CN107718043A - A kind of desktop type industrial robot - Google Patents
A kind of desktop type industrial robot Download PDFInfo
- Publication number
- CN107718043A CN107718043A CN201711045640.4A CN201711045640A CN107718043A CN 107718043 A CN107718043 A CN 107718043A CN 201711045640 A CN201711045640 A CN 201711045640A CN 107718043 A CN107718043 A CN 107718043A
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- CN
- China
- Prior art keywords
- arm
- industrial robot
- assembly seat
- assembly
- desktop type
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- 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.)
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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
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to technical field of automation, and in particular to a kind of desktop type industrial robot.A kind of desktop type industrial robot, including arm assembly and base, the arm assembly is located at base upper end, the arm assembly includes assembly seat, the first arm and the second arm, one end of first arm is rotationally connected with assembly seat, one end of second arm is rotationally connected with the other end of the first arm, and the other end of second arm is rotatably connected to mounting disc.Simple to operate, moderate, a tractor serves several purposes of the invention, and compact.
Description
Technical field
The present invention relates to technical field of automation, and in particular to a kind of desktop type industrial robot.
Background technology
Recently as the aggravation of China's aging, manufacturing enterprise has engendered the waste situation of recruitment, enterprise in order to
Improve recruitment rate, it has to improved by salary level, increase the modes such as social benefit to attract and keep the labor increasingly to fail
Power, this not only exacerbates the burden of manufacturing business, also accelerates the decline of these enterprises with declining.
Although there is the laudatory title of manufacturing powerhouse in China in the world, but it is high with the mechanization degree such as Germany, Japan
Manufacturing powerhouse compare, a certain distance also be present, it is valency that this gap, which is mainly reflected in most of product of China's processing,
Cheap, the with low content of technology product of lattice, which results in the profit of manufacturing business is relatively low, and enterprise is again to be substantial amounts of artificial
Check, constantly compressed which results in the living space of traditional manufacturing business.
Such case accelerates the process of the current manufacturing industry Mechanization Development in China, and the now, country proposed that " machinery changes
The policy of people " is with advocating, and there are many kinds in robot compared to the benefit of worker, but most of robot that enterprise purchases on a barter basis at present is all
It is from foreign import, is required for special personnel to carry out from operating to repairing.And most of in current manufacturing industry is all middle-size and small-size
Enterprise, most Small and Medium Manufacturing Enterprises can not undertake so high cost, this to a certain degree on limit robot and making
Make the development in industry.And most import robot is required for the control units such as external driver, kinetic control system, and this
A little control units are all placed in electronic box, and the volume of these outer power-on box is all universal larger, and it is empty that this just occupies very big occupation of land
Between.
The content of the invention
In order to overcome shortcoming and defect present in prior art, it is an object of the invention to provide a kind of desktop type
Industrial robot, the robot can accomplish simple to operate, moderate, a tractor serves several purposes, and compact.
The present invention is realized by following technology：
A kind of desktop type industrial robot, including arm assembly and base, the arm assembly is located at base upper end, described
Arm assembly includes assembly seat, the first arm and the second arm, and one end of first arm is rotationally connected with assembly seat, described
One end of second arm is rotationally connected with the other end of the first arm, and the other end of second arm is rotatably connected to installation
Disk；The side of the assembly seat is provided with the first drive mechanism for being used for driving the first arm, and the opposite side of the assembly seat is provided with
For driving the second drive mechanism of the second arm；Multiple drivers, motion control board, connecting shaft and use are provided with the base
In the 3rd drive mechanism of driving arm assembly, the connecting shaft is connected through base with assembly seat；The mounting disc and second
The junction of arm, junction, the first arm and the assembly seat junction of the second arm and the first arm are equipped with for spacing
Cross limiting section.
Wherein, the bottom of the assembly seat is provided with the 3rd synchronizing wheel, and the output end of the 3rd drive mechanism passes through belt
It is connected with the 3rd synchronizing wheel.
Wherein, the side of first arm is provided with the first synchronizing wheel, and first synchronizing wheel is rotatablely connected with assembly seat,
The output end of first drive mechanism is connected by belt with the first synchronizing wheel.
Wherein, the assembly seat is also rotatably connected to the second synchronizing wheel, connects between second synchronizing wheel and the second arm
The linking arm for transmission is connected to, the output end of second drive mechanism is connected by belt with the second synchronizing wheel.
Wherein, it is additionally provided with driving heat sink in the base, the driver is driver pcb board, each driver
The bottom surface of pcb board fits in heat sink.
Wherein, the connecting shaft is connected by the inwall of cross limiting section and base.
Wherein, the chassis outer side is also equipped with LCD touch pads, and the LCD touch pads, the first drive mechanism, second drive
Motivation structure, the 3rd drive mechanism electrically connect with driver.
Wherein, first arm and the second arm junction, the second arm and assembly seat junction, connecting shaft are away from total
Encoder is equipped with into one end of seat.
Wherein, the side of the arm assembly, which is provided with, is used to make mounting disc remain horizontal parallel rod.
Wherein, the parallel rod includes head rod, the first connecting plate, the second connecting rod and the second connecting plate, institute
Head rod, the first connecting plate, the second connecting rod, the second connecting plate is stated to be rotatablely connected successively；The head rod with it is total
It is rotatablely connected into seat, the first connecting plate and the first arm rotation connection, second connecting plate and second company of rolling over
Connect, second connecting plate is also fixedly connected with mounting disc.
Beneficial effects of the present invention：
A kind of desktop type industrial robot of the present invention, including arm assembly and base, arm assembly are used to implement to process
Work.Single driver in base drives the running of 2 to 3 drive mechanisms, and driver uses most succinct design, allows originally
The huge circuit part of driver, which is simplified, only retains Core Feature, and other redundancy function all removes, due to multiple drivers
The effect of a tractor serves several purposes can be achieved, therefore the volume of driver can minimize；Motion control board only remains movement locus rule
The control function calculated with exterior I/O mouths is drawn, other useless functions are removed.Driver and motion control board are integrated to bottom
In seat, the external electronic box of original needs is eliminated, saves floor space.Much put down with other because robot eliminates electronic box
The function of often seldom using, therefore the robot realizes automatically working while cost reduces.
In general need to use the very high cross roller bearing of precision at the arm joint of robot to realize joint
Precise positioning, in general cross roller bearing price is all very high, and the cross limiting section in the present invention can accomplish ten
Tap the effect of nearly cross roller bearing, but price is greatly reduced, so as to further reduce robot of the present invention into
This.
Brief description of the drawings
Using accompanying drawing, the invention will be further described, but the embodiment in accompanying drawing does not form any limit to the present invention
System, for one of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to the following drawings
Other accompanying drawings.
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the chassis interior structural representation of the present invention.
Fig. 3 is the arm assembly structure schematic diagram of the present invention.
Fig. 4 is the parallel rod structural representation of the present invention.
Fig. 5 is the installing plate and the second arm attachment structure schematic diagram of the present invention.
Fig. 6 is the second arm and the first arm attachment structure schematic diagram of the present invention.
Fig. 7 is the cross limiting section structural representation of the present invention.
Reference
Arm assembly -- 1, assembly seat -- 2, the first arm -- 31, the second arm -- 32, the first synchronizing wheel -- 34, second is same
Step wheel -- 35, the 3rd synchronizing wheel -- 36, mounting disc -- 4, the first drive mechanism -- 51, the second drive mechanism -- 52, the 3rd driving
Mechanism -- 53, driver -- 61, motion control board -- 62, heat sink -- 63, LCD touch pads -- 7, connecting shaft -- 8, cross is spacing
Portion -- 9, locating slot -- 91, clutch shaft bearing -- 92, second bearing -- 93,3rd bearing -- 94, base -- 10, encoder -- 11,
Head rod -- 121, the second connecting rod -- 122, the first connecting plate -- 123, the second connecting plate -- 124.
Embodiment
Illustrate embodiments of the present invention below by way of specific instantiation, those skilled in the art can be by this specification
Disclosed content understands other advantages and effect of the present invention easily.The present invention can also pass through specific realities different in addition
The mode of applying is embodied or practiced, the various details in this specification can also be based on different viewpoints with application, without departing from
Various modifications or alterations are carried out under the spirit of the present invention.
It should be noted that structure, ratio, size depicted in this specification institute accompanying drawings etc., only coordinating
Content disclosed in bright book, so that those skilled in the art understands and reads, it is not limited to the enforceable limit of the present invention
Fixed condition, therefore do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size, not
Influence under the effect of present invention can be generated and the purpose that can reach, all should still fall and be obtained in disclosed technology contents
In the range of covering.It is meanwhile cited such as " on ", " under ", "left", "right", " centre " and " one " etc. in this specification
Term, understanding for narration is merely convenient to, and is not used to limit the enforceable scope of the present invention, the change of its relativeness or tune
It is whole, in the case where changing technology contents without essence, when being also considered as the enforceable category of the present invention.
As shown in Figure 1, Figure 2 and Figure 3, a kind of desktop type industrial robot, including arm assembly 1 and base 10, the hand
Arm assembly 1 is located at the upper end of base 10, and the arm assembly 1 includes assembly seat 2, the first arm 31 and the second arm 32, and described
One end of one arm 31 is rotationally connected with assembly seat 2, and one end of second arm 32 is rotationally connected with the another of the first arm 31
One end, the other end of second arm 32 are rotatably connected to mounting disc 4；The side of the assembly seat 2, which is provided with, to be used to drive the
First drive mechanism 51 of one arm 31, the opposite side of the assembly seat 2, which is provided with, is used for the second driving for driving the second arm 32
Mechanism 52；Multiple drivers 61, motion control board 62, connecting shaft 8 and for driving arm assembly 1 are provided with the base 10
3rd drive mechanism 53, the connecting shaft 8 are connected through base 10 with assembly seat 2；The company of the arm 32 of mounting disc 4 and second
The place of connecing, the junction of the second arm 32 and the first arm 31, the first arm 31 are equipped with cross limiting section with the junction of assembly seat 2
9。
Specifically, the robot in the present embodiment includes arm assembly 1 and base 10, arm assembly 1 is used to implement to process
Work.Single driver 61 in base 10 drives the running of 2 to 3 drive mechanisms, and driver 61 uses most succinct design,
The circuit part for making script driver 61 huge, which is simplified, only retains Core Feature, and other redundancy function all removes, due to more
Individual driver 61 can realize the effect of a tractor serves several purposes, therefore the volume of driver 61 can minimize；62 guarantors of motion control board
Stay Motion trajectory to calculate the control function with exterior I/O mouths, other useless functions have been removed.By driver 61 and fortune
Dynamic control panel 62 is integrated in base 10, is eliminated the external electronic box of original needs, is saved floor space.Due to robot
Electronic box and other many functions of seldom using usually are eliminated, therefore the robot realizes automation while cost reduces
Work.
The volume and the occupation of land sizableness of an adult of whole robot, therefore can be in the base of original artificial production line
On plinth with insert with, it is not necessary to original production line or factory building are reset.
And in general need to use the very high cross roller bearing of precision at the arm joint of robot to realize pass
The precise positioning of section, in general cross roller bearing price is all very high, and the cross limiting section 9 in the present embodiment includes determining
Position groove 91, clutch shaft bearing 92, second bearing 93 and 3rd bearing 94, clutch shaft bearing 92 is being located at locating slot 91 by way of
It is interior, and the skew of positive and negative both direction be present in the x directions for the mechanical arm being connected with cross limiting section 9, and positive and negative both direction
Skew be that the frictional force as caused by the stress difference of the mechanical arm connected from cross limiting section 9 is different and caused；Exactly
Have a presence of this frictional force, in the course of the work, clutch shaft bearing 92 rolls manipulator in locating slot 91, the direction of rolling by
The different decisions of frictional force that arm both sides receive.Rolled by clutch shaft bearing 92 in locating slot 91, so as to reach second bearing
Skew on the x directions of 92 limitation cross limiting sections 9.The both ends of clutch shaft bearing 92 are connecting rods, connect second bearing 93 respectively
With 3rd bearing 94.Because the quality coefficient of single bearing can meet the not high automated job of required precision, and usual city
Be on face realized using right-angled intersection bearing it is common spacing on xy directions, to keep the machining accuracy of manipulator, but cross
The price of intersection bearing is higher, and maintenance cost is larger；The y of cross limiting section 9 is limited by second bearing 93 and 3rd bearing 94
The skew that occurs on direction, clutch shaft bearing 92 limit the skew occurred on the x directions of cross limiting section 9, can accomplish ten taps
The effect of nearly cross roller bearing, but price is greatly reduced, so as to further reduce the cost of robot of the present invention.
Specifically, the bottom of the assembly seat 2 is provided with the 3rd synchronizing wheel 36, the output end of the 3rd drive mechanism 53 is led to
Cross belt to be connected with the 3rd synchronizing wheel 36, the 3rd drive mechanism 53 is servomotor, passes through the essence of Serve Motor Control arm assembly 1
Really rotate；The connecting shaft 8 being connected with the bottom of assembly seat 2, the connecting shaft 8 are connected by the inwall of cross limiting section 9 and base 10
Connect, because cross limiting section 9 can play the spacing effect with positioning, pass through connecting shaft 8 and the collective effect of cross limiting section 9
So that the rotation of arm assembly 1 is more firm and accurate.
Specifically, the side for stating the first arm 31 is provided with the first synchronizing wheel 34,2 turns of first synchronizing wheel 34 and assembly seat
Dynamic connection, the output end of first drive mechanism 51 are connected by belt with the first synchronizing wheel 34.First drive mechanism 51 is
Servomotor, the motion of the first arm 31 can be accurately controlled by servomotor.
Specifically, the assembly seat 2 is also rotatably connected to the second synchronizing wheel 35, the arm of the second synchronizing wheel 35 and second
The linking arm for transmission is connected between 32, the output end of second drive mechanism 52 passes through belt and the second synchronizing wheel 35
Connection, the second drive mechanism 52 are servomotor, and the rotation of the second synchronizing wheel of Serve Motor Control 35, by being connected, arm passes
Move to the second arm 32, so as to accurately control the motion of the second arm 32.
Specifically, being additionally provided with driving heat sink 63 in the base 10, the driver 61 is driver 61PCB plates, respectively
The bottom surface of the driver 61PCB plates fits in heat sink 63, due to traditional driver 61, individually equipped with shell, in shell
There are heat sink 63 and pcb board, heat sink 63 is used for the radiating of pcb board power section.And 61 guarantors of the driver in the present embodiment
Pcb board is stayed, by the public one block of heat sink 63 of the power section of multiple pcb boards, so that the volume of driver 61 be minimized.
Specifically, the outside of base 10 is also equipped with LCD touch pads 7, the LCD touch pads 7, the first drive mechanism
51st, the second drive mechanism 52, the 3rd drive mechanism 53 electrically connect with driver 61.Interface Control part employs currently a popular
LCD panel carry out touch control operation, the operation machine that high-resolution LCD touch pads 7 can be very smooth, due to driver 61
Point circuit so as to eliminate the computer control part that most of robot needs, the easy left-hand seat of interface portion is very clear to allow
The whole operation of machine becomes very simple.
Specifically, the junction of 31 and second arm of the first arm 32, the second arm 32 and the junction of assembly seat 2, company
The one end of spindle 8 away from assembly seat 2 is equipped with encoder 11, and the motion of arm assembly 1 can be read out by encoder 11, right
The motion of arm assembly 1 is fed back, so as to monitor the working condition of arm assembly 1 in real time.
It is used to make mounting disc 4 remain horizontal parallel rod specifically, the side of the arm assembly 1 is provided with, should
Parallel rod includes head rod 121, the first connecting plate 123, the second connecting rod 122 and the second connecting plate 124, and described first
Connecting rod 121, the first connecting plate 123, the second connecting rod 122, the second connecting plate 124 are rotatablely connected successively；First connection
Bar 121 is rotatablely connected with assembly seat 2, and first connecting plate 123 is rotatablely connected with the first arm 31, second connecting plate
124 are rotatablely connected with the second arm 32, and second connecting plate 124 is also fixedly connected with mounting disc 4.Due to being needed in mounting disc 4
Different clamping hands is installed to be processed to different production lines, and mounting disc 4 ensure with needing the moment it is parallel, by flat
Mounting disc 4 is remained parallel by row connecting rod.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of scope is protected, although being explained with reference to preferred embodiment to the present invention, one of ordinary skill in the art should
Work as understanding, technical scheme can be modified or equivalent substitution, without departing from the reality of technical solution of the present invention
Matter and scope.
Claims (10)
1. a kind of desktop type industrial robot, including arm assembly (1) and base (10), the arm assembly (1) are located at base
(10) upper end, it is characterised in that：
The arm assembly (1) includes assembly seat (2), the first arm (31) and the second arm (32), first arm (31)
One end be rotationally connected with assembly seat (2), one end of second arm (32) is rotationally connected with the another of the first arm (31)
End, the other end of second arm (32) are rotatably connected to mounting disc (4)；The side of the assembly seat (2), which is provided with, to be used to drive
The first drive mechanism (51) of dynamic first arm (31), the opposite side of the assembly seat (2), which is provided with, to be used to drive the second arm
(32) the second drive mechanism (52)；
Multiple drivers (61), motion control board (62), connecting shaft (8) and for driving arm total are provided with the base (10)
Into the 3rd drive mechanism (53) of (1), the connecting shaft (8) is connected through base (10) with assembly seat (2)；
The junction of the mounting disc (4) and the second arm (32), the junction of the second arm (32) and the first arm (31), the
One arm (31) is equipped with for spacing cross limiting section (9) with assembly seat (2) junction.
A kind of 2. desktop type industrial robot according to claim 1, it is characterised in that：The bottom of the assembly seat (2)
Provided with the 3rd synchronizing wheel (36), the output end of the 3rd drive mechanism (53) is connected by belt with the 3rd synchronizing wheel (36).
A kind of 3. desktop type industrial robot according to claim 1, it is characterised in that：The one of first arm (31)
Side is provided with the first synchronizing wheel (34), and first synchronizing wheel (34) is rotatablely connected with assembly seat (2), first drive mechanism
(51) output end is connected by belt with the first synchronizing wheel (34).
A kind of 4. desktop type industrial robot according to claim 1, it is characterised in that：The assembly seat (2) also rotates
The second synchronizing wheel (35) is connected with, the connection for transmission is connected between second synchronizing wheel (35) and the second arm (32)
Arm, the output end of second drive mechanism (52) are connected by belt with the second synchronizing wheel (35).
A kind of 5. desktop type industrial robot according to claim 1, it is characterised in that：It is additionally provided with the base (10)
Heat sink (63) is driven, the driver (61) is driver (61) pcb board, and the bottom surface of each driver (61) pcb board is pasted
Together in heat sink (63).
A kind of 6. desktop type industrial robot according to claim 1, it is characterised in that：The connecting shaft (8) passes through ten
Word limiting section (9) is connected with the inwall of base (10).
A kind of 7. desktop type industrial robot according to claim 1, it is characterised in that：Also pacify on the outside of the base (10)
Equipped with LCD touch pads (7), the LCD touch pads (7), the first drive mechanism (51), the second drive mechanism (52), the 3rd driving
Mechanism (53) electrically connects with driver (61).
A kind of 8. desktop type industrial robot according to claim 1, it is characterised in that：First arm (31) and the
Two arms (32) junction, the second arm (32) and the one end of assembly seat (2) junction, connecting shaft (8) away from assembly seat (2) are equal
Provided with encoder (11).
A kind of 9. desktop type industrial robot according to claim 1, it is characterised in that：The one of the arm assembly (1)
Side, which is provided with, to be used to make mounting disc (4) remain horizontal parallel rod.
A kind of 10. desktop type industrial robot according to claim 9, it is characterised in that：The parallel rod includes the
One connecting rod (121), the first connecting plate (123), the second connecting rod (122) and the second connecting plate (124), the head rod
(121), the first connecting plate (123), the second connecting rod (122), the second connecting plate (124) are rotatablely connected successively；Described first connects
Extension bar (121) and assembly seat (2) are rotatablely connected, and first connecting plate (123) is rotatablely connected with the first arm (31), and described the
Two connecting plates (124) are rotatablely connected with the second arm (32), and second connecting plate (124) is also fixedly connected with mounting disc (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711045640.4A CN107718043A (en) | 2017-10-31 | 2017-10-31 | A kind of desktop type industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711045640.4A CN107718043A (en) | 2017-10-31 | 2017-10-31 | A kind of desktop type industrial robot |
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| Publication Number | Publication Date |
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| CN107718043A true CN107718043A (en) | 2018-02-23 |
Family
ID=61203513
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711045640.4A Pending CN107718043A (en) | 2017-10-31 | 2017-10-31 | A kind of desktop type industrial robot |
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| CN (1) | CN107718043A (en) |
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| CN108908325A (en) * | 2018-08-14 | 2018-11-30 | 浩科机器人（苏州）有限公司 | A kind of vertical inverted dress compact small-sized four axis robot |
| CN108908324A (en) * | 2018-08-14 | 2018-11-30 | 浩科机器人（苏州）有限公司 | A kind of compact belt driven type small-sized four axis robot |
| CN110948470A (en) * | 2019-12-27 | 2020-04-03 | 深圳市越疆科技有限公司 | Synchronous pulley drive structure, robot drive base and desktop level arm |
| CN112454417A (en) * | 2020-11-11 | 2021-03-09 | 深圳市越疆科技有限公司 | Desktop mechanical arm joint assembly, desktop mechanical arm and robot |
| CN112454346A (en) * | 2020-11-11 | 2021-03-09 | 深圳市越疆科技有限公司 | Driving structure of desktop mechanical arm, desktop mechanical arm and robot |
| CN112454328A (en) * | 2020-11-11 | 2021-03-09 | 深圳市越疆科技有限公司 | Rotary table of desktop mechanical arm, desktop mechanical arm and robot |
| CN113650050A (en) * | 2021-07-28 | 2021-11-16 | 杭州太希智能科技有限公司 | Synchronous belt drive's high-efficient transmission efficiency arm |
| CN114043455A (en) * | 2020-11-11 | 2022-02-15 | 深圳市越疆科技有限公司 | Small-size industrial desktop mechanical arm and base, robot thereof |
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| CN113799112B (en) * | 2020-11-11 | 2024-01-12 | 深圳市越疆科技有限公司 | Driving structure of desktop mechanical arm, desktop mechanical arm and robot |
| CN113799111A (en) * | 2020-11-11 | 2021-12-17 | 深圳市越疆科技有限公司 | Driving structure of desktop mechanical arm, desktop mechanical arm and robot |
| CN113799112A (en) * | 2020-11-11 | 2021-12-17 | 深圳市越疆科技有限公司 | Driving structure of desktop mechanical arm, desktop mechanical arm and robot |
| CN112454417A (en) * | 2020-11-11 | 2021-03-09 | 深圳市越疆科技有限公司 | Desktop mechanical arm joint assembly, desktop mechanical arm and robot |
| WO2022099894A1 (en) * | 2020-11-11 | 2022-05-19 | 深圳市越疆科技有限公司 | Desktop robotic arm driving structure, desktop robotic arm, and robot |
| CN112454346A (en) * | 2020-11-11 | 2021-03-09 | 深圳市越疆科技有限公司 | Driving structure of desktop mechanical arm, desktop mechanical arm and robot |
| EP4049802A1 (en) * | 2020-11-11 | 2022-08-31 | Shenzhen Yuejiang Technology Co., Ltd. | Drive structure of desktop robotic arm, desktop robotic arm and robot |
| EP4049804A1 (en) * | 2020-11-11 | 2022-08-31 | Shenzhen Yuejiang Technology Co., Ltd. | Drive structure of desktop robotic arm, desktop robotic arm and robot |
| EP4049803A1 (en) * | 2020-11-11 | 2022-08-31 | Shenzhen Yuejiang Technology Co., Ltd. | Drive structure of desktop robotic arm, desktop robotic arm and robot |
| EP4026660A4 (en) * | 2020-11-11 | 2023-01-18 | Shenzhen Yuejiang Technology Co., Ltd. | Desktop robotic arm driving structure, desktop robotic arm, and robot |
| CN112454417B (en) * | 2020-11-11 | 2023-11-28 | 深圳市越疆科技有限公司 | Desktop mechanical arm joint assembly, desktop mechanical arm and robot |
| CN113799111B (en) * | 2020-11-11 | 2024-01-12 | 深圳市越疆科技有限公司 | Driving structure of desktop mechanical arm, desktop mechanical arm and robot |
| CN113650050A (en) * | 2021-07-28 | 2021-11-16 | 杭州太希智能科技有限公司 | Synchronous belt drive's high-efficient transmission efficiency arm |
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