gear 31 is positioned in the accommodating cavity of the shell body 411, the assembly ring 42 is sleeved on the supporting part 413 of the protection shell 41, the second externally hung gear 32 is assembled on the assembly ring 42, the assembly screw 43 is assembled in the assembly screw hole 4131 of the supporting part 413, the first steering engine right cover 52 is assembled on the first servo steering engine 10, the second externally hung gear 32 is connected with the second steering engine right cover 62, the second steering engine left cover 61 is assembled on the second servo steering engine 20, and the second steering engine left cover 61 is connected with the second steering engine right cover 62, so that the assembly of the robot joint driving structure is completed.
The connection between the second servo steering engine 20 and the external gear is similar to the connection between the first servo steering engine 10 and the external gear, that is, the output shaft of the second servo steering engine 20 is also provided with two stages of external gears, and the connection between the second servo steering engine 20 and the two external gears and the first housing assembly 50 are similar to the connection between the first servo steering engine 10 and the two external gears and the second housing assembly 60, which are not described herein. Of course, in other embodiments, the number and positions of the external gears connected to the servo steering engine may be changed according to actual requirements.
In the robot joint driving structure provided in this embodiment, the first external gear 31 is disposed on the first steering engine output shaft 13 of the first servo steering engine 10, and the second external gear 32 is meshed with the first external gear 31, so as to increase the driving torque of the first servo steering engine 10, so that the robot joint driving structure meets the requirements of small volume and large torque. The assembly 40 is disposed on the first servo steering engine 10 for protecting the external gear assembly 30.
While the invention has been described with reference to the specific embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from its scope. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (7)
1. The robot joint driving structure is characterized by comprising a first servo steering engine, a second servo steering engine, an externally hung gear assembly and an assembly; the second servo steering engine is connected with the first servo steering engine and can rotate relative to the first servo steering engine, and the first servo steering engine comprises a first steering engine output shaft; the external gear assembly comprises a first external gear and a second external gear which are meshed with each other, and the first external gear is sleeved on the first steering engine output shaft; the assembly component comprises a protection shell, wherein the protection shell is arranged on the first servo steering engine and is used for protecting the first externally hung gear and assembling the second externally hung gear; the protection shell comprises a shell body, a connecting part and a supporting part, wherein the connecting part extends out of one side edge of the shell body; the shell body is provided with an accommodating cavity for accommodating the first externally hung gear; the second outside gear is fitted on the support portion.
2. The robot joint driving structure according to claim 1, wherein the number of teeth of the second outside-hanging gear is larger than the number of teeth of the first outside-hanging gear.
3. The robot joint driving structure according to claim 1, wherein the support portion is provided with an assembly screw hole;
The assembly comprises an assembly ring and an assembly screw, the assembly ring is sleeved on the supporting portion, and the assembly screw is matched with the assembly screw hole so as to fix the second outer gear on the supporting portion.
4. The robot joint driving structure according to claim 3, wherein the second external gear is provided with a mounting hole;
The assembly ring comprises a first ring body and a second ring body extending from one side of the first ring body, the outer diameter of the first ring body is larger than the aperture of the mounting hole, and the outer diameter of the second ring body is smaller than the aperture of the mounting hole;
The assembly screw comprises a nut portion and a screw rod portion extending from one side of the nut portion, the screw rod portion is matched with the assembly screw hole, and the outer diameter of the nut portion is larger than the aperture of the mounting hole.
5. The robotic joint driving structure according to claim 2, further comprising a first housing assembly for assembling the first servo steering engine; the first shell component comprises a first steering engine left cover and a first steering engine right cover which are oppositely arranged on two sides of the first servo steering engine, the first steering engine left cover and the first steering engine right cover are matched to form a first closed space for accommodating the first servo steering engine, and an assembly hole site for accommodating the shell body is formed in the first steering engine right cover.
6. The robotic joint driving structure according to claim 1, further comprising a second housing assembly for assembling the second servo steering engine; the second shell component comprises a second steering engine left cover and a second steering engine right cover which are oppositely arranged on two sides of the second servo steering engine, the second steering engine left cover and the second steering engine right cover are matched to form a second closed space for accommodating the second servo steering engine, and the second steering engine right cover is connected with the second outer gear.
7. A robot comprising the robot joint driving structure of any one of claims 1 to 6.
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 |
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| CN107344365A CN107344365A (en) | 2017-11-14 |
| CN107344365B true CN107344365B (en) | 2024-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710531436.7A Active CN107344365B (en) | 2017-07-03 | 2017-07-03 | Robot joint driving structure and robot |
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| CN (1) | CN107344365B (en) |
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| CN206998962U (en) * | 2017-07-03 | 2018-02-13 | 深圳市优必选科技有限公司 | Joint of robot driving structure and robot |
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|---|---|---|---|---|
| CN101130244A (en) * | 2007-09-27 | 2008-02-27 | 上海交通大学 | Overhanging bar type hip joint mechanism of walk robot |
| 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 |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107344365A (en) | 2017-11-14 |
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