CN107398923A - A kind of joint connector of mechanical arm - Google Patents
A kind of joint connector of mechanical arm Download PDFInfo
- Publication number
- CN107398923A CN107398923A CN201710812312.6A CN201710812312A CN107398923A CN 107398923 A CN107398923 A CN 107398923A CN 201710812312 A CN201710812312 A CN 201710812312A CN 107398923 A CN107398923 A CN 107398923A
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- CN
- China
- Prior art keywords
- connector
- joint
- interface
- matrix
- hole
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Details Of Connecting Devices For Male And Female Coupling (AREA)
Abstract
The invention discloses a kind of joint connector of mechanical arm, including articulated joint and joint interface, articulated joint includes joint matrix, mechanical splice and electrical connector, joint interface includes interface matrix, mechanical interface and electric interfaces, mechanical splice and mechanical interface are mutually corresponding, and electrical connector and electric interfaces are mutually corresponding；Mechanical splice includes the first connector, at least one driver element and at least one pivot pin, and the first connector is provided with least one first hole；Mechanical interface includes the second connector, and the second connector is provided with least one second hole；Driver element connects pivot pin and can pass through the first hole with driving shaft pin and be inserted into the second hole so that the first connector to be fixedly connected with the second connector.The joint connector of mechanical arm proposed by the present invention has the advantages that simple in construction, in light weight, connection is reliable, switch speed is fast and easy to operate.
Description
Technical field
The present invention relates to intelligent machine arm field, more particularly to a kind of joint connector of mechanical arm.
Background technology
Existing mechanical arm is generally several joints and formed by a union piece with screw connection, joint of mechanical arm
Change needs first to disassemble screw with switching, expends time length, and operating efficiency is extremely low.
The disclosure of background above technology contents is only used for design and the technical scheme that auxiliary understands the present invention, and it is not necessarily
Belong to the prior art of present patent application, no tangible proof show the above present patent application the applying date
In the case of disclosed, above-mentioned background technology should not be taken to evaluate the novelty and creativeness of the application.
The content of the invention
In order to solve the above technical problems, the present invention proposes a kind of joint that can realize full-automatic quick-replaceable mechanical arm
Attachment means, have the advantages that simple in construction, in light weight, connection is reliable, switch speed is fast and easy to operate.
In order to achieve the above object, the present invention uses following technical scheme：
The invention discloses a kind of joint connector of mechanical arm, including articulated joint and joint interface, the joint
Joint includes joint matrix, mechanical splice and electrical connector, and the mechanical splice and the electrical connector are respectively fixedly connected with
In the joint matrix；The joint interface includes interface matrix, mechanical interface and electric interfaces, the mechanical interface and described
Electric interfaces are respectively fixedly connected with the interface matrix, and the mechanical splice and the mechanical interface are mutually corresponding with by institute
State articulated joint and the joint interface to mechanically connect, the electrical connector and the electric interfaces are mutually corresponding with by the pass
Section joint connects with the joint Interface Electrical；Wherein：
The mechanical splice includes the first connector, at least one driver element and at least one pivot pin, and described first connects
Junctor and at least one driver element are respectively fixedly connected with the joint matrix, and first connector is provided with extremely
Few first hole；
The mechanical interface includes the second connector, and second connector is fixedly connected on the interface matrix, institute
State the second connector and be provided with least one second hole, the position of second hole and the position of first hole are mutual
It is corresponding；
The driver element connects the pivot pin to drive the pivot pin to pass through first hole and be inserted into institute
State in the second hole so that first connector to be fixedly connected with second connector.
Preferably, first connector is the tubular structure that inwall is taper, and the inwall of first connector
Diameter is gradually reduced from outside to inside；Second connector is pyramidal structure, to cause first connector and described second
The inwall of the outer wall of second connector described in when connector is fixedly connected and first connector is bonded to each other.
Preferably, multiple driver elements are evenly distributed on the circumferencial direction in the outside of first connector, more
Individual first hole is evenly distributed on first connector in a circumferential direction, and multiple second holes are in circumference side
It is evenly distributed on upwards on second connector, multiple pivot pins and multiple driver elements, multiple first holes
Hole and multiple second holes are mutually corresponding one by one respectively.
Preferably, the driver element uses electromagnet push-pull mechanism, and the push-pull mechanism includes the first flexible member, institute
State electromagnet push-pull mechanism to be used to the pivot pin is withdrawn into first hole when being powered, first flexible member is used
In the pivot pin is shifted onto through first hole when the electromagnet push-pull mechanism powers off and is inserted into second hole
In hole.
Preferably, first connector or the joint matrix are provided with the locating slot of depression, second connector
Or the interface matrix is provided with the locating dowel of protrusion, the locating slot and the locating dowel are mutually corresponding to cause the positioning
Post is inserted into the locating slot.
Preferably, first connector or the joint matrix are provided with the locating dowel of protrusion, second connector
Or the interface matrix is provided with the locating slot of depression, the locating dowel and the locating slot are mutually corresponding to cause the positioning
Post is inserted into the locating slot.
Preferably, the electrical connector includes contact pin, and the contact pin is fixedly connected on first connector or described connect
On head matrix；The electric interfaces include socket, regulating block, multiple guide pillars and multiple second flexible members, multiple guide pillars
Be fixedly connected on second connector or the interface matrix, multiple second flexible members respectively fit be connected to it is more
On the individual guide pillar, the regulating block fit be connected to multiple second flexible members and multiple guide pillars termination it
Between, the socket is fixedly connected on the regulating block, and the socket and the contact pin are mutually corresponding to enable the contact pin
It is enough to be connected with the socket electrical.
Compared with prior art, the beneficial effects of the present invention are：The joint connector of the mechanical arm of the present invention, passes through
Driver element driving shaft pin is to enable pivot pin out of, the first hole that be fixedly connected on the first connector of joint matrix
Pass through and be inserted into the second hole on the second connector for being fixedly connected on interface matrix and realize that articulated joint and joint connect
The mechanical connection of mouth, the speed being connected and disconnected from is all very fast, can realize full-automatic quick-replaceable；And using the machine of the present invention
The joint connector of tool arm, articulated joint and joint interface be by the first connector and the second connector with axial direction
The first vertical hole and the corresponding insertion latch of the second hole mechanically connect to realize so that articulated joint and joint interface
Axial dimension is all very small, reduces the difficulty of the configuration of mechanical arm, improves the ability of mechanical arm reconstruct；And the machinery of the present invention
The joint connector of arm has big simple in construction, compact, tolerance, accurate positioning, low energy consumption, small volume, in light weight, connection can
Lean on, the advantages that switch speed is fast, flexible and easy to operate, solve the dismounting of tradition machinery shoulder joint, to change labor intensity high
And efficiency it is low the problem of, disclosure satisfy that joint of mechanical arm automatically quick-replaceable demand.
In further scheme, the first connector is the tubular structure that inwall is taper, and the second connector is taper knot
Structure so that the second connector easily can be docked and can be bonded well with the first connector, improve articulated joint with
The accuracy of joint interface connection.
In further scheme, driver element uses electromagnet push-pull mechanism, is set when power is off by inside
First flexible member promotes pivot pin to be inserted into through the first hole in the second hole, and pivot pin is withdrawn into the first hole rapidly during energization
In hole so that faster, energy consumption is also lower for the speed being connected and disconnected from of articulated joint and joint interface.
In further scheme, in the joint matrix (or first connector) and interface matrix (or second of mechanical arm
Connector) on be respectively equipped with locating dowel or locating slot, with to realizing that positioning is anti-when articulated joint and joint interface mechanical connection
Torsion effect, it ensure that the reliability of the connection of articulated joint and joint interface.
Brief description of the drawings
Fig. 1 is the structural representation of the joint connector of the mechanical arm of the preferred embodiment of the present invention；
Fig. 2 is the structural representation of the articulated joint in Fig. 1；
Fig. 3 is the diagrammatic cross-section of the articulated joint in Fig. 1；
Fig. 4 is the structural representation of the joint interface in Fig. 1；
Fig. 5 is the diagrammatic cross-section of the joint interface in Fig. 1；
Fig. 6 is the diagrammatic cross-section of Fig. 1 joint connector.
Embodiment
Below against accompanying drawing and with reference to preferred embodiment, the invention will be further described.
As shown in Figures 1 to 6, the joint connector of the mechanical arm of the preferred embodiment of the present invention include articulated joint A and
Joint interface B, wherein articulated joint A include joint matrix A-1, mechanical splice A-2 and electrical connector A-3, mechanical splice A-2 and
Electrical connector A-3 is respectively fixedly connected with joint matrix A-1, joint interface B include interface matrix B-1, mechanical interface B-2 and
Electric interfaces B-3, mechanical interface B-2 and electric interfaces B-3 are respectively fixedly connected with interface matrix B-1；Mechanical splice A-2 and
Mechanical interface B-2 is mutually corresponding so that articulated joint A and joint interface B to be mechanically connected, electrical connector A-3 and electric interfaces B-3
Mutually correspond to so that articulated joint A and joint interface B to be electrically connected.
Such as Fig. 2 and Fig. 3, joint matrix A-1 includes first flange disk A-11 and the first cylindrical matrix A-12, the first cylinder base
Body A-12 is fixedly connected on first flange disk A-11；Such as Fig. 4 and Fig. 5, interface matrix B-1 includes second flange disk B-11 and the
Two cylindrical sleeves B-12, the second cylindrical sleeves B-12 are fixedly connected on second flange disk B-11, wherein first flange disk A-11
For the one end in the one of joint for connecting mechanical arm, second flange disk B-11 is for connecting another pass in mechanical arm
One end of section, the second cylindrical sleeves B-12 can engage with the first cylindrical matrix A-12.
Such as Fig. 2 and Fig. 3, mechanical splice A-2 includes the first connector A-21,3 driver element A-22 and 3 pivot pin A-
23, the first connector A-21 and 3 driver element A-22 are respectively fixedly connected with joint matrix A-1, the first connector A-21
It is provided with 3 the first hole A-211；As shown in Figure 4 and Figure 5, mechanical interface B-2 includes the second connector B-21, the second connection
Body B-21 is fixedly connected on interface matrix B-1, and the second connector B-21 is provided with 3 second holes B-211, the second hole B-
211 position and the first hole A-211 position are mutually corresponding, and wherein driver element A-22 connection pivot pins A-23 is with driving shaft pin
A-23 can pass through the first hole A-211 and be inserted into the second hole B-211 so that the first connector A-21 to be connected with second
Body B-21 is fixedly connected, and further realizes articulated joint A and joint interface B mechanical connection.
In the present embodiment, the first connector A-21 is the tubular structure that inwall is taper, and the first connector A-21
The diameter of inwall is gradually reduced from outside to inside；Second connector B-21 is pyramidal structure, to cause the first connector A-21 and
The inwall of the second connector B-21 outer wall and the first connector A-21 is bonded to each other when two connector B-21 are fixedly connected；Pass through
The structure setting, improve the accuracy that articulated joint A is connected with joint interface B.And in the present embodiment, 3 driver elements
A-22 is evenly distributed on the circumferencial direction in the first connector A-21 outside, and 3 the first hole A-211 are equal in a circumferential direction
Even to be distributed on the first connector A-21,3 the second hole B-211 are evenly distributed on the second connector B-21 in a circumferential direction
On, 3 pivot pin A-23 and 3 driver element A-22,3 the first hole A-211 and 3 the second hole B-211 difference are one by one
It is mutually corresponding；Namely 3 driver elements are mutually the outside that 120 ° of angles are fixedly connected on the first connector A-21,3 the first holes
Hole A-211 and 3 the second hole B-211 is mutually 120 ° of angles and is arranged on the first connector A-21 and the second connector B-21 respectively
On；Pivot pin A-23 and driver element A-22 is mutually correspondingly arranged one by one.
In the present embodiment, driver element A-22 uses electromagnet push-pull mechanism, and wherein electromagnet push-pull mechanism includes the
Pivot pin A-23 is withdrawn into the first hole A-211 by one flexible member (not shown), electromagnet push-pull mechanism when being powered, the
Pivot pin A-23 is shifted onto through the first hole A-211 and is inserted into the second hole by one flexible member when electromagnet push-pull mechanism powers off
In the B-211 of hole.
Wherein, the locating slot A-212 of depression is provided with the first connector A-21, is provided with the second connector B-21 convex
The locating dowel B-212 gone out, locating slot A-212 and locating dowel B-212 are mutually corresponding make it that it is fixed that locating dowel B-212 is inserted into
In the groove A-212 of position, the antitorque effect of positioning during realizing that articulated joint A is connected with joint interface B.In other embodiment
In, the antitorque effect of positioning during to realize that articulated joint A is connected with joint interface B, it can also be connected in joint matrix A-1 or first
The locating dowel of protrusion is set on body A-21, and determining for depression is correspondingly set on interface matrix B-1 or the second connector B-21
Position groove.
Electrical connector A-3 includes contact pins A -31, and contact pins A -31 is fixedly connected at the first connector A-21 center；Electrically
Interface B-3 includes socket B-31, regulating block B-32,4 guide pillar B-33,4 spring B -34,4 guide pillar B-33 and is fixedly connected on
In second connector B-21 centrally disposed groove, fit is connected on 4 guide pillar B-33 4 spring Bs -34 respectively, regulation
Block B-32 fits are connected between 4 spring Bs -34 and 4 guide pillar B-33 termination, and socket B-31 is fixedly connected on regulating block B-
On 32, socket B-31 and contact pins A -31 are mutually corresponding to enable contact pins A -31 and socket B-31 electrical connections.
Using the joint connector of the mechanical arm of the preferred embodiment of the present invention, articulated joint A and joint interface B connect respectively
The end in the two neighboring joint of mechanical arm is connected on, the adjacent diarticular contraposition connection of mechanical arm is completed after connection, also will
Articulated joint A and joint interface B are docked, and electromagnet push-pull mechanism (driver element A-22) is powered first, will be fixed
Position post B-212 and locating slot A-212 is mutually butted positioning, continues docking until the first connector A-21 inwall is connected with second
(or the second connector B-21 end arrives to the first connector A-21 cylinder bottom, i.e., such as Fig. 6 institutes for body B-21 inwall fitting
The state shown), then electromagnet push-pull mechanism (driver element A-22) is powered off, the first flexible member therein is by pivot pin A-23
Shift onto through the first hole A-211 and be inserted into the second hole B-211 so that the first connector A-21 and the second connector B-21
It is fixedly connected, completes articulated joint A and joint interface B mechanical connection, at the same time contact pins A -31 and socket B-31 is completed
Electrical connection is realized in docking, and the now docking of mechanical arm is completed.And the process for being separated the joint connector of mechanical arm
For：Electromagnet push-pull mechanism (driver element A-22) is powered, electromagnet push-pull mechanism (driver element A-22) is by pivot pin
A-23 is withdrawn into the first hole A-211, namely the first connector A-21 and the second connector B-21 can mutually deviate to divide
Abscission joint joint A and joint interface B, at the same time contact pins A -31 can also complete to separate with socket B-31, you can it is soon complete
Into the separation in joint.The joint connector of the mechanical arm of the preferred embodiment of the present invention passes through driver element A-22 driving shaft pins A-
23 to cause pivot pin A-23 to move back and forth in the first hole A-211 and the second hole B-211 to realize articulated joint A and joint
Interface B mechanical connection, the speed being connected and disconnected from is all very fast, can realize full-automatic quick-replaceable, and in mechanical connection
During, electromagnet push-pull mechanism (driver element A-22) is all without being powered, only joint interface A and joint interface B is right
It is powered when before connecing and to be separated, greatly reduces energy consumption.And above-mentioned preferable scheme is used, also joint is connect
The axial dimension of head and joint interface is all very small, reduces the difficulty of the configuration of mechanical arm, improves the ability of mechanical arm reconstruct.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to is assert
The specific implementation of the present invention is confined to these explanations.For those skilled in the art, do not taking off
On the premise of from present inventive concept, some equivalent substitutes or obvious modification can also be made, and performance or purposes are identical, all should
When being considered as belonging to protection scope of the present invention.
Claims (7)
- A kind of 1. joint connector of mechanical arm, it is characterised in that including articulated joint and joint interface, the articulated joint Including joint matrix, mechanical splice and electrical connector, the mechanical splice and the electrical connector are respectively fixedly connected with described In joint matrix；The joint interface includes interface matrix, mechanical interface and electric interfaces, the mechanical interface and it is described electrically Interface is respectively fixedly connected with the interface matrix, and the mechanical splice and the mechanical interface are mutually corresponding with by the pass Save joint and the joint interface mechanically connects, the electrical connector and the electric interfaces are mutually corresponded to so that the joint to be connect Head connects with the joint Interface Electrical；Wherein：The mechanical splice includes the first connector, at least one driver element and at least one pivot pin, first connector It is respectively fixedly connected with least one driver element in the joint matrix, first connector is provided with least one Individual first hole；The mechanical interface includes the second connector, and second connector is fixedly connected on the interface matrix, and described Two connectors are provided with least one second hole, and the position of second hole and the position of first hole are mutually right Should；The driver element connects the pivot pin to drive the pivot pin to pass through first hole and be inserted into described the So that first connector to be fixedly connected with second connector in two holes.
- 2. the joint connector of mechanical arm according to claim 1, it is characterised in that first connector is inwall Diameter for the tubular structure of taper, and the inwall of first connector is gradually reduced from outside to inside；Second connector For pyramidal structure, the outer wall of the second connector described in during make it that first connector is fixedly connected with second connector It is bonded to each other with the inwall of first connector.
- 3. the joint connector of mechanical arm according to claim 2, it is characterised in that multiple driver elements are uniform It is distributed on the circumferencial direction in the outside of first connector, multiple first holes are evenly distributed in a circumferential direction On first connector, multiple second holes are evenly distributed on second connector in a circumferential direction, multiple The pivot pin is mutually right one by one respectively with multiple driver elements, multiple first holes and multiple second holes Should.
- 4. the joint connector of mechanical arm according to claim 1, it is characterised in that the driver element uses electromagnetism Iron push-pull mechanism, the push-pull mechanism include the first flexible member, and the electromagnet push-pull mechanism is used for when being powered by described in Pivot pin is withdrawn into first hole, and first flexible member is used for when the electromagnet push-pull mechanism powers off by described in Pivot pin is shifted onto through first hole and is inserted into second hole.
- 5. the joint connector of mechanical arm according to claim 1, it is characterised in that first connector or described Joint matrix is provided with the locating slot of depression, and second connector or the interface matrix are provided with the locating dowel of protrusion, institute It is mutually corresponding with so that the locating dowel is inserted into the locating slot with the locating dowel to state locating slot.
- 6. the joint connector of mechanical arm according to claim 1, it is characterised in that first connector or described Joint matrix is provided with the locating dowel of protrusion, and second connector or the interface matrix are provided with the locating slot of depression, institute It is mutually corresponding with so that the locating dowel is inserted into the locating slot with the locating slot to state locating dowel.
- 7. the joint connector of the mechanical arm according to any one of claim 1 to 6, it is characterised in that described electrically to connect Head includes contact pin, and the contact pin is fixedly connected in first connector or the joint matrix；The electric interfaces include Socket, regulating block, multiple guide pillars and multiple second flexible members, multiple guide pillars be fixedly connected on second connector or On the interface matrix, fit is connected on multiple guide pillars multiple second flexible members respectively, the regulating block set Conjunction is connected between multiple second flexible members and the termination of multiple guide pillars, and the socket is fixedly connected on the tune In locking nub, the socket and the contact pin are mutually corresponding to enable the contact pin to be connected with the socket electrical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710812312.6A CN107398923B (en) | 2017-09-11 | 2017-09-11 | Joint connection device of mechanical arm based on shaft pin |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710812312.6A CN107398923B (en) | 2017-09-11 | 2017-09-11 | Joint connection device of mechanical arm based on shaft pin |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107398923A true CN107398923A (en) | 2017-11-28 |
| CN107398923B CN107398923B (en) | 2023-08-18 |
Family
ID=60396998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710812312.6A Active CN107398923B (en) | 2017-09-11 | 2017-09-11 | Joint connection device of mechanical arm based on shaft pin |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107398923B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021237844A1 (en) * | 2020-05-27 | 2021-12-02 | 广州市精谷智能科技有限公司 | Device for connecting joints of multi-axis robot |
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|---|---|---|---|---|
| US4525918A (en) * | 1982-04-16 | 1985-07-02 | Messerschmitt-Boelkow-Blohm Gesellschaft Mit Beschraenkter Haftung | Two component tool holder, especially for a machine tool or robot |
| JPH06143077A (en) * | 1992-10-29 | 1994-05-24 | Nitta Ind Corp | Automatic tool changing coupler |
| DE19533948A1 (en) * | 1994-09-14 | 1996-05-02 | Hans Gamerdinger | Energy distribution system for robotic tools |
| CN101758501A (en) * | 2008-12-24 | 2010-06-30 | 鸿富锦精密工业（深圳）有限公司 | manipulator |
| CN106159561A (en) * | 2016-07-08 | 2016-11-23 | 捷星显示科技（福建）有限公司 | A kind of male female interface of angle that can automatically adjust is from inserting mechanism |
| CN106737796A (en) * | 2016-12-29 | 2017-05-31 | 南京信息职业技术学院 | Quick change mechanism for multifunctional mechanical wrist part |
| CN207387703U (en) * | 2017-09-11 | 2018-05-22 | 清华大学深圳研究生院 | A kind of joint connector of the mechanical arm based on pivot pin |
-
2017
- 2017-09-11 CN CN201710812312.6A patent/CN107398923B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4525918A (en) * | 1982-04-16 | 1985-07-02 | Messerschmitt-Boelkow-Blohm Gesellschaft Mit Beschraenkter Haftung | Two component tool holder, especially for a machine tool or robot |
| JPH06143077A (en) * | 1992-10-29 | 1994-05-24 | Nitta Ind Corp | Automatic tool changing coupler |
| DE19533948A1 (en) * | 1994-09-14 | 1996-05-02 | Hans Gamerdinger | Energy distribution system for robotic tools |
| CN101758501A (en) * | 2008-12-24 | 2010-06-30 | 鸿富锦精密工业（深圳）有限公司 | manipulator |
| CN106159561A (en) * | 2016-07-08 | 2016-11-23 | 捷星显示科技（福建）有限公司 | A kind of male female interface of angle that can automatically adjust is from inserting mechanism |
| CN106737796A (en) * | 2016-12-29 | 2017-05-31 | 南京信息职业技术学院 | Quick change mechanism for multifunctional mechanical wrist part |
| CN207387703U (en) * | 2017-09-11 | 2018-05-22 | 清华大学深圳研究生院 | A kind of joint connector of the mechanical arm based on pivot pin |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021237844A1 (en) * | 2020-05-27 | 2021-12-02 | 广州市精谷智能科技有限公司 | Device for connecting joints of multi-axis robot |
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| Publication number | Publication date |
|---|---|
| CN107398923B (en) | 2023-08-18 |
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