CN111300476A - Underwater joint driving module - Google Patents
Underwater joint driving module Download PDFInfo
- Publication number
- CN111300476A CN111300476A CN201811509192.3A CN201811509192A CN111300476A CN 111300476 A CN111300476 A CN 111300476A CN 201811509192 A CN201811509192 A CN 201811509192A CN 111300476 A CN111300476 A CN 111300476A
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- motor
- motor shell
- shaft
- shell
- ring
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Classifications
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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
- B25J17/0258—Two-dimensional 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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The invention belongs to the field of underwater robot engineering, and particularly relates to an underwater joint driving module which comprises a motor shell, a motor shell rear end cover, a motor shell end cover, a single-ring absolute encoder, an output shaft, a harmonic reducer, a frameless motor, a motor shaft, a multi-ring incremental encoder and a wiring sleeve, wherein a frameless motor stator is clamped and fixed in the motor shell through a compression ring, and a frameless motor rotor is clamped and fixed on the motor shaft through a stator compression ring; the rear end of the motor shaft is provided with a multi-circle incremental encoder for detecting the rotating speed of the motor, and the output end of the motor shaft is connected with a harmonic reducer wave generator; the output shaft is connected with a flexible gear of the harmonic reducer to output joint torque and rotating speed; the output shaft is provided with a single-ring absolute encoder for detecting the joint position. The invention has the advantages of compact structure, low failure rate, hollow wiring, high control precision of joint speed and position, sealing and packaging in the joint shell, oil filling for pressure compensation, full-sea-depth work realization and the like.
Description
Technical Field
The invention belongs to the field of underwater robot engineering, in particular to an underwater joint driving module which can be applied to the development of underwater equipment such as an underwater manipulator, an underwater driving device and the like.
Background
The motor drive has the advantages of small volume and weight, low power consumption, high control precision, capability of realizing full-sea-depth operation through pressure compensation and the like, so that the motor drive device has wide application prospect in the field of underwater robot engineering.
Because the underwater driving device is in a special environment of deep sea, the underwater driving device is required to have the requirements of high pressure resistance, compact structure and the like; the underwater joint driving module has reliable performance and compact structure and can be controlled with high precision aiming at the requirements of compact structure, high-precision control and the like of an underwater manipulator.
Disclosure of Invention
The invention aims to provide an underwater joint driving module in order to meet the requirements of a deep sea special environment on an underwater driving device.
The purpose of the invention is realized by the following technical scheme:
the motor comprises a motor shell, a motor shell rear end cover, a motor shell end cover, a single-ring absolute encoder, an output shaft, a harmonic reducer, a frameless motor, a motor shaft, a multi-ring incremental encoder and a wiring sleeve, wherein the front end and the rear end of the motor shell are respectively connected with the motor shell rear end cover and the motor shell end cover; a frameless motor stator of the frameless motor is tightly pressed on the inner surface of a motor shell and is relatively fixed with the motor shell, and a frameless motor rotor of the frameless motor drives the motor shaft to rotate; a harmonic reducer steel wheel of the harmonic reducer is fixed on a motor shell, a harmonic reducer wave generator is connected to a motor shaft, a harmonic reducer flexible wheel of the harmonic reducer is installed at one end of the output shaft, and a single-ring absolute encoder for detecting the joint position is arranged at the other end of the output shaft; the harmonic reducer wave generator rotates along with a motor shaft, the motor shaft transmits torque to the harmonic reducer wave generator, the harmonic reducer flexible gear outputs the decelerated torque to an output shaft, and joint torque is output through the output shaft; the frameless motor is integrated with a multi-turn incremental encoder for detecting the speed of the frameless motor;
wherein: the frameless motor comprises a frameless motor body, a stator and a stator compression ring, wherein the two sides of the frameless motor are respectively provided with the rotor compression ring and the stator compression ring connected to the motor body;
a single-ring absolute encoder stator of the single-ring absolute encoder is fixed on a front end cover of the motor shell, and a single-ring absolute encoder rotor of the single-ring absolute encoder is fixed at the other end of the output shaft;
a multi-turn incremental encoder stator of the multi-turn incremental encoder is fixed on a motor shell, and a multi-turn incremental encoder rotor of the multi-turn incremental encoder rotates along with the motor shaft;
the output shaft is rotatably arranged in the space through a crossed roller bearing, and one side of the crossed roller bearing is provided with a crossed roller bearing inner ring fastening piece fixedly connected to the output shaft; the outer ring of the crossed roller bearing is matched with the motor shell and is pre-tightened through the front end cover of the motor shell, and the inner ring of the crossed roller bearing is pre-tightened through the inner ring tightening piece of the crossed roller bearing;
the motor shaft is rotatably arranged in the space through a motor shaft front bearing and a motor shaft rear bearing, and a bearing gasket sleeved on the motor shaft is arranged on one side of the motor shaft rear bearing; the outer ring of the motor shaft front bearing is matched with the motor shell, and the inner ring of the motor shaft front bearing is matched with the motor shaft; the outer ring of the rear bearing of the motor shaft is matched with the rear end cover of the motor shell, and the inner ring of the rear bearing of the motor shaft is matched with the motor shaft and is pre-tightened by the bearing washer;
the motor shell is divided into a motor shell section A, a motor shell section B and a motor shell section C, a stator compression ring is arranged between the motor shell section A and the motor shell section B, and the motor shell rear end cover, the motor shell section A, the stator compression ring, the motor shell section B, the motor shell section C and the motor shell front end cover are sequentially fastened and connected;
a boss is arranged in the middle of the inner surface of the section A of the motor shell, and the outer ring of the frameless motor stator is pressed and fixed on the boss; a harmonic reducer steel wheel of the harmonic reducer is coaxially fixed on one side of the section B of the motor shell;
the motor shaft, the harmonic reducer and the output shaft are all of hollow structures, the wiring sleeve penetrates through the hollow structures, and the wiring sleeve is also of a hollow structure and provides a wiring channel for a previous driving module;
and a plurality of threaded holes for outputting torque to a driven part are uniformly distributed at the end part of the other end of the output shaft along the circumferential direction.
The invention has the advantages and positive effects that:
1. the performance is stable: the invention applies the transmission of the harmonic reducer, and the harmonic reducer has the advantages of high bearing capacity, high transmission precision, high transmission efficiency, stable operation and the like.
2. The structure is compact: the invention adopts the frameless motor and the bearing with small axial size, and is highly integrated with the harmonic reducer, thereby greatly reducing the axial size.
3. The invention can realize high-precision double closed-loop control, a motor end is integrated with a multi-circle incremental encoder for feeding back motor speed information, an output end is integrated with a single-circle absolute encoder for feeding back joint position information, and the two encoders have high precision.
4. The motor, the encoder and other components selected by the invention can work in the full-sea deep pressure oil environment, the joint driving module is sealed and integrated into the joint shell, and the oil charge can work in the full-sea deep environment for pressure compensation.
5. The invention is convenient for debugging and maintenance.
Drawings
FIG. 1 is a sectional view showing the internal structure of the present invention;
wherein: the motor comprises a motor shell, a motor shell rear end cover 1, a motor shell A section 2, a stator compression ring 3, a motor shell B section 4, a motor shell C section 5, a motor shell front end cover 6, a single-ring absolute encoder stator 7A, a single-ring absolute encoder rotor 7B, an output shaft 8, a cross roller bearing inner ring fastening piece 9, a cross roller bearing 10, a harmonic reducer steel wheel 11A, a harmonic reducer generator 11B, a harmonic reducer flexible wheel 11C, a motor shaft front bearing 12, a frameless motor stator 13A, a frameless motor rotor 13B, a motor shaft 14, a cushion block 15, a multi-ring incremental encoder rotor 16A, a multi-ring incremental encoder stator 16B, a motor shaft rear bearing 17, a motor shaft sleeve 18, a rotor compression ring 19, a bearing washer 20 and a threaded hole 21.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the present invention includes a motor housing, a motor housing rear end cover 1, a motor housing end cover 6, a single-turn absolute encoder, an output shaft 8, a harmonic reducer, a frameless motor, a motor shaft 14, a multi-turn incremental encoder, and a routing sleeve 18, wherein the front and rear ends of the motor housing are respectively connected to the motor housing rear end cover 1 and the motor housing end cover 6, the output shaft 8 and the motor shaft 14 are respectively rotatably installed in a space surrounded by the motor housing, the motor housing rear end cover 1, and the motor housing end cover 6, the routing sleeve 18 is installed on the motor housing rear end cover 1, and is penetrated by the output shaft 8 and the; a frameless motor stator 13A of the frameless motor is tightly pressed on the inner surface of the motor shell and is relatively fixed with the motor shell, and a frameless motor rotor 13A of the frameless motor drives a motor shaft 14 to rotate; the harmonic reducer steel wheel 11A of the harmonic reducer is connected to the motor shell, the harmonic reducer wave generator 11B of the harmonic reducer is connected to the motor shaft 14, the harmonic reducer flexible wheel 11C of the harmonic reducer is installed at one end of the output shaft 8 and outputs torque of the joint driving module, and the other end of the output shaft 8 is provided with a single-ring absolute encoder for detecting the position of the joint. The frameless motor incorporates a multi-turn incremental encoder for detecting its speed. The motor shaft 14, the harmonic reducer and the output shaft 8 are all hollow structures, and a wiring sleeve 18 passes through the hollow structures; the routing sleeve 18 is also hollow and provides routing channels for the previous driver module. A plurality of screw holes 21 are uniformly distributed in the circumferential direction at the other end of the output shaft 8, and torque can be output to the driven member through the screw holes 21.
The motor shell is divided into a motor shell A section 2, a motor shell B section 4 and a motor shell C section 5, a stator compression ring 3 is arranged between the motor shell A section 2 and the motor shell B section 4, and a motor shell rear end cover 1, the motor shell A section 2, the stator compression ring 3, the motor shell B section 4, the motor shell C section 5 and a motor shell front end cover 6 are sequentially and tightly connected. A harmonic reducer steel wheel 11A is fixed on the motor shell B section 4, and a motor shaft 14 is tightly connected with a harmonic reducer wave generator 11B and is used for inputting torque for the harmonic reducer.
The two sides of the frameless motor are respectively provided with a rotor clamp ring 19 and a stator clamp ring 3, a stator 13A of the frameless motor is pressed onto the section A2 of the motor shell through the stator clamp ring 3, and a rotor 13B of the frameless motor is pressed and fixed on the motor shaft 14 through the rotor clamp ring 19. The middle part of the inner surface of the section A2 of the motor shell is provided with a boss, and the outer ring of the stator 13A of the frameless motor is pressed and fixed on the boss through the stator compression ring 3. The left end of the outermost ring of the motor shaft 14 is matched with the rotor compression ring 19 for compressing and fixing the frameless motor rotor 13B, and the frameless motor rotor 13B transmits torque to the motor shaft 14.
A single-ring absolute encoder stator 7A of the single-ring absolute encoder is fixed on a front end cover 6 of the motor shell, and a single-ring absolute encoder rotor 7B of the single-ring absolute encoder is fixed at the other end of an output shaft 8. The inner ring of the rotor 7A of the single-ring absolute encoder is coaxially matched with the output shaft 8, the outer ring of the stator 7B of the single-ring absolute encoder is coaxially matched with the front end cover 6 of the motor shell, and the joint position information is fed back by the single-ring absolute encoder.
The multi-turn incremental encoder stator 16B of the multi-turn incremental encoder is fixed to the motor housing a section 2, and the multi-turn incremental encoder rotor 16A of the multi-turn incremental encoder is fixed to the rotor clamp ring 19 and rotates with the motor shaft 14. The inner ring of the multi-ring incremental encoder rotor 16A is coaxially matched with the rotor compression ring 19, the outer ring of the multi-ring incremental encoder stator 16B is coaxially matched with the section A2 of the motor shell, and the multi-ring incremental encoder feeds back the rotating speed information of the motor shaft.
The frameless motor, the multi-ring incremental encoder and the single-ring absolute encoder can work in a full-sea deep oil pressure environment.
The output shaft 8 is rotatably installed in the space through a crossed roller bearing 10 and is rotatably connected with the motor shell C section 5, and a crossed roller bearing inner ring fastening piece 9 fixedly connected to the output shaft 8 is arranged on one side of the crossed roller bearing 10. The outer ring of the crossed roller bearing 10 is matched with the C section 5 of the motor shell and is pre-tightened through the front end cover 6 of the motor shell, and the inner ring of the crossed roller bearing 10 is pre-tightened through the inner ring tightening piece 9 of the crossed roller bearing.
The motor shaft 14 is rotatably installed in the space through a motor shaft front bearing 12 and a motor shaft rear bearing 17, the motor shaft front bearing 12 is rotatably connected with the motor housing B section 4, and the motor shaft rear bearing 17 is rotatably connected with the motor housing rear end cover 1. One side of the motor shaft rear bearing 17 is provided with a bearing washer 20 sleeved on the motor shaft 14. The outer ring of the motor shaft front bearing 12 is matched with the B section 4 of the motor shell, and the inner ring of the motor shaft front bearing 12 is matched with the right end of the motor shaft 14; the outer ring of the motor shaft rear bearing 17 is matched with the motor shell rear end cover 1, and the inner ring of the motor shaft rear bearing 17 is matched with the left end of the motor shaft 14 and is pre-tightened through a bearing washer 20. The motor shaft 14 is a stepped shaft and is coaxially matched with a motor shaft rear bearing 17, a bearing washer 20, a rotor compression ring 19, a cushion block 15, a frameless motor rotor 13B, a motor shaft front bearing 12 and a harmonic reducer wave generator 11B in sequence from left to right. The motor front bearing 12 and the motor shaft rear bearing 17 are both deep groove ball bearings.
The single-ring absolute encoder is a commercial product, is purchased from NetZer (Nezel) of Israel, and has the model of VLX-60; the harmonic reducer is a commercial product, is purchased from Suzhou green harmonic drive technology Co., Ltd, and has the model of LCD-17-XXX-P-I; the frameless motor is a commercial product, is purchased from Hebei Yujie Motor science and technology Limited and has the model number of TBSM60-13A 50; the multi-turn incremental encoder is a commercially available product available from RLS corporation of schonetzia under model number MB 064.
The working principle of the invention is as follows:
the joint driving is carried out by adopting a frameless motor and a harmonic reducer, a stator 13A of the frameless motor is clamped and fixed in a motor shell, and a rotor 13B of the frameless motor is clamped and fixed on a motor shaft 14 to output torque. The torque of the motor shaft 14 is transmitted to the harmonic reducer wave generator 11B, the harmonic reducer flexible gear 11C outputs the reduced torque, the harmonic reducer flexible gear 11C is tightly connected with the output shaft 8, and the output shaft 8 outputs the joint torque. The rear end of the frameless motor 13 is integrated with a multi-turn incremental encoder for detecting the speed of the frameless motor 13; the output shaft 8 is integrated with a single-turn absolute encoder 7 for detecting the joint position.
The invention has the advantages of stable performance, compact structure, realization of high-precision double closed-loop control, working in high-pressure environment, convenient debugging and maintenance and the like. The invention applies the transmission of the harmonic reducer, and the harmonic reducer has the advantages of high bearing capacity, high transmission precision, high transmission efficiency, stable operation and the like; the frameless motor and the bearing are small in axial size and highly integrated with the harmonic reducer, so that the axial size is greatly reduced; the motor end of the invention is integrated with a multi-circle incremental encoder for feeding back the speed information of the motor, the output end is integrated with a single-circle absolute encoder for feeding back the position information of the joint, and the two encoders have high precision; the motor, the encoder and other components selected by the invention can work in the full-sea deep pressure oil environment, the joint driving module is sealed and integrated into the joint shell, and the oil charge can work in the full-sea deep environment for pressure compensation.
Claims (10)
1. An underwater joint drive module, characterized in that: the motor comprises a motor shell, a motor shell rear end cover (1), a motor shell end cover (6), a single-ring absolute encoder, an output shaft (8), a harmonic reducer, a frameless motor, a motor shaft (14), a multi-ring incremental encoder and a wiring sleeve (18), wherein the front end and the rear end of the motor shell are respectively connected with the motor shell rear end cover (1) and the motor shell end cover (6), the output shaft (8) and the motor shaft (14) are respectively rotatably installed in a space defined by the motor shell, the motor shell rear end cover (1) and the motor shell end cover (6), and the wiring sleeve (18) is installed on the motor shell rear end cover (1) and is penetrated by the output shaft (8) and the motor shaft (14); a frameless motor stator (13A) of the frameless motor is tightly pressed on the inner surface of a motor shell and is kept relatively fixed with the motor shell, and a frameless motor rotor (13B) of the frameless motor drives a motor shaft (14) to rotate; a harmonic reducer steel wheel (11A) of the harmonic reducer is fixed on a motor shell, a harmonic reducer wave generator (11B) of the harmonic reducer is connected to a motor shaft (14), a harmonic reducer flexible wheel (11C) of the harmonic reducer is installed at one end of the output shaft (8), and the other end of the output shaft (8) is provided with a single-ring absolute encoder for detecting the joint position; the harmonic reducer wave generator (11B) rotates along with a motor shaft (14), the motor shaft (14) transmits torque to the harmonic reducer wave generator (11B), the harmonic reducer flexible gear (11C) outputs the decelerated torque to the output shaft (8), and joint torque is output through the output shaft (8); the frameless motor incorporates a multi-turn incremental encoder for detecting its speed.
2. The underwater joint drive module of claim 1, wherein: rotor compression rings (19) and stator compression rings (3) connected to a motor shell are respectively arranged on two sides of the frameless motor, a stator (13A) of the frameless motor is compressed to the motor shell through the stator compression rings (3), and a rotor (13B) of the frameless motor is compressed and fixed to a motor shaft (14) through the rotor compression rings (19).
3. The underwater joint drive module of claim 1, wherein: a single-ring absolute encoder stator (7A) of the single-ring absolute encoder is fixed on a front end cover (6) of the motor shell, and a single-ring absolute encoder rotor (7B) of the single-ring absolute encoder is fixed at the other end of the output shaft (8).
4. The underwater joint drive module of claim 1, wherein: the multi-turn incremental encoder stator (16B) of the multi-turn incremental encoder is fixed on the motor shell, and the multi-turn incremental encoder rotor (16A) of the multi-turn incremental encoder rotates along with the motor shaft (14).
5. The underwater joint drive module of claim 1, wherein: the output shaft (8) is rotatably arranged in the space through a crossed roller bearing (10), and a crossed roller bearing inner ring fastening piece (9) fixedly connected to the output shaft (8) is arranged on one side of the crossed roller bearing (10); the outer ring of the crossed roller bearing (10) is matched with a motor shell and is pre-tightened through a front end cover (6) of the motor shell, and the inner ring of the crossed roller bearing (10) is pre-tightened through a crossed roller bearing inner ring tightening piece (9).
6. The underwater joint drive module of claim 1, wherein: the motor shaft (14) is rotatably arranged in the space through a motor shaft front bearing (12) and a motor shaft rear bearing (17), and a bearing washer (20) sleeved on the motor shaft (14) is arranged on one side of the motor shaft rear bearing (17); the outer ring of the motor shaft front bearing (12) is matched with a motor shell, and the inner ring of the motor shaft front bearing (12) is matched with the motor shaft (14); the outer ring of the motor shaft rear bearing (17) is matched with the motor shell rear end cover (1), and the inner ring of the motor shaft rear bearing (17) is matched with the motor shaft (14) and is pre-tightened through the bearing washer (20).
7. The underwater joint drive module of claim 1, wherein: the motor shell is divided into a motor shell A section (2), a motor shell B section (4) and a motor shell C section (5), a stator compression ring (3) is arranged between the motor shell A section (2) and the motor shell B section (4), and the motor shell rear end cover (1), the motor shell A section (2), the stator compression ring (3), the motor shell B section (4), the motor shell C section (5) and the motor shell front end cover (6) are sequentially fastened and connected.
8. The underwater joint drive module of claim 7, wherein: a boss is arranged in the middle of the inner surface of the section A (2) of the motor shell, and the outer ring of the frameless motor stator (13A) is pressed and fixed on the boss; and a harmonic reducer steel wheel (11A) of the harmonic reducer is coaxially fixed on one side of the motor shell B section (4).
9. The underwater joint drive module of claim 1, wherein: the motor shaft (14), the harmonic reducer and the output shaft (8) are all of hollow structures, the wiring sleeve (18) penetrates through the hollow structures, and the wiring sleeve (18) is also of a hollow structure and provides a wiring channel for a previous driving module.
10. The underwater joint drive module of claim 1, wherein: and a plurality of threaded holes (21) for outputting torque to a driven component are uniformly distributed on the end part of the other end of the output shaft (8) along the circumferential direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811509192.3A CN111300476A (en) | 2018-12-11 | 2018-12-11 | Underwater joint driving module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811509192.3A CN111300476A (en) | 2018-12-11 | 2018-12-11 | Underwater joint driving module |
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| Publication Number | Publication Date |
|---|---|
| CN111300476A true CN111300476A (en) | 2020-06-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811509192.3A Pending CN111300476A (en) | 2018-12-11 | 2018-12-11 | Underwater joint driving module |
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| CN (1) | CN111300476A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561491A (en) * | 2019-08-09 | 2019-12-13 | 哈尔滨工业大学（深圳） | Wrist joint of mechanical arm |
| CN112744305A (en) * | 2021-02-03 | 2021-05-04 | 深圳亿嘉和科技研发有限公司 | Overturning arm of crawler robot |
| CN113715014A (en) * | 2021-09-22 | 2021-11-30 | 哈尔滨工业大学 | Large-torque integrated driving joint suitable for deep-sea robot |
| CN114221474A (en) * | 2021-12-24 | 2022-03-22 | 海南浙江大学研究院 | Waterproof motor for electric joint of mechanical arm |
| CN114603596A (en) * | 2022-04-22 | 2022-06-10 | 广州广电运通金融电子股份有限公司 | Joint module of cooperative robot |
| CN116784982A (en) * | 2023-08-28 | 2023-09-22 | 长沙英迈医工研究院有限公司 | Surgical mechanical arm and surgical robot |
-
2018
- 2018-12-11 CN CN201811509192.3A patent/CN111300476A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561491A (en) * | 2019-08-09 | 2019-12-13 | 哈尔滨工业大学（深圳） | Wrist joint of mechanical arm |
| CN112744305A (en) * | 2021-02-03 | 2021-05-04 | 深圳亿嘉和科技研发有限公司 | Overturning arm of crawler robot |
| CN112744305B (en) * | 2021-02-03 | 2021-08-17 | 深圳亿嘉和科技研发有限公司 | Overturning arm of crawler robot |
| CN113715014A (en) * | 2021-09-22 | 2021-11-30 | 哈尔滨工业大学 | Large-torque integrated driving joint suitable for deep-sea robot |
| CN113715014B (en) * | 2021-09-22 | 2023-11-21 | 哈尔滨工业大学 | High-torque integrated driving joint suitable for deep sea robot |
| CN114221474A (en) * | 2021-12-24 | 2022-03-22 | 海南浙江大学研究院 | Waterproof motor for electric joint of mechanical arm |
| CN114221474B (en) * | 2021-12-24 | 2023-11-21 | 海南浙江大学研究院 | Waterproof motor for electric joint of mechanical arm |
| CN114603596A (en) * | 2022-04-22 | 2022-06-10 | 广州广电运通金融电子股份有限公司 | Joint module of cooperative robot |
| CN116784982A (en) * | 2023-08-28 | 2023-09-22 | 长沙英迈医工研究院有限公司 | Surgical mechanical arm and surgical robot |
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