CN108858276B - Modular joint - Google Patents
Modular joint Download PDFInfo
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- CN108858276B CN108858276B CN201810812460.2A CN201810812460A CN108858276B CN 108858276 B CN108858276 B CN 108858276B CN 201810812460 A CN201810812460 A CN 201810812460A CN 108858276 B CN108858276 B CN 108858276B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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Abstract
The invention discloses a modular joint, which comprises an output end gear provided with a groove, wherein the groove is sunken along the axial direction of the output end gear; the modularization joint still includes the metal complex elastic component, and the metal complex elastic component inlays and locates in the recess, and the central axis of metal complex elastic component and the central axis coincidence of output gear, and the metal complex elastic component includes: one end of the metal frame is fixedly connected with the hollow output shaft, and the other end of the metal frame extends outwards along the radial direction of the output end gear and abuts against the inner surface of the groove; and the elastic unit is filled in the metal frame and is fixedly connected with the inner surface of the groove of the output end gear. According to the modularized joint, the metal composite elastic piece is arranged, so that the rigidity of the modularized joint is reduced, the modularized joint has intrinsic flexibility, the safety of the modularized joint is improved, mechanical vibration protection can be provided, and the abrasion and failure probability of a gear are reduced.
Description
Technical Field
The invention relates to a modular joint.
Background
With the explosive growth of smart manufacturing and emerging services industry applications, safety is becoming a key design requirement for robotics and automation systems. Because the force compliance controlled modular joint has the characteristics of intrinsic compliance and force sensing, the assembled robot is considered to meet the safety requirements. In order to realize the force compliance control of the modular joint, a rubber spring or a metal spring is usually added into the joint, but the rubber spring has the defects of hysteresis, nonlinearity, easy aging and the like, and the metal spring has the defects of complex structure, difficult processing and the like. In addition, the existing modular joint also has the problems of high self weight, large volume, low integration level, low precision, poor replaceability and the like, and the application and popularization of the modular joint in the robot market are limited.
Disclosure of Invention
The invention aims to solve the technical problem that in order to overcome the defects that in the prior art, in order to realize the force compliance control of a modular joint, a rubber spring or a metal spring is usually added into the modular joint, but the rubber spring has the defects of hysteresis, nonlinearity and easy aging, and the metal spring has the defects of complex structure and difficult processing, and provides the modular joint.
The invention solves the technical problems through the following technical scheme:
a modular joint comprises an output end gear and is characterized in that a groove is formed in one end face of the output end gear, and the groove is recessed along the axial direction of the output end gear; the modularization joint still includes metal composite elastic component, metal composite elastic component inlays to be located in the recess, just the central axis of metal composite elastic component with the central axis coincidence of output gear, metal composite elastic component includes:
one end of the metal frame is fixedly connected with the hollow output shaft, and the other end of the metal frame extends outwards along the radial direction of the output end gear and abuts against the inner surface of the groove; and
and the elastic unit is filled in the metal frame and is fixedly connected with the inner surface of the groove of the output end gear.
In the technical scheme, the rigidity of the modular joint is reduced by arranging the metal composite elastic piece, so that the modular joint has intrinsic flexibility, the safety of the modular joint is improved, mechanical vibration protection can be provided, and the abrasion and failure probability of a gear are reduced; compared with the rubber spring in the prior art, the metal composite elastic piece has lighter weight; compared with a rubber spring, the metal composite elastic part has better mechanical property, and can overcome the defect that the joint precision is reduced due to rubber aging to a certain extent. Meanwhile, the metal composite elastic piece is arranged in the groove of the output end gear, so that the modular joint structure is more compact.
Preferably, the metal frame sequentially comprises a base and a frame main body from inside to outside along the radial direction of the metal frame, the base is fixedly connected with the frame main body, the base is fixedly connected with the hollow output shaft through a fixing piece, and the elastic unit is filled in the frame main body.
Preferably, the frame main body is a turbine-shaped structure, and the frame main body includes a plurality of metal elastic pieces, and the metal elastic pieces are all arranged along the radial direction of the base and are equidistantly distributed along the circumferential direction of the base.
Preferably, the frame body has a hexagonal honeycomb structure.
Preferably, an inner surface of the groove is coated with an adhesive coating for bonding the elastic unit and the output gear.
In the technical scheme, the elastic unit is bonded with the output end gear by coating the bonding coating on the inner surface of the groove, so that the fixation is firmer.
Preferably, the modular joint further comprises a casing, the casing comprises a joint output end casing and a joint input end casing which are oppositely arranged and connected, an accommodating cavity is formed by the joint output end casing and the joint input end casing in a surrounding manner, an output end disc is arranged on the joint output end casing and is movably connected with the joint output end casing, the hollow output shaft is located in the accommodating cavity, one end of the hollow output shaft is fixedly connected with the output end disc, the other end of the hollow output shaft penetrates through the joint input end casing, an input end connecting hole is formed in the joint input end casing, and an output end connecting hole is formed in the output end disc.
In this technical scheme, through setting up the one end and the output end dish fixed connection of cavity output shaft, the joint input shell is worn to locate by the other end of cavity output shaft, has realized promptly that cavity output shaft is to wearing joint output end shell and joint input end shell, forms the mode that the spool was walked to cavity, has solved circuit winding and wearing and tearing problem, increases the motion range of arm.
Preferably, the modular joint further comprises:
the flat motor is fixed on the inner surface of the joint output end shell;
the harmonic reducer is connected to an output shaft of the flat motor;
the input end gear is fixed on an output shaft of the harmonic reducer, the input end gear is meshed with the output end gear, and the central axis of the input end gear is parallel to the central axis of the output end gear;
the flat motor, the harmonic reducer, the input end gear and the output end gear are all located in the accommodating cavity.
In the technical scheme, the transmission with a large reduction ratio is realized by arranging a harmonic reducer and a gear pair, so that the joint can adopt a motor with small torque as a drive; the harmonic reducers with different reduction ratios in the same series can be replaced mutually, so that the serial design of the joint can be realized. Meanwhile, the flattening design of the joint structure is realized by setting the central axis of the input end gear to be parallel to the central axis of the output end gear, namely, a parallel shaft transmission mode.
Preferably, the modular joint further comprises:
the absolute angle encoder comprises an absolute angle encoder magnetic ring and an absolute angle encoder reading head, the absolute angle encoder reading head is fixed on the inner surface of the shell of the joint output end, the absolute angle encoder magnetic ring is fixed on a positioning shaft shoulder, and the positioning shaft shoulder is fixedly connected with the hollow output shaft;
the incremental angle encoder is arranged on an output shaft of the harmonic reducer;
the absolute angle encoder and the incremental angle encoder are connected with an integrated circuit board, and the absolute angle encoder, the incremental angle encoder and the integrated circuit board are all located in the accommodating cavity.
In this technical scheme, through setting up absolute formula angle encoder, incremental angle encoder and integrated circuit board, realized that double angle encoder carries out closed loop feedback control, turn into the angle control problem with the moment control problem, realize accurate moment control through the deflection that detects metal composite elastic component, reduced moment sensor simultaneously, reduced articular cost.
Preferably, the modular joint further comprises an output bearing, the output bearing is located in the accommodating cavity, the hollow output shaft is mounted on an inner ring of the output bearing, and the output end gear is mounted on an outer ring of the output bearing.
Preferably, the central axis of the hollow output shaft coincides with the central axis of the output end gear, a connecting protrusion extends outwards from the hollow output shaft along the radial direction of the output end gear, and the fixing member penetrates through the connecting protrusion and the metal frame of the metal composite elastic member along the axial direction of the hollow output shaft and fixes the connecting protrusion and the metal frame of the metal composite elastic member;
a blocking piece is further arranged between the connecting protrusion and the metal composite elastic piece, and the blocking piece covers the end face of the metal composite elastic piece.
The positive progress effects of the invention are as follows:
according to the modularized joint, the metal composite elastic piece is arranged, so that the rigidity of the modularized joint is reduced, the modularized joint has intrinsic flexibility, the safety of the modularized joint is improved, mechanical vibration protection can be provided, and the abrasion and failure probability of a gear are reduced.
Drawings
Fig. 1 is a perspective view of a modular joint according to embodiment 1 of the present invention.
Fig. 2 is a schematic perspective view of the direction a in fig. 1.
Fig. 3 is a schematic cross-sectional view taken along the direction B-B in fig. 1.
Fig. 4 is a schematic perspective view of the metal composite elastic member, the fixing member, the blocking plate and the output end gear of the modular joint 1 according to the embodiment of the present invention.
Fig. 5 is a schematic cross-sectional view of fig. 4.
Fig. 6 is a schematic perspective view of the metal composite elastic member, the fixing member, the blocking plate and the output end gear of the modular joint 2 according to the embodiment of the present invention.
Fig. 7 is a schematic cross-sectional view of fig. 6.
Description of the reference numerals
Joint output end shell 11
Articulation input end housing 12
Input terminal connection hole 121
Harmonic reducer 22
Metal composite elastic member 32
Frame body 324
Connecting projection 331
Output bearing 34
Absolute angle encoder reading head 411
Absolute angular encoder magnetic ring 412
Incremental angular encoder 42
Integrated circuit board 43
Output terminal connection hole 511
Spring compression end cap 53
Locating shoulder 54
Fixing member 61
Positioning bolt 62
Positioning nut 63
Shoulder locating pin 64
Central axis L of output gear
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
As will be understood with reference to fig. 1-5, the present embodiment provides a modular joint comprising: the device comprises a shell 10, a flat motor 21, a harmonic reducer 22, an input end gear 23, an output end gear 31, a metal composite elastic part 32, a hollow output shaft 33, an output bearing 34, an absolute angle encoder 41, an incremental angle encoder 42 and an integrated circuit board 43.
One end face of the output end gear 31 is provided with a groove 311, and the groove 311 is recessed along the axial direction of the output end gear 31; the metal composite elastic piece 32 is embedded in the groove 311, and the central axis of the metal composite elastic piece 32 coincides with the central axis L of the output end gear. In this way, the modular joint structure is made more compact by disposing the metal composite elastic member 32 in the recess 311 of the output gear 31.
The metal composite elastic member 32 includes: a metal frame 321 and an elastic unit 322. One end of the metal frame 321 is fixedly connected with the hollow output shaft 33, and the other end of the metal frame 321 extends outwards along the radial direction of the output end gear 31 and abuts against the inner surface of the groove 311; the elastic unit 322 is filled in the metal frame 321, and is fixedly connected to the inner surface of the recess 311 of the output gear 31.
In this way, the rigidity of the modular joint is reduced by arranging the metal composite elastic part 32, so that the modular joint has intrinsic flexibility, the safety of the modular joint is improved, mechanical vibration protection can be provided, and the abrasion of the gear and the probability of failure are reduced; the metal composite elastic member 32 is lighter in weight than the rubber spring in the prior art; compared with a rubber spring, the metal composite elastic part 32 has better mechanical property and can overcome the defect that the joint precision is reduced due to rubber aging to a certain extent.
Specifically, as shown in fig. 5, the metal frame 321 includes a base 323 and a frame main body 324 in sequence from inside to outside along a radial direction of the metal frame 321, the base 323 is fixedly connected with the frame main body 324, the base 323 is fixedly connected with the hollow output shaft 33 through a fixing member 61, and the elastic unit 322 is filled in the frame main body 324. The frame body 324 has a hexagonal honeycomb structure. The frame main body 324 of the hexagonal honeycomb structure is integrally formed by 3D printing, and the elastic units 322 filled in the hexagonal honeycomb structure are made of natural rubber or synthetic rubber. By injection molding the elastic cells 322 directly in the hexagonal honeycomb structure, the elastic cells 322 can be directly fixed to the inner surface of the recess 311 of the output gear 31. The metal composite elastic part 32 with the hexagonal honeycomb structure has better mechanical property than a rubber spring, and can overcome the defect that the joint control precision is reduced due to rubber aging. In the present embodiment, the base 323 has a circular ring shape.
In this embodiment, the inner surface of the recess 311 is coated with an adhesive coating (not shown) for adhering the elastic unit 322 and the output gear 31. Thus, the elastic unit 322 is bonded to the output gear 31 by applying the adhesive coating to the inner surface of the recess 311, and the fixing is more firm. Specifically, the bonding coating is a microcrystalline calcium modified coating, and the microcrystalline calcium modified coating is a microcrystalline calcium modified coating which is a commercially available product.
Like this, through setting up the one end and the output end dish 51 fixed connection of cavity output shaft 33, the other end of cavity output shaft 33 wears to locate joint input shell 12, has realized promptly that cavity output shaft 33 is to wearing joint output end shell 11 and joint input shell 12, forms the mode of cavity spool of walking, has solved circuit winding and wearing and tearing problem, increases the motion range of arm.
The flat motor 21 is fixed to the inner surface of the joint output end housing 11. The harmonic reducer 22 is connected to an output shaft 211 of the flat motor. The input gear 23 is fixed to the output shaft 221 of the harmonic reducer, the input gear 23 is meshed with the output gear 31, and the central axis of the input gear 23 is parallel to the central axis L of the output gear. Thus, the harmonic reducer 22 and the gear pair are arranged to realize transmission with large reduction ratio, so that the joint can adopt a motor with small torque as drive; the harmonic reducers 22 of the same series with different reduction ratios can be replaced with each other, so that the serial design of the joints can be realized. Meanwhile, the flattening design of the joint structure is realized by setting the central axis of the input end gear 23 to be parallel to the central axis L of the output end gear, namely, a parallel shaft transmission mode. In the present embodiment, the diameter of the output gear 31 is larger than the diameter of the input gear 23.
The absolute angle encoder 41 includes an absolute angle encoder magnetic ring 412 and an absolute angle encoder reading head 411, the absolute angle encoder reading head 411 is fixed on the inner surface of the joint output end housing 11, the absolute angle encoder magnetic ring 412 is fixed on the positioning shoulder 54, and the positioning shoulder 54 is fixedly connected with the hollow output shaft 33. The incremental angle encoder 42 is provided on the output shaft 221 of the harmonic reducer. The incremental angle encoder 42 is used to measure the amount of angular displacement of rotation of the input gear 23. The integrated circuit board 43 is fixed to the joint output terminal housing 11 by screws. The absolute angle encoder 41 and the incremental angle encoder 42 are connected to the integrated circuit board 43. The flat motor 21 is also connected to the integrated circuit board 43, i.e., the leads of the flat motor 21, the incremental angle encoder 42 and the absolute angle encoder reading head 411 are all connected to the integrated circuit board 43, so as to realize the integrated design of the modular joint. The flat motor 21, the absolute angle encoder 41, and the incremental angle encoder 42 are all commercially available products.
Like this, through setting up absolute formula angle encoder 41, incremental angle encoder 42 and integrated circuit board 43, realized that double angle encoder carries out closed loop feedback control, turn into the angle control problem with the moment control problem, realize accurate moment control through the deflection that detects metal composite elastic component 32, reduced torque sensor simultaneously, reduced articular cost. In the present embodiment, the absolute angle encoder reading head 411 is fixed to the inner surface of the joint output end housing 11 by a positioning bolt 62 and a positioning nut 63; the absolute type angle encoder magnetic ring 412 is arranged on the positioning shaft shoulder 54 through screws uniformly distributed in the circumferential direction; the positioning shoulder 54 is mounted to the hollow output shaft 33 by a shoulder positioning pin 64.
The output end gear 31, the metal composite elastic piece 32, the flat motor 21, the harmonic reducer 22, the input end gear 23 and the output end gear 31 are all located in the accommodating cavity 13. And the absolute type angle encoder 41, the incremental type angle encoder 42, the integrated circuit board 43 and the output bearing 34 are all positioned in the accommodating cavity 13. I.e. the components are integrated in the housing 10.
The hollow output shaft 33 is attached to an inner ring of the output bearing 34, and the output gear 31 is attached to an outer ring of the output bearing 34.
In this embodiment, the central axis of the hollow output shaft 33 coincides with the central axis L of the output gear, the hollow output shaft 33 extends outward along the radial direction of the output gear 31 to form a connecting protrusion 331, and the fixing member 61 penetrates through the connecting protrusion 331 and the metal frame 321 of the metal composite elastic element 32 along the axial direction of the hollow output shaft 33 to fix the connecting protrusion 331 and the metal frame 321 of the metal composite elastic element 32. A baffle plate 52 is further arranged between the connecting protrusion 331 and the metal composite elastic element 32, and the baffle plate 52 covers the end surface of the metal composite elastic element 32. In the present embodiment, the fixing member 61 is a connecting pin.
In order to better limit the position of the metal composite elastic element 32, a spring pressing end cover 53 is further arranged above the baffle plate 52. Meanwhile, the lower end of the harmonic reducer 22 is respectively abutted against the spring pressing end cover 53 and the joint input end shell 12 to fix the harmonic reducer 22, so that the number of fixing parts of the harmonic reducer 22 is reduced, and the overall structure of the modular joint is simpler.
The working principle of the embodiment is as follows: the flat motor 21 acts as the input to the entire modular joint, achieving speed reduction and torque amplification through the harmonic reducer 22. The input end gear 23 is meshed with the output end gear 31, so that the series elastic driving mechanism is driven to move, and the series elastic driving mechanism comprises the output end gear 31, the metal composite elastic piece 32, the baffle plate 52 and the hollow output shaft 33. The output end gear 31 and the metal composite elastic part 32 rotate synchronously, the metal composite elastic part 32 generates torsional deformation and drives the hollow output shaft 33 to rotate through the connecting pin, and therefore flexible output is achieved. The input angle and the output angle of the metal composite elastic part 32 are respectively measured through the incremental angle encoder 42 and the absolute angle encoder 41, and then the output torque is obtained by multiplying the torsional elastic coefficient of the metal composite elastic part 32, so that a feedback signal is provided for the torque control of the modular joint, and the accurate torque control of the modular joint is realized.
That is, the present invention adopts the double-angle encoder to perform the closed-loop feedback control, converts the torque control problem into the angle control problem, measures the angle difference between the two ends of the metal composite elastic member 32 through the angle encoder, and multiplies the angle difference by the torsional elastic coefficient of the metal composite elastic member 32 to obtain the torque of the modular joint, thereby realizing the torque control of the modular joint. The modular joint has intrinsic flexibility due to the introduction of the metal composite elastic part 32, the safety of the robot is improved, the modular joint has a force flexibility control effect, and the problems of large size, low integration level, poor replaceability, complex structure and the like of the force flexibility controlled modular joint are solved.
In the prior art, a mechanical arm usually has six degrees of freedom, and different joints are required to be installed according to different design requirements, but the structure of the modular joint provided by the invention realizes that the design requirements of the six degrees of freedom can be met by using one joint, and only the parameter setting of part of the modular joint needs to be adjusted, so that the modular production is realized, the design process of the robot is simplified, the research and development period of the robot is shortened, the research and development cost is reduced, and the development of a new robot is facilitated; meanwhile, compared with the traditional integral robot structure, the modular design improves the maintainability of the robot.
Example 2
As shown in fig. 6 and 7, the overall structure of the modular joint of this embodiment is substantially the same as that of embodiment 1, except that the frame body 324 in the metal composite elastic member 32 is a turbine-shaped structure, and the frame body 324 includes a plurality of metal elastic pieces 325, and the plurality of metal elastic pieces 325 are all arranged along the radial direction of the base 323 and are equidistantly spaced along the circumferential direction of the base 323. That is, the metal elastic sheets 325 are uniformly distributed along the circumferential direction of the base 323 and are manufactured by a wire cutting method. In the embodiment, the thickness of the metal dome 325 is 0.7mm to 2mm, so that the metal dome has better deformability.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (9)
1. A modular joint comprises an output end gear, and is characterized in that a groove is formed in one end face of the output end gear, and the groove is recessed along the axial direction of the output end gear; the modularization joint still includes metal composite elastic component, metal composite elastic component inlays to be located in the recess, just the central axis of metal composite elastic component with the central axis coincidence of output gear, metal composite elastic component includes:
one end of the metal frame is fixedly connected with the hollow output shaft, and the other end of the metal frame extends outwards along the radial direction of the output end gear and abuts against the inner surface of the groove; and
the modularized joint comprises a metal frame, an output gear and an elastic unit, wherein the metal frame is filled with the elastic unit, the elastic unit is fixedly connected with the inner surface of a groove of the output gear, the modularized joint further comprises an output bearing, the output bearing is located in an accommodating cavity, the hollow output shaft is installed on the inner ring of the output bearing, and the output gear is installed on the outer ring of the output bearing.
2. The modular joint of claim 1, wherein the metal frame comprises a base and a frame body in sequence from inside to outside along a radial direction of the metal frame, the base is fixedly connected with the frame body, the base is fixedly connected with the hollow output shaft through a fixing member, and the elastic unit is filled in the frame body.
3. The modular joint of claim 2, wherein the frame body is a turbine-like structure, and the frame body comprises a plurality of metal elastic pieces, and the metal elastic pieces are arranged along the radial direction of the base and are distributed at equal intervals along the circumferential direction of the base.
4. The modular joint of claim 2 wherein the frame body is a hexagonal honeycomb structure.
5. The modular joint of claim 1 wherein an inner surface of the groove is coated with an adhesive coating for adhering the elastic unit to the output gear.
6. The modular joint of claim 1, further comprising a housing, wherein the housing comprises a joint output end housing and a joint input end housing, the joint output end housing and the joint input end housing are oppositely disposed and connected, and a receiving cavity is formed around the joint output end housing and the joint input end housing, the joint output end housing is provided with an output end disc, the output end disc is movably connected with the joint output end housing, the hollow output shaft is located in the receiving cavity, one end of the hollow output shaft is fixedly connected with the output end disc, the other end of the hollow output shaft penetrates through the joint input end housing, the joint input end housing is provided with an input end connecting hole, and the output end disc is provided with an output end connecting hole.
7. The modular joint of claim 6, further comprising:
the flat motor is fixed on the inner surface of the joint output end shell;
the harmonic reducer is connected to an output shaft of the flat motor;
the input end gear is fixed on an output shaft of the harmonic reducer, the input end gear is meshed with the output end gear, and the central axis of the input end gear is parallel to the central axis of the output end gear;
the flat motor, the harmonic reducer, the input end gear and the output end gear are all located in the accommodating cavity.
8. The modular joint of claim 7, further comprising:
the absolute angle encoder comprises an absolute angle encoder magnetic ring and an absolute angle encoder reading head, the absolute angle encoder reading head is fixed on the inner surface of the shell of the joint output end, the absolute angle encoder magnetic ring is fixed on a positioning shaft shoulder, and the positioning shaft shoulder is fixedly connected with the hollow output shaft;
the incremental angle encoder is arranged on an output shaft of the harmonic reducer;
the absolute angle encoder and the incremental angle encoder are connected with an integrated circuit board, and the absolute angle encoder, the incremental angle encoder and the integrated circuit board are all located in the accommodating cavity.
9. The modular joint of claim 2, wherein the central axis of the hollow output shaft coincides with the central axis of the output gear, the hollow output shaft extends outward in the radial direction of the output gear to form a connecting protrusion, and the fixing member penetrates through the connecting protrusion and the metal frame of the metal composite elastic member in the axial direction of the hollow output shaft to fix the connecting protrusion and the metal frame of the metal composite elastic member;
a blocking piece is further arranged between the connecting protrusion and the metal composite elastic piece, and the blocking piece covers the end face of the metal composite elastic piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810812460.2A CN108858276B (en) | 2018-07-23 | 2018-07-23 | Modular joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810812460.2A CN108858276B (en) | 2018-07-23 | 2018-07-23 | Modular joint |
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| CN108858276A CN108858276A (en) | 2018-11-23 |
| CN108858276B true CN108858276B (en) | 2020-06-16 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110125976B (en) * | 2018-12-04 | 2021-07-27 | 杭州新剑机器人技术股份有限公司 | High-flexibility modular joint with force position control |
| CN109620652B (en) * | 2019-01-23 | 2021-07-16 | 上海理工大学 | Tandem elastic hip joint walking aid |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1368553A1 (en) * | 1986-08-20 | 1988-01-23 | О.С.Кочетов | Composite wheel |
| CN2040565U (en) * | 1988-12-05 | 1989-07-05 | 常勇 | Elestic gear |
| CN1651805A (en) * | 2004-01-19 | 2005-08-10 | Ims传动装置有限公司 | KFZ-gears and flange plate of KFZ-auxiliary transmission mechanism and method for mfg KFZ-gears |
| CN104416579A (en) * | 2013-09-03 | 2015-03-18 | 中国科学院沈阳自动化研究所 | Intelligent modular hollow joint |
| CN205371542U (en) * | 2016-01-22 | 2016-07-06 | 合肥九晟机械有限公司 | Damper gear |
-
2018
- 2018-07-23 CN CN201810812460.2A patent/CN108858276B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1368553A1 (en) * | 1986-08-20 | 1988-01-23 | О.С.Кочетов | Composite wheel |
| CN2040565U (en) * | 1988-12-05 | 1989-07-05 | 常勇 | Elestic gear |
| CN1651805A (en) * | 2004-01-19 | 2005-08-10 | Ims传动装置有限公司 | KFZ-gears and flange plate of KFZ-auxiliary transmission mechanism and method for mfg KFZ-gears |
| CN104416579A (en) * | 2013-09-03 | 2015-03-18 | 中国科学院沈阳自动化研究所 | Intelligent modular hollow joint |
| CN205371542U (en) * | 2016-01-22 | 2016-07-06 | 合肥九晟机械有限公司 | Damper gear |
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| CN108858276A (en) | 2018-11-23 |
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Address after: 310000 Changhua Industrial Park (Shuangta village, Changhua town), Lin'an District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Xinjian Electromechanical Transmission Co.,Ltd. Address before: 311321 Changhua Industrial Park, Lin'an City, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU SEENPIN ROBOT TECHNOLOGY CO.,LTD. |
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