CN110405737A - Power device and robot with this power device - Google Patents
Power device and robot with this power device Download PDFInfo
- Publication number
- CN110405737A CN110405737A CN201910731225.7A CN201910731225A CN110405737A CN 110405737 A CN110405737 A CN 110405737A CN 201910731225 A CN201910731225 A CN 201910731225A CN 110405737 A CN110405737 A CN 110405737A
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- China
- Prior art keywords
- central axes
- rotating member
- axle sleeve
- power device
- rotation
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 25
- 230000010355 oscillation Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 8
- 238000000034 method Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 4
- 230000018109 developmental process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000354 decomposition reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
Abstract
The present invention relates to robotic technology fields, disclose a kind of power device and the robot with this power device, the power device drives the rotation of the first rotating member by first driving device, first rotating member drives the second rotating member to rotate together, second rotating member drives third rotating member to swing, to realize that the head for being installed on third rotating member is swung together, simultaneously, requirement to motor is low, better economy.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of power device and with the machine of this power device
People.
Background technique
It is born till now from robot, robot technology has handled one long-term slow development process.With computer
The fast developments such as technology, microelectric technique, network technology, robot technology are also developed rapidly.In addition to industrial robot
Except level is continuously improved, the various cash machine people systems for service industry also have considerable progress.Control system performance
Further increase, the successful application of laser sensor, visual sensor and force snesor in robot system makes robot
The reliability of system has large increase.The development of basic technology and device is the intelligence of robot, puts people and bionical development
Create good condition.Currently, robot is not only applicable to industrial circle, also contacts tightly in gradually application with people's life
Close field.Service robot, disabled aiding robot of helping the elderly, educational robot, the production of amusement robot and application can be to people
Life offer convenience and enjoyment.
Currently, in service robot, the head that robot generally includes body and is rotatably arranged on body, one
As only swung by motor driven head relative to body, swung however, it is necessary to control head relative to trunk, motor needs anti-
Multiple commutation generally uses the higher servo motor of forging piece to the more demanding of motor, and economy is poor.
Summary of the invention
In order to solve the above-mentioned technical problem, the embodiment of the present invention provides a kind of power device and the machine with this power device
Device people, while which realizes that robot head is swung, the requirement to motor is low, better economy.
In order to solve the above-mentioned technical problem, the embodiment of the present invention the following technical schemes are provided:
On the one hand, a kind of power device is provided, for driving the head oscillation of robot, the power device includes: base
Seat；First axle sleeve is installed on pedestal, and the first axle set has the first central axes, and first central axes are by a rotation
Point；Second axle sleeve is installed on pedestal, and second axle sleeve has the second central axes, and the rotation is passed through in second central axes
Turning point；First rotating member, is installed on first axle sleeve, and first rotating member can be around first central axes relative to institute
The rotation of the first axle sleeve is stated, first rotating member includes axis hole, and the axis hole has third central axes, and the third central axes
By the point of rotation；Second rotating member, one end are installed on the axis hole, and second rotating member can be around the third axis
Line is rotated relative to the axis hole, and the other end of second rotating member has the 4th central axes, and the 4th central axes are passed through
The point of rotation；Third rotating member, middle part are installed on second axle sleeve, and the third rotating member can be around second axis
Line is rotated relative to second axle sleeve, and one end of the third rotating member is articulated with the other end of second rotating member, institute
Stating third rotating member can rotate around the 4th central axes relative to second rotating member, the other end of the third rotating member
For installing the head of the robot；And first driving device, it is installed on the pedestal, and connect with first rotating member
It connects to drive first rotating member to rotate around first central axes relative to first axle sleeve.
In some embodiments, second axle sleeve also has the 5th central axes, the 5th central axes and described second
Central axes intersection, second axle sleeve can be rotated around the 5th central axes relative to the pedestal；Second rotating member can
It is flexible along the third central axes；Second rotating member includes the second driving device, and second driving device is for driving
Second axle sleeve is swung around the 5th central axes relative to the pedestal；The third rotating member can be along second axis
Line is slided relative to second axle sleeve.
In some embodiments, first rotating member includes the first rotation section, first connecting portion and the axis hole, institute
The one end for stating first connecting portion connects first rotation section, and the axis hole is set to the other end of the first connecting portion, institute
The axis and the first central axes for stating the first rotation section coincide, and first rotation section is installed on first axle sleeve, and institute
Stating the first rotation section can rotate relative to first axle sleeve.
In some embodiments, second rotating member includes the second rotation section, second connecting portion and articulated section, described
One end of second connecting portion connects second rotation section, and the other end of the second connecting portion connects the articulated section, described
Articulated section has the 4th central axes, and hinged with one end of the third rotating member.
In some embodiments, the second connecting portion includes the second driving device, one end of second driving device
It is fixedly connected with second rotation section, the other end is fixedly connected with the articulated section, and the second driving device can drive described
Two rotation sections and the articulated section are close to each other or separate along third central axes.
In some embodiments, the angle of the 5th central axes and second central axes is 90 degree, and is parallel to
4th central axes.
In some embodiments, the angle of first central axes and the third central axes is 20 degree.
In some embodiments, the angle of the 4th central axes and second central axes is 90 degree, and with it is described
The angle of third central axes is 90 degree.
On the other hand, a kind of robot is provided, comprising: head；Main body；And power device as described above, the head
It is installed on the power device, the pedestal of the power device is fixedly installed in the main body.
In some embodiments, the robot further includes display screen；The display screen is installed on the head.
Compared with prior art, in the power device of the embodiment of the present invention and robot with this power device,
The rotation of the first rotating member is driven by first driving device, the first rotating member drives the second rotating member to rotate together, the second rotation
Part drives third rotating member to swing, to realize that the head for being installed on third rotating member is swung together, meanwhile, the requirement to motor
It is low, better economy.
Detailed description of the invention
One or more embodiments are illustrated by corresponding attached drawing, these exemplary illustrations not structure
The restriction of pairs of embodiment, the element with same reference numbers label is expressed as similar element in attached drawing, unless there are special
It declares, composition does not limit the figure in attached drawing.
Fig. 1 is a kind of structural schematic diagram of present invention robot that wherein an embodiment provides；
Fig. 2 is the structural schematic diagram of the power device of robot shown in FIG. 1；
Fig. 3 is the decomposition diagram of power device shown in Fig. 2.
Specific embodiment
To facilitate the understanding of the present invention, with reference to the accompanying drawings and detailed description, the present invention is carried out in more detail
It is bright.It should be noted that be expressed " being fixed on " another element when element, it can directly on the other element or
There may be one or more elements placed in the middle therebetween.When an element is expressed " connection " another element, it be can be directly
It is connected to another element in succession or there may be one or more elements placed in the middle therebetween.Term used in this specification
"vertical", "horizontal", "left" and "right", "inner", "outside" and similar statement are for illustrative purposes only.
Unless otherwise defined, technical and scientific term all used in this specification is led with technology of the invention is belonged to
The normally understood meaning of the technical staff in domain is identical.It is specific to be intended merely to description for used term in the description of the invention
Embodiment purpose, be not intended to limitation the present invention.Term "and/or" used in this specification includes one or more
Any and all combinations of relevant listed item.
It please refers to Fig.1 to Fig.3, it is main for a kind of present invention robot 100 that wherein an embodiment provides, including head 10
Body 20 and power device 30.
Head 10 is substantially hemispherical, and surface thereof is equipped with display screen 12, is used for human-computer interaction.
Head 10 is installed on the top of main body 20 by the power device 30.Main body 20 is the trunk of robot 100,
Inside is equipped with the control circuit that control robot 100 works.The bottom of main body 20 is also equipped with chassis, for its movement.It is main
The two sides of body 20 are also equipped with mechanical arm, grab object for robot 100.
Power device 30 is installed in main body 20, is swung for drive head 10 relative to main body 20.Power device 30 is wrapped
Include pedestal (not shown), the first axle sleeve 31, the second axle sleeve 32, the first rotating member 33, the second rotating member 34, third rotating member 35 with
And first driving device (not shown).
The pedestal is fixedly installed in main body 20, and the first axle sleeve 31 and the second axle sleeve 32 are mounted on the pedestal.
First axle sleeve 31 have the first central axes S1, the second axle sleeve 32 have the second central axes S2, the first central axes S1 with
Second central axes S2 intersects at a point of rotation O.
In some embodiments, the angle of the first central axes S1 and the second central axes S2 are 70 degree.
First rotating member 33 is installed on the first axle sleeve 31, and the first rotating member 33 can be around the first central axes S1 relative to first axle
31 rotation of set.
Specifically, the first rotating member 33 includes the first rotation section 330, first connecting portion 332 and axis hole 334.First
One end of interconnecting piece 332 connects the first rotation section 330, and axis hole 334 is set to the other end of the first connecting portion, first connecting portion
332 length direction is perpendicular to the first central axes S1.The axis of first rotation section 330 coincides with the first central axes S1.First
Rotation section 330 is installed on the first axle sleeve 31, and first rotation section 330 can be rotated relative to the first axle sleeve 31.Axis hole 330 has
There is third central axes S3, which passes through point of rotation O.
In some preferred embodiments, the angle of third central axes S3 and the first central axes S1 are 20 degree.
One end of second rotating member 34 is installed on axis hole 334, and the second rotating member 34 can be around third central axes S3 relative to axis
Hole 334 rotates, and there is the other end of the second rotating member 34 the 4th central axes S4, the 4th central axes S4 to pass through point of rotation O.
Specifically, the second rotating member 34 includes the second rotation section 340, second connecting portion 342 and articulated section 344.The
One end of two interconnecting pieces 342 connects the second rotation section 340, and the other end of second connecting portion 342 connects articulated section 344, and second connects
The length direction of socket part 342 is parallel to third central axes S3.Articulated section 344 has the 4th central axes S4.4th central axes S4 with
The angle of second central axes S2 is 90 degree, and is 90 degree with the angle of third central axes S3.Specifically, in the present embodiment,
The articulated section 334 is U-shaped, and is arranged there are two hinge hole (figure do not indicate), the center line of two hinge holes with the 4th in
Axis S4 is overlapped.
Middle part between 35 both ends of third rotating member is installed on the second axle sleeve 32, and third rotating member 35 can be around the second central axes
S2 is rotated relative to the second axle sleeve 32.One end of third rotating member 35 is installed on the other end of the second rotating member 34, and third
Rotating member 35 can be rotated around the 4th central axes S4 relative to the second rotating member 34.Head 10 is installed on the another of third rotating member 35
End.
Specifically, third rotating member 35 includes mounting portion 350, third interconnecting piece 352 and articulated shaft 354.Mounting portion
350 are fixedly connected on one end of third interconnecting piece 352, are used for securement head 10.Third company is fixed at the middle part of articulated shaft 354
The other end of socket part 352, and the axis of articulated shaft 354 coincides with the 4th central axes S4.Third interconnecting piece 352 passes through second
Axle sleeve 32, and can be rotated relative to second axle sleeve 32, and third interconnecting piece 352 can be along the second central axes S2 relative to second
Axle sleeve 32 slides.The both ends of articulated shaft 354 are respectively arranged in two hinge holes of articulated section 344, so that above-mentioned second turn
The other end of moving part 34 is connect with one end hinge of above-mentioned third rotating member 35.
First driving device is fixedly installed in inside pedestal or main body 20, and its output shaft and first rotating member
33 connections, for driving the first rotating member 33 to rotate around the first central axes S1 relative to the first axle sleeve 31.First driving device can
Think stepper motor, air motor etc..
In the present embodiment, specific as follows when power device 30 works:
First driving device work, the first rotating member 33 of driving are rotated around the first central axes S1 relative to the first axle sleeve 31.
First rotating member 33 drives the second rotating member 34 to rotate together around third central axes S3, wherein since third rotating member 35 is to the
The limit of the limit of two rotating members 34 and the second axle sleeve 32 to third rotating member 35, the second rotating member 34 and third rotating member
35 linkages.Wherein, the second rotating member 34 is swung around the 4th central axes S4 relative to third rotating member 35, and when the first rotating member
33 rotate a period relative to the first axle sleeve 31 around the first central axes S1, and the second rotating member 34 is around the 4th central axes S4 relative to the
Three rotating members 35 swing a cycle, and third rotating member 35 swings one relative to the second axle sleeve 32 around the second central axes S2
Period.
It is rotated by third rotating member 35 around the second central axes S2, to realize swinging for head 10.
First driving device, which persistently rotates, can be realized head 10 and swings, and the swing on head 10 is reciprocal fortune
It is dynamic.In the above method, the output shaft per revolution of first driving device, head 10 complete once to move back and forth.That is, head
10 rotational angle is less than the rotation angle of first driving device output shaft, so that first driving device can be more accurate
Control and adjust head 10 rotational angle.
Further, to make head 10 on the basis of can complete to swing movement relative to main body 20, moreover it is possible to
Enough to complete the new line relative to main body 20 or movement of bowing, i.e., head 10 is relative to 20 pitching of main body.Power device 30 is also used
In drive head 10 relative to 20 pitching of main body.
Third rotating member 35 can be slided along the second central axes S2 relative to the second axle sleeve 32.
Specifically, the second axle sleeve 32 is sheathed on the middle part between 35 both ends of the second rotating member.
Second rotating member 34 is retractable structure, can be flexible along third central axes S3.Pass through second rotating member 34
Elongation or shortening may make third rotating member 35 and the second axle sleeve 32 relative to main body 20 around the 5th central axes S5 rotate, from
And the robot is allowed to complete the new line relative to main body 20 or movement of bowing.
Specifically, second connecting portion 342 includes the second driving device (not shown).Second driving device is for driving the
Two axle sleeves 32 are swung around the 5th central axes S5 relative to pedestal, and the second driving device can be linear electric machine, servo motor, cylinder
Or hydraulic cylinder etc..According to the needs of actual conditions, above-mentioned second driving device is linear electric machine in the present embodiment.Second drives
One end of dynamic device is fixedly connected with the second rotation section 340, and the other end is fixedly connected with articulated section 344, and the second driving device is used
In drive the second rotating member 34 both ends (that is, the second rotation section 340 and articulated section 344) along third central axes S3 it is close to each other or
It is separate.
Second axle sleeve 32 also has the 5th central axes S5, and the second axle sleeve 32 can turn around the 5th central axes S5 relative to pedestal
Dynamic, the 5th central axes S5 intersects with the second central axes S2.
Specifically, being provided with the 5th shaft 320 outside the second axle sleeve 32, the 5th shaft 320 is be overlapped with the 5th central axes S5 phase
It closes, the second axle sleeve 32 is installed on pedestal by the 5th shaft 320.
In some embodiments, the 5th central axes S5 is perpendicular to the second central axes S2, and is parallel to the 4th axis
Line S4.
It is understood that said base can be omitted in some other embodiment, above-mentioned first axle sleeve 31, the second axis
Set 32 and first driving device are mounted in aforementioned body 20, and the second axle sleeve 32 can be 20 turns relative to the main body
It is dynamic.
It is specific as follows when power device 30 works:
Under normal circumstances, first driving device and the second driving device time-sharing work.When the head of robot needs to come back
Or (need to guarantee that the 4th central axes and the 5th central axes are parallel to each other at this time) when bowing, first driving device stops working, the
Two driving devices are started to work, and the second driving device drives the second rotating member 34 flexible along third central axes S3, due to the second axis
Set 32 can only be rotated relative to pedestal, and when first driving device stops working, the first rotating member 33 is opposite with the pedestal
Position is fixed.Second rotating member 34 is flexible along third central axes S3 so that third rotating member 35 along the second central axes S2 relative to
Second axle sleeve 32 slides, while second axle sleeve 32 and third rotating member 35 turn around the 5th central axes relative to pedestal
It is dynamic, so that the first central axes S1 (wherein the angle or position of the first central axes S1 and pedestal remain constant) and the
The angle of two central axes S2 becomes larger or becomes smaller.Since head 10 is installed on the other end of third rotating member 35, pedestal is fixedly mounted
In in main body 20, therefore in above-mentioned rotation process, head 10 completes to come back relative to main body 20 or movement of bowing.It completes
Above-mentioned to bow when acting, head 10 moves up a small distance, head 10 bow act when, the shell on head 10 is kept away
Exempt to interfere with the shell of main body 20.In addition, after the reset, the shell on head 10 can be bonded to each other again with 20 shell of main body,
Gap between head 10 and main body 20 is closed, the foreign matters such as dust is avoided to enter in main body 20 from gap.
When the head of robot needs left and right rotary head, first driving device is started to work, and the second driving device stops work
Make, since the second driving device stops working, the length of the second rotating member 34 is constant, and then the first central axes S1, second
The angle of central axes S2 and third central axes S3 between any two is constant, and first driving device drives the first rotating member 33 around first
Central axes S1 rotation, the second rotating member 34 are also rotated around the first central axes S1, and under the drive of the second rotating member 34, third
Rotating member 35 is rotated around the second central axes S2 relative to the second axle sleeve 32.It should be noted that: to complete above-mentioned movement,
First central axes S1, the second central axes S2 and third central axes S3 and the 4th central axes S4 must intersect at point of rotation O.
Compared with prior art, the embodiment of the present invention provides a kind of power device 30 and the machine with this power device 30
Device people 100 drives the rotation of the first rotating member 33 by first driving device, and the first rotating member 33 drives the second rotating member 34 together
Rotation, the second rotating member 34 drive third rotating member 35 to swing, to realize that the head 10 for being installed on third rotating member 35 is put together
It is dynamic, meanwhile, the requirement to motor is low, better economy.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；At this
It under the thinking of invention, can also be combined between the technical characteristic in above embodiments or different embodiment, step can be with
It is realized with random order, and there are many other variations of different aspect present invention as described above, for simplicity, they do not have
Have and is provided in details；Although the present invention is described in detail referring to the foregoing embodiments, the ordinary skill people of this field
Member is it is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of skill
Art feature is equivalently replaced；And these are modified or replaceed, each reality of the present invention that it does not separate the essence of the corresponding technical solution
Apply the range of a technical solution.
Claims (10)
1. a kind of power device, for driving the head oscillation of robot, which is characterized in that the power device includes:
Pedestal；
First axle sleeve is installed on pedestal, and the first axle set has the first central axes, and first central axes are by a rotation
Point；
Second axle sleeve is installed on pedestal, and second axle sleeve has the second central axes, and the rotation is passed through in second central axes
Turning point；
First rotating member, is installed on first axle sleeve, and first rotating member can be around first central axes relative to institute
The rotation of the first axle sleeve is stated, first rotating member includes axis hole, and the axis hole has third central axes, and the third central axes
By the point of rotation；
Second rotating member, one end are installed on the axis hole, and second rotating member can be around the third central axes relative to institute
Axis hole rotation is stated, the other end of second rotating member has the 4th central axes, and the point of rotation is passed through in the 4th central axes；
Third rotating member, middle part are installed on second axle sleeve, and the third rotating member can be opposite around second central axes
It is rotated in second axle sleeve, one end of the third rotating member is articulated with the other end of second rotating member, the third
Rotating member can be rotated around the 4th central axes relative to second rotating member, and the other end of the third rotating member is for pacifying
Fill the head of the robot；And
First driving device is installed on the pedestal, and connect with first rotating member to drive first rotating member
It is rotated around first central axes relative to first axle sleeve.
2. power device according to claim 1, which is characterized in that
Second axle sleeve also has the 5th central axes, and the 5th central axes are intersected with second central axes, and described second
Axle sleeve can be rotated around the 5th central axes relative to the pedestal；
Second rotating member can be flexible along the third central axes；
Second rotating member includes the second driving device, and second driving device is for driving second axle sleeve around described
5th central axes are swung relative to the pedestal；
The third rotating member can be slided along second central axes relative to second axle sleeve.
3. power device according to claim 1, which is characterized in that first rotating member includes the first rotation section, the
One end of one interconnecting piece and the axis hole, the first connecting portion connects first rotation section, and the axis hole is set to institute
The other end of first connecting portion is stated, axis and the first central axes of first rotation section coincide, the first rotation section peace
Loaded on first axle sleeve, and first rotation section can be rotated relative to first axle sleeve.
4. power device according to claim 3, which is characterized in that second rotating member includes the second rotation section, the
Two interconnecting pieces and articulated section, one end of the second connecting portion connect second rotation section, the second connecting portion it is another
One end connects the articulated section, and the articulated section has the 4th central axes, and cuts with scissors with one end of the third rotating member
It connects.
5. power device according to claim 4, which is characterized in that the second connecting portion includes the second driving device,
One end of second driving device is fixedly connected with second rotation section, and the other end is fixedly connected with the articulated section, the
Two driving devices can drive second rotation section and the articulated section close to each other or separate along third central axes.
6. power device according to claim 2, which is characterized in that the 5th central axes and second central axes
Angle is 90 degree, and is parallel to the 4th central axes.
7. power device according to claim 1, which is characterized in that first central axes and the third central axes
Angle is 20 degree.
8. power device according to claim 1, which is characterized in that the 4th central axes and second central axes
Angle is 90 degree, and is 90 degree with the angle of the third central axes.
9. a kind of robot characterized by comprising
Head；
Main body；And
The described in any item power devices of claim 1 to 8, the head are installed on the power device, the power device
Pedestal be fixedly installed in the main body.
10. robot according to claim 9, which is characterized in that the robot further includes display screen；
The display screen is installed on the head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910731225.7A CN110405737A (en) | 2019-08-08 | 2019-08-08 | Power device and robot with this power device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910731225.7A CN110405737A (en) | 2019-08-08 | 2019-08-08 | Power device and robot with this power device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110405737A true CN110405737A (en) | 2019-11-05 |
Family
ID=68366824
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910731225.7A Pending CN110405737A (en) | 2019-08-08 | 2019-08-08 | Power device and robot with this power device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110405737A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5606235A (en) * | 1993-12-17 | 1997-02-25 | Comau S.P.A. | Industrial robot with integrated reduction gear units |
| JP2007326151A (en) * | 2001-10-22 | 2007-12-20 | Yaskawa Electric Corp | Industrial robot |
| CN105108776A (en) * | 2015-10-08 | 2015-12-02 | 深圳市易致机器人科技有限公司 | Transmission mechanism capable of achieving swing and robot with transmission mechanism |
| CN105856255A (en) * | 2016-06-03 | 2016-08-17 | 杭州艾米机器人有限公司 | Service robot |
| CN206605500U (en) * | 2017-03-16 | 2017-11-03 | 江苏红石信息系统集成服务有限公司 | A kind of service humanoid robot with rotating mechanism |
| CN210307811U (en) * | 2019-08-08 | 2020-04-14 | 中新智擎科技有限公司 | Power device and robot with same |
-
2019
- 2019-08-08 CN CN201910731225.7A patent/CN110405737A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5606235A (en) * | 1993-12-17 | 1997-02-25 | Comau S.P.A. | Industrial robot with integrated reduction gear units |
| JP2007326151A (en) * | 2001-10-22 | 2007-12-20 | Yaskawa Electric Corp | Industrial robot |
| CN105108776A (en) * | 2015-10-08 | 2015-12-02 | 深圳市易致机器人科技有限公司 | Transmission mechanism capable of achieving swing and robot with transmission mechanism |
| CN105856255A (en) * | 2016-06-03 | 2016-08-17 | 杭州艾米机器人有限公司 | Service robot |
| CN206605500U (en) * | 2017-03-16 | 2017-11-03 | 江苏红石信息系统集成服务有限公司 | A kind of service humanoid robot with rotating mechanism |
| CN210307811U (en) * | 2019-08-08 | 2020-04-14 | 中新智擎科技有限公司 | Power device and robot with same |
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