CN110757497A - Compact structure's cooperation robot modularization joint - Google Patents
Compact structure's cooperation robot modularization joint Download PDFInfo
- Publication number
- CN110757497A CN110757497A CN201911222729.2A CN201911222729A CN110757497A CN 110757497 A CN110757497 A CN 110757497A CN 201911222729 A CN201911222729 A CN 201911222729A CN 110757497 A CN110757497 A CN 110757497A
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- joint
- motor
- end encoder
- coded disc
- reading head
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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Abstract
The invention discloses a modular joint of a cooperative robot, which has a compact structure and is formed by sequentially connecting: a joint housing; a joint output flange; the low-speed wire protecting pipe is connected with the joint output flange; the harmonic reducer is connected with the joint output flange and the joint shell; a motor assembly including a stator and a rotor; the motor shaft is connected with the motor rotor, and one end of the motor shaft is connected with the input end of the harmonic reducer; the brake component is in a magnetic friction type, is locked in a power-off mode, is powered on and is opened, and is connected to the motor shaft, so that compared with a bolt type brake, the brake component is safe in emergency stop and cannot bend a stop pin; a motor-side encoder assembly; a joint end encoder assembly. The motor end encoder coded disc and the joint end encoder coded disc are concentrically arranged, and the motor end encoder reading head and the joint end encoder reading head are integrated together, so that the joint is compact in axial space, high in integration degree, large in wiring space and convenient to operate.
Description
Technical Field
The invention relates to the technical field of robot joints, in particular to a modular joint of a cooperative robot, and particularly relates to a modular joint of a cooperative robot with a compact structure.
Background
Under the background of German industry 4.0, the state has produced a 'Chinese manufacture 2025' plan, and has made requirements on high-end intelligent equipment, and the intelligent robot industry has met a new development opportunity; at present, the production mode of the world manufacturing industry is facing the transition from batch production to user customization, and strong requirements are placed on flexibility, intelligence and personalized manufacture; the collaborative robot is taken as an important branch of the robot, and since birth, the collaborative robot has high-speed development, the industrialization process is continuously accelerated, new promoting manufacturers are continuously increased, the application field is continuously expanded, and the business model is continuously innovated.
The human-computer cooperative robot has the outstanding advantages of complementary human-computer advantages, strong environment sensing capability, large working range, flexible operation, high working efficiency and the like, and can be irreplaceable important equipment and automation means in future flexible manufacturing. Besides the manufacturing industry, the advanced man-machine cooperation robot technology can be widely applied to multiple industrial fields such as home service, 3C electronics, automobile parts and the like and special fields such as nuclear energy, manned space flight, moon exploration and the like, and has wide development prospects.
The modular joint for the cooperative robot is a core component, with the following trends: modularization, simplification of design flow and shortening of design period; the method has the characteristics of high load/dead weight ratio, high integration degree, light weight, high sensitivity, high precision, safety and easiness in assembly.
The problems of low joint integration level, large mass and volume, poor modularization degree, long design period and the like exist in the prior art.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to overcome the disadvantages in the prior art and design a modular joint of a cooperative robot with a compact structure, and the joint solves the problems of low joint integration level, large mass and volume, poor modularization degree, long design period and the like.
The specific scheme is as follows: in order to achieve the above purpose, the invention provides the following technical scheme:
a compact-structure modular joint of a cooperative robot comprises a joint shell, a driving mechanism, a motor assembly and an output mechanism; the driving mechanism, the motor assembly and the output mechanism are sequentially arranged inside the joint shell, the input end of the motor assembly is connected with the driving mechanism, and the output end of the motor assembly is connected with the output mechanism.
Further, the air conditioner is provided with a fan,
the driving mechanism comprises a motor end encoder coded disc mounting seat, a joint servo driver, a joint end encoder coded disc, a joint end encoder reading head, a joint end encoder coded disc mounting seat, a driver support, a motor end encoder coded disc, a motor end encoder reading head and a brake assembly;
the motor assembly comprises a motor stator, an internal motor rotor and a motor shaft;
the output mechanism comprises a harmonic reducer, a low-speed line protecting pipe and an output flange;
the joint shell comprises a joint shell body and a joint rear cover;
the driver bracket, the joint end encoder coded disc mounting base, the motor end encoder coded disc mounting base, the brake assembly, the motor assembly and the harmonic reducer are sequentially fixed on the joint shell;
the driver bracket is fixedly connected with the joint shell, the joint servo driver is fixed on the driver bracket and is also connected with the joint shell through a connecting column; the motor end encoder reading head and the joint end encoder reading head are integrated on the driver bracket;
the motor end encoder reading head is arranged corresponding to a motor end encoder coded disc, the motor end encoder reading head reads information of the motor end encoder coded disc, the motor end encoder coded disc is fixedly connected to a motor end encoder coded disc mounting seat, and the motor end encoder coded disc mounting seat is fixed outside a motor shaft;
the joint end encoder reading head is arranged corresponding to the joint end encoder coded disc, the joint end encoder reading head reads information of the joint end encoder coded disc, the joint end encoder coded disc is fixedly connected to the joint end encoder coded disc mounting seat, and the joint end encoder coded disc mounting seat is fixed outside the low-speed protective pipe;
the low-speed wire protecting pipe is arranged inside the motor shaft;
one end of the motor shaft is provided with a flat key, the flat key is connected with a hub of an inner ring friction plate of the brake assembly, and a shell of the brake assembly is fixedly connected with the joint shell;
the outer side of the motor stator is fixedly connected with the joint shell; the internal motor rotor is arranged inside the motor stator;
the other end of the motor shaft is fixedly connected with an internal motor rotor, and the tail part of the other end of the motor shaft is fixedly connected with the input end of the harmonic reducer; the output end of the harmonic reducer is fixedly connected with the input end of the output flange; the output end of the output flange is fixedly connected with the tail part of the low-speed wire protecting pipe;
the joint posterior cover is connected with the joint shell.
Furthermore, a sealing ring mounting seat is arranged on the inner ring of the brake assembly, a first sealing ring is arranged in the sealing ring mounting seat, and the inner ring of the first sealing ring is in contact with the motor shaft.
And furthermore, the low-speed wire protecting pipe is connected with the output flange through a screw, and the joint end encoder code wheel mounting connecting seat is connected with the low-speed wire protecting pipe through a screw thread.
Furthermore, the brake component is of a magnetic attraction friction type, a friction plate is locked by the brake through an internal spring when the power is off, and the motor shaft is stopped through the brake hub; when the power is on, the electromagnet pulls away the friction plate to press the spring, and the brake assembly releases the brake.
Preferably, a first gasket is arranged between the reading head of the motor-end encoder and the code wheel of the motor-end encoder.
Preferably, a second gasket is arranged between the joint end encoder reading head and the joint end encoder coded disc.
Furthermore, the joints are wired through center holes, and cables are arranged in the middle of the low-speed wire protecting pipe.
Preferably, a dustproof support is arranged between the joint shell and the harmonic reducer, and a rubber ring is arranged between the dustproof support and the joint shell.
Preferably, a second sealing ring is pressed between the joint rear cover and the joint shell.
Preferably, the joint shell, the low-speed wire protecting pipe and the motor shaft can be made of aluminum alloy, and the joint rear cover is made of engineering plastics.
Furthermore, the wire protecting sleeve is fixed at one end of the driver support through the wire protecting sleeve support, the joint is wired through a center hole, and the cable is isolated from the motor shaft through the low-speed wire protecting pipe, so that the cable is effectively protected against abrasion;
compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the motor end encoder coded disc and the joint end encoder coded disc are respectively connected to the motor shaft and the low-speed wire protecting pipe through the motor end encoder coded disc mounting seat and the joint end encoder coded disc mounting seat to be concentrically arranged, so that the axial space is saved, the whole joint has a compact structure and higher integration level;
2. the motor end encoder reading head and the joint end encoder reading head can adjust the axial distance through the adjusting gasket, so that the influences caused by different conditions and manufacturing errors are met, and the design flexibility is increased;
3. the brake assembly is of a magnetic attraction friction type, a friction plate is locked by the brake through the built-in spring when the power is off, and the motor shaft cannot rotate through the brake hub; when the robot is in emergency stop, the brake assembly is in contact braking, and the friction braking principle is adopted, so that the robot is safer and more reliable than a bolt type brake. The problems of bending of the bolt and shaking of the power-on joint do not exist;
4. the low-speed conduit and the output flange are connected through the screws, and the low-speed conduit and the joint end encoder code disc mounting connection seat can be flexibly configured according to the requirements of a design scheme, so that the design flexibility and diversity are increased;
5. the invention adopts light-weight superhard aviation aluminum alloy material to realize heavy load, light dead weight and high integration degree;
6. the invention adopts the central hole for wiring, thus solving the problems of difficult wiring and wiring winding of the traditional industrial robot; the low-speed wire protecting pipe is connected with the output flange, so that the rotating speed is low, and the abrasion of the cable is reduced;
7. the invention adopts a modular design, the same joint is applied to each joint of the robot, and each component can have interchangeability and is easy to maintain.
Drawings
FIG. 1 is a cross-sectional view of a compact modular joint of a cooperative robot of the present invention;
FIG. 2 is an output flange and low speed conduit of a compact cooperative robotic modular joint of the present invention;
FIG. 3 is a harmonic reducer of a compact cooperative robotic modular joint of the present invention;
FIG. 4 is a compact modular joint brake assembly for a cooperative robot of the present invention;
wherein 1-motor end encoder code wheel mounting seat; 2-joint servo driver; 3-joint end encoder code disc; 4-joint end encoder read head; 5-joint end encoder code wheel mounting base; 6-a drive carrier; 7-a seal ring mounting seat; 8-sealing ring; 9-motor end encoder code disc; 10-motor end encoder reading head; 11-posterior articular cap; 12-a brake assembly; 13-a joint shell; 14-a motor shaft; 15-a motor assembly; 16-harmonic reducers; 17-a dust-proof support; 18-a rubber ring; 19-low speed conduit; 20-output flange.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic representations, illustrating only the basic structure of the invention in a schematic way, and are not to be construed as limiting the scope of the invention to the details described below, which are therefore not to be taken in a limiting sense, and the scope of the claimed subject matter is defined only by the appended claims and equivalents.
As shown in fig. 1, a compact cooperative robotic modular joint of the present invention:
the first embodiment is as follows: the joint comprises a joint shell, a driving mechanism, a motor assembly and an output mechanism; the driving mechanism, the motor assembly 15 and the output mechanism are sequentially arranged inside the joint shell, the input end of the motor assembly is connected with the driving mechanism, and the output end of the motor assembly 15 is connected with the output mechanism.
The second embodiment is as follows:
the driving mechanism comprises a motor end encoder coded disc mounting seat 1, a joint servo driver 2, a joint end encoder coded disc 3, a joint end encoder reading head 4, a joint end encoder coded disc mounting seat 5, a driver bracket 6, a motor end encoder coded disc 9, a motor end encoder reading head 10 and a brake assembly 12;
the motor assembly 15 comprises a motor stator, an internal motor rotor and a motor shaft 14;
the output mechanism comprises a harmonic reducer 16, a low-speed line protecting pipe 19 and an output flange;
the joint shell comprises a joint shell body 13 and a joint rear cover 11;
the driver bracket 6, the joint end encoder coded disc mounting seat 5, the motor end encoder coded disc mounting seat 1, the brake assembly 12, the motor assembly 15 and the harmonic reducer 16 are sequentially fixed on the joint shell 13;
the driver bracket 6 is fixedly connected with the joint shell 13, the joint servo driver 2 is fixed on the driver bracket 6, and the joint servo driver 2 is also connected with the joint shell 13 through a connecting column; the motor end encoder reading head 10 and the joint end encoder reading head 4 are integrated on the driver bracket 6;
the motor end encoder reading head 10 is arranged corresponding to the motor end encoder coded disc 9, the motor end encoder reading head 10 reads information of the motor end encoder coded disc 9, the motor end encoder coded disc 9 is fixedly connected to the motor end encoder coded disc mounting seat 1, and the motor end encoder coded disc mounting seat 1 is fixed outside the motor shaft 14;
the joint end encoder reading head 4 is arranged corresponding to the joint end encoder coded disc 3, the joint end encoder reading head 4 reads information of the joint end encoder coded disc 3, the joint end encoder coded disc 3 is fixedly connected to the joint end encoder coded disc mounting seat 5, and the joint end encoder coded disc mounting seat 5 is fixed outside the low-speed protective tube 19;
the low-speed line protecting pipe 19 is arranged inside the motor shaft 14;
one end of the motor shaft 14 is provided with a flat key, the flat key is connected with a hub of an inner ring friction plate of the brake assembly 12, and a shell of the brake assembly 12 is fixedly connected with the joint shell 13;
the outer side of the motor stator is fixedly connected with the joint shell 13; the internal motor rotor is arranged inside the motor stator;
the other end of the motor shaft 14 is fixedly connected with an internal motor rotor, and the tail part of the other end of the motor shaft 14 is fixedly connected with the input end of a harmonic reducer 16; the output end of the harmonic reducer 16 is fixedly connected with the input end of an output flange 20; the output end of the output flange 20 is fixedly connected with the tail part of the low-speed line protecting pipe 19;
the joint posterior cap 11 is connected to the joint housing 13.
Other embodiments are the same as the first embodiment.
The third concrete implementation mode: the inner ring of the brake component 12 is provided with a sealing ring mounting seat 7, a first sealing ring 8 is arranged in the sealing ring mounting seat 7, and the inner ring of the first sealing ring 8 is in contact with the motor shaft 14.
Other embodiments are the same as the second embodiment.
The fourth concrete implementation mode: the low-speed guard tube 19 is connected with the output flange 20 through screws, and the joint end encoder code disc mounting seat 5 is connected with the low-speed guard tube 19 through threads.
Other embodiments are the same as the second embodiment.
The fifth concrete implementation mode: the brake component 12 is of a magnetic attraction friction type, a friction plate is locked by a brake through an internal spring when the power is off, and the motor shaft 14 is stopped through a brake hub; when the power is on, the electromagnet pulls away the friction plate to press the spring, and the brake assembly 12 releases the brake.
Due to the adoption of the friction braking principle, when the robot is in emergency stop, the robot brake is safer and more reliable than a bolt type brake. The problems of bending of the bolt and shaking of the power-on joint do not exist.
Other embodiments are the same as the second embodiment.
The sixth specific implementation mode: a first gasket is arranged between the reading head 10 of the motor end encoder and the coded disc 9 of the motor end encoder;
and a second gasket is arranged between the joint end encoder reading head 4 and the joint end encoder coded disc 3.
The thickness or the number of the first adjusting gasket and the second adjusting gasket meet the influence caused by different use conditions and manufacturing errors, and the design flexibility is improved.
Other embodiments are the same as the second embodiment.
The seventh embodiment: the joints are wired by adopting central holes, and cables are arranged in the middle of the low-speed cable protection pipe 19.
The joint is wired by adopting a center hole, and the cable is isolated from the motor shaft 14 by the low-speed cable protecting pipe 19, so that the cable is effectively protected against abrasion.
Other embodiments are the same as the second embodiment.
The specific implementation mode is eight: a dustproof support 17 is arranged between the joint shell 13 and the harmonic reducer 16, and a rubber ring 18 is arranged between the dustproof support 17 and the joint shell 13.
Other embodiments are the same as the second embodiment.
The specific implementation method nine: and a second sealing ring is pressed between the joint rear cover 11 and the joint shell 13.
Other embodiments are the same as the second embodiment.
The detailed implementation mode is ten: the joint shell 13, the low-speed wire protecting pipe 19 and the motor shaft 14 can be made of aluminum alloy, and the joint rear cover 11 is made of engineering plastics.
Other embodiments are the same as the second embodiment.
The working principle is as follows: the working process of the modular joint of the cooperative robot with a compact structure comprises the following steps: after the joint servo driver 2 receives a control system starting instruction, the brake component 12 is powered on, the electromagnet attracts the compression spring, the brake component 12 is opened, the joint servo driver 2 drives the motor component 15 to drive the motor shaft 14 to rotate, so that the input end of the harmonic reducer 16 is driven to rotate, after the speed of the harmonic reducer 16 is reduced, the output end of the harmonic reducer 16 drives the output flange 20 to rotate, and therefore the joint output torque and the joint output speed are achieved. The motor end encoder reading head 10 reads the rotation angle and the rotation speed of the motor shaft 14, and the joint end encoder reading head 4 reads the rotation angle and the rotation speed of the output flange 20. When the joint servo driver 2 receives a control system stop command, the control motor assembly 15 decelerates. The brake assembly 12 is powered off, the spring is reset to compress the friction plate, and the joint stops.
Claims (10)
1. A compact structure's collaborative robot modularization joint which characterized in that: the joint comprises a joint shell, a driving mechanism, a motor assembly (15) and an output mechanism; the driving mechanism, the motor assembly (15) and the output mechanism are sequentially arranged inside the joint shell, the input end of the motor assembly (15) is connected with the driving mechanism, and the output end of the motor assembly (15) is connected with the output mechanism.
2. A compact cooperative robotic modular joint as claimed in claim 1, wherein: the driving mechanism comprises a motor end encoder coded disc mounting seat (1), a joint servo driver (2), a joint end encoder coded disc (3), a joint end encoder reading head (4), a joint end encoder coded disc mounting seat (5), a driver bracket (6), a motor end encoder coded disc (9), a motor end encoder reading head (10) and a brake assembly (12);
the motor assembly (15) comprises a motor stator, an internal motor rotor and a motor shaft (14);
the output mechanism comprises a harmonic reducer (16), a low-speed line protecting pipe (19) and an output flange;
the joint shell comprises a joint shell (13) and a joint rear cover (11);
the driver bracket (6), the joint end encoder coded disc mounting seat (5), the motor end encoder coded disc mounting seat (1), the brake assembly (12), the motor assembly (15) and the harmonic reducer (16) are sequentially fixed on the joint shell (13);
the driver bracket (6) is fixedly connected with the joint shell (13), the joint servo driver (2) is fixed on the driver bracket (6), and the joint servo driver (2) is also connected with the joint shell (13) through a connecting column; the motor end encoder reading head (10) and the joint end encoder reading head (4) are integrated on the driver bracket (6);
the motor end encoder reading head (10) and a motor end encoder coded disc (9) are arranged correspondingly, the motor end encoder reading head (10) reads information of the motor end encoder coded disc (9), the motor end encoder coded disc (9) is fixedly connected to a motor end encoder coded disc mounting seat (1), and the motor end encoder coded disc mounting seat (1) is fixed to the outer portion of a motor shaft (14);
the joint end encoder reading head (4) is arranged corresponding to the joint end encoder coded disc (3), the joint end encoder reading head (4) reads information of the joint end encoder coded disc (3), the joint end encoder coded disc (3) is fixedly connected to the joint end encoder coded disc mounting seat (5), and the joint end encoder coded disc mounting seat (5) is fixed to the outer portion of the low-speed wire protecting pipe (19);
the low-speed line protecting pipe (19) is arranged inside the motor shaft (14);
one end of the motor shaft (14) is provided with a flat key, the flat key is connected with a hub of an inner ring friction plate of the brake assembly (12), and a shell of the brake assembly (12) is fixedly connected with the joint shell (13);
the outer side of the motor stator is fixedly connected with the joint shell (13); the internal motor rotor is arranged inside the motor stator;
the other end of the motor shaft (14) is fixedly connected with an internal motor rotor, and the tail part of the other end of the motor shaft (14) is fixedly connected with the input end of the harmonic reducer (16); the output end of the harmonic reducer (16) is fixedly connected with the input end of the output flange (20); the output end of the output flange (20) is fixedly connected with the tail part of the low-speed line protecting pipe (19);
the joint rear cover (11) is connected with the joint shell (13).
3. A compact cooperative robotic modular joint as claimed in claim 2, wherein: the inner ring of the brake component (12) is provided with a sealing ring mounting seat (7), a first sealing ring (8) is arranged in the sealing ring mounting seat (7), and the inner ring of the first sealing ring (8) is in contact with a motor shaft (14).
4. A modular joint of cooperative robotics designed for compactness according to claim 2, wherein: the low-speed line protecting pipe (19) is connected with the output flange (20) through screws, and the joint end encoder code disc mounting connecting seat (5) is connected with the low-speed line protecting pipe (19) through threads.
5. A compact cooperative robotic modular joint as claimed in claim 2, wherein: the brake component (12) is of a magnetic attraction friction type, a friction plate is locked by a brake through an internal spring when the power is off, and the motor shaft (14) stops rotating through a brake hub; when the power is on, the electromagnet sucks the friction plate to press the spring, and the brake component (12) releases the brake.
6. A compact cooperative robotic modular joint as claimed in claim 2, wherein: a first gasket is arranged between the reading head (10) of the motor end encoder and the coded disc (9) of the motor end encoder;
and a second gasket is arranged between the joint end encoder reading head (4) and the joint end encoder coded disc (3).
7. A compact cooperative robotic modular joint as claimed in claim 3, wherein: the joint adopts a central hole for wiring, and the cable is arranged in the middle of the low-speed cable protecting pipe (19).
8. A compact cooperative robotic modular joint as claimed in claim 3, wherein: a dustproof support (17) is arranged between the joint shell (13) and the harmonic reducer (16), and a rubber ring (18) is arranged between the dustproof support (17) and the joint shell (13).
9. A compact cooperative robotic modular joint as claimed in claim 3, wherein: a second sealing ring is pressed between the joint rear cover (11) and the joint shell (13).
10. A modular joint of cooperative robotic design to be flexible as claimed in claim 2, wherein: the joint shell (13), the low-speed wire protecting pipe (19) and the motor shaft (14) can be made of aluminum alloy, and the joint rear cover (11) is made of engineering plastics.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911222729.2A CN110757497A (en) | 2019-12-03 | 2019-12-03 | Compact structure's cooperation robot modularization joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911222729.2A CN110757497A (en) | 2019-12-03 | 2019-12-03 | Compact structure's cooperation robot modularization joint |
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| Publication Number | Publication Date |
|---|---|
| CN110757497A true CN110757497A (en) | 2020-02-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911222729.2A Pending CN110757497A (en) | 2019-12-03 | 2019-12-03 | Compact structure's cooperation robot modularization joint |
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| CN (1) | CN110757497A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111687879A (en) * | 2020-06-18 | 2020-09-22 | 敬科(深圳)机器人科技有限公司 | Low-noise modular joint of cooperative robot |
| CN111993463A (en) * | 2020-07-10 | 2020-11-27 | 武汉海默机器人有限公司 | Pin type brake of robot and control method thereof |
| CN112621811A (en) * | 2021-01-25 | 2021-04-09 | 之江实验室 | Novel modular joint of robot |
| CN112659176A (en) * | 2020-12-18 | 2021-04-16 | 江苏集萃智能制造技术研究所有限公司 | Non-biased cooperative robot integrated joint |
| CN113364218A (en) * | 2021-04-22 | 2021-09-07 | 中科新松有限公司 | Joint torque motor module and self-detection method |
| CN113400341A (en) * | 2021-06-29 | 2021-09-17 | 中国科学院长春光学精密机械与物理研究所 | Modularized joint and joint assembly for cooperative robot |
| CN114623849A (en) * | 2022-03-10 | 2022-06-14 | 朝阳市加华电子有限公司 | Novel photoelectric encoder modularization code wheel |
| CN116021545A (en) * | 2022-08-17 | 2023-04-28 | 深圳市大族机器人有限公司 | Joint module and robot |
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2019
- 2019-12-03 CN CN201911222729.2A patent/CN110757497A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111687879A (en) * | 2020-06-18 | 2020-09-22 | 敬科(深圳)机器人科技有限公司 | Low-noise modular joint of cooperative robot |
| CN111687879B (en) * | 2020-06-18 | 2021-05-25 | 敬科(深圳)机器人科技有限公司 | Modularized joint of cooperative robot |
| CN111993463A (en) * | 2020-07-10 | 2020-11-27 | 武汉海默机器人有限公司 | Pin type brake of robot and control method thereof |
| CN111993463B (en) * | 2020-07-10 | 2023-10-13 | 武汉海默机器人有限公司 | Pin type brake of robot and control method thereof |
| CN112659176A (en) * | 2020-12-18 | 2021-04-16 | 江苏集萃智能制造技术研究所有限公司 | Non-biased cooperative robot integrated joint |
| CN112659176B (en) * | 2020-12-18 | 2023-09-22 | 江苏集萃智能制造技术研究所有限公司 | Non-offset cooperative robot integrated joint |
| CN112621811A (en) * | 2021-01-25 | 2021-04-09 | 之江实验室 | Novel modular joint of robot |
| CN113364218A (en) * | 2021-04-22 | 2021-09-07 | 中科新松有限公司 | Joint torque motor module and self-detection method |
| CN113400341A (en) * | 2021-06-29 | 2021-09-17 | 中国科学院长春光学精密机械与物理研究所 | Modularized joint and joint assembly for cooperative robot |
| CN114623849A (en) * | 2022-03-10 | 2022-06-14 | 朝阳市加华电子有限公司 | Novel photoelectric encoder modularization code wheel |
| CN114623849B (en) * | 2022-03-10 | 2023-09-15 | 朝阳市加华电子有限公司 | Photoelectric encoder modularization code wheel |
| CN116021545A (en) * | 2022-08-17 | 2023-04-28 | 深圳市大族机器人有限公司 | Joint module and robot |
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