CN111452084A - Modularized joint of cooperative robot - Google Patents
Modularized joint of cooperative robot Download PDFInfo
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- CN111452084A CN111452084A CN202010420384.8A CN202010420384A CN111452084A CN 111452084 A CN111452084 A CN 111452084A CN 202010420384 A CN202010420384 A CN 202010420384A CN 111452084 A CN111452084 A CN 111452084A
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- joint
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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Abstract
The invention discloses a modular joint of a cooperative robot, and belongs to the technical field of robots. The modular joint of the cooperative robot comprises a joint shell, a motor, a harmonic speed reducer and a brake structure, wherein the motor for driving the harmonic speed reducer to rotate is installed inside the joint shell, the harmonic speed reducer is installed at the end part of the joint shell as a front cover of the joint shell, the output end of the harmonic speed reducer is arranged inside the joint shell and connected with an encoder assembly, a brake pad is installed at the output end of the motor, and the brake structure for controlling the brake pad to be in a braking or non-braking state is installed on the encoder assembly. The cooperative robot module provided by the invention has the advantages of sufficient joint position braking precision and braking force, high force feedback sensitivity, compact structure, good replaceability, capability of being produced in large scale, strong cooperativity and high safety.
Description
Technical Field
The invention relates to the technical field of cooperative robots, in particular to a modular joint of a cooperative robot.
Background
With the introduction of "industry 4.0", countries and enterprises are more concerned about the development of intelligent manufacturing key technology. With the continuous progress of the robot field. Cooperative robots have become a new direction of development for industrial robots. A number of analyses have indicated that the next industry's explosion point is focused on the cooperating robots. The cooperative robot has the characteristics of modularization, light weight, large load/dead weight ratio, safety, reliability, rapid deployment and the like.
In the collaborative robotics, there are some problems to be solved, mainly including:
(1) problem of hollow motor
The hollow motor needs to be internally wired, and the inside of the hollow motor has the condition of friction with the wire
(2) Input and output problems of speed reducer
The tail end of an input shaft of the speed reducer is poor in assembly precision, and the connection structure of an output shaft end and the absolute encoder is not compact.
(3) Problem of contracting brake
The traditional magnetic powder brake has the advantages of high requirement on machining precision, high heat generation quantity, high price, non-compact structure and incapability of meeting the existing design requirement.
(4) Servo drive plate problem
The servo drive board is required to be embedded in the joint housing, and the servo drive board is required to be designed in a miniaturized manner.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a cooperative robot module which has the advantages of sufficient joint position braking precision, sufficient braking force, high force feedback sensitivity, compact structure, good replaceability, mass production, strong cooperativity and high safety.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a cooperation robot modularization joint, includes joint casing, motor, harmonic speed reducer machine, brake structure for the rotatory motor of drive harmonic speed reducer machine is installed inside the joint casing, and the harmonic speed reducer machine is installed inside and be connected with the encoder subassembly at joint casing tip and harmonic speed reducer machine's output as the protecgulum of joint casing, and the brake block is installed to the output of motor, and the brake structure that is used for controlling the brake block and is in braking or non-braking state is installed on the encoder subassembly.
Further, the harmonic speed reducer comprises a harmonic speed reducer body and a harmonic speed reducer end cover connected with the harmonic speed reducer body, wherein the harmonic speed reducer end cover is connected with an output shaft of the harmonic speed reducer body, the encoder assembly is connected to the other end of the output shaft of the harmonic speed reducer body, the output shaft of the harmonic speed reducer body is of a hollow structure, and the harmonic speed reducer body is connected with an output end of the motor.
Further, the motor comprises a motor rotor, a rotor shaft and a motor stator, the motor stator is installed inside the joint shell, the motor rotor is fixed on the rotor shaft and rotates in the motor stator, the rotor shaft is fixed on an input shaft of the harmonic speed reducer body, and the brake pad is installed on the rotor shaft.
Further, the encoder assembly includes the static dish of incremental encoder driving disk and incremental encoder, and the static dish of incremental encoder is installed on the rotor shaft, and the static dish of incremental encoder is installed on the static dish flange of incremental encoder, and the static dish flange mounting of incremental encoder is on joint housing.
Furthermore, the encoder assembly also comprises an absolute encoder static disc and an absolute encoder moving disc, the absolute encoder static disc is inversely arranged on the absolute encoder static disc flange, and the absolute encoder static disc flange is arranged on the incremental encoder static disc flange; the absolute encoder driving disc is installed at the other end of the output shaft of the harmonic speed reducer body through the absolute encoder driving disc flange.
Further, the brake structure includes electro-magnet, installed part, backing pin, pin bush, compression spring and driver flange, and the pin bush is fixed on the joint housing, and compression spring fixes in the pin bush, and the backing pin slides and sets up in the pin bush, and the bottom at the electro-magnet is fixed at the top of backing pin, and the electro-magnet passes through the installed part to be fixed on the driver flange, and the driver flange mounting is on the quiet dish flange of incremental encoder.
Further, the modular joint of the cooperative robot further comprises a servo driver, the servo driver comprises an upper circuit board and a lower circuit board which are respectively a servo driver upper board and a servo driver lower board, the servo driver lower board is installed on a driver flange, the servo driver upper board is connected with the servo driver lower board through a copper stud, and the servo driver lower board is connected with a motor stator.
Further, the modular joint of the cooperative robot further comprises a joint shell rear cover and a support ring, the joint shell rear cover is connected to a driver flange through a copper stud, and the support ring is mounted at the end of the other end of the output shaft of the harmonic speed reducer body.
Furthermore, a line card is installed on the servo driver upper plate.
Furthermore, the brake block is hexagonal.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention has novel structure and strong practicability; the output shaft of harmonic speed reducer body is hollow structure, can let the communication line, and the power cord all passes in the middle of the output shaft of harmonic speed reducer body, and the line of walking of line is favored, can not have the outside similar to industrial robot to walk the line again, can play fine protection to communication line and power cord.
2. The invention adopts a double-encoder form, and the incremental encoder is connected to the tail end of the motor. The absolute encoder is connected to the tail end of an end cover of the harmonic reducer and is equivalent to an encoder used for measuring signals at an input end, and an encoder used for measuring signals at an output end enables the signals to form closed-loop control. The precision, the stability and the quick response of the control torque motor are all well improved.
3. In the invention, the support ring is arranged at the tail end of the harmonic reducer and is arranged together with an inner hole of a flange of a static disc of an absolute encoder through tight fit. Because of the output shaft overlength of harmonic speed reducer body, the terminal encoder rocks when probably causing the rotation, increases the fixed of support ring, can let harmonic speed reducer machine more stable when the rotation. The position feedback of the encoder is accurate.
4. The brake pad is hexagonal and has a gap in the middle, so that the robot can move with a certain gap after braking. Because the brake pad is arranged at the tail end of the motor, and the reduction ratio of the harmonic speed reducer is 100:1, the hexagonal corner angle of the brake pad can rotate in a small range. Therefore, after the robot touches a person or an object, a little gap is formed in the middle of the mechanical arm and can move, and secondary damage can not be caused when the pressed object is removed.
Drawings
FIG. 1 is a schematic structural view of a modular joint of a cooperative robot of the present invention;
FIG. 2 is a schematic view of the harmonic reducer end cap of a modular joint of a collaborative robot of the present invention and the output shaft of the harmonic reducer body;
FIG. 3 is a schematic illustration of the braking structure of a cooperative robotic modular joint of the present invention;
FIG. 4 is a detail view of the brake structure of a cooperative robotic modular joint of the present invention;
FIG. 5 is a schematic structural view of a brake pad of a modular joint of a cooperative robot of the present invention;
FIG. 6 is a schematic illustration of the cooperation of the brake pads and brake mechanisms of a cooperative modular robotic joint of the present invention.
The labels in the figure are: 1-joint shell, 2-harmonic reducer body, 3-plastic ring, 4-rubber ring, 5-servo driver lower plate, 6-servo driver upper plate, 7-absolute encoder static disc, 8-absolute encoder movable disc, 9-electromagnet, 10-adjusting gasket, 11-stop pin, 12-pin sleeve, 13-compression spring, 14-brake pad, 15-incremental encoder static disc flange, 16-absolute encoder static disc flange, 17-driver flange, 18-absolute encoder movable disc flange, 19-stop sheet, 20-waveform gasket, 21-line card, 22-motor stator, 23-joint shell rear cover, 24-support ring, 25-incremental encoder movable disc, 26-motor rotor, 27-rotor shaft, 28-incremental encoder static disc, 29-harmonic reducer end cover and 31-mounting piece.
Detailed Description
The present invention will be further described with reference to the following examples, which are intended to illustrate only some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, other embodiments used by those skilled in the art without any creative effort belong to the protection scope of the present invention.
Example 1:
as shown in figure 1, the modularized joint of the cooperative robot comprises a joint shell 1, a motor, a harmonic speed reducer and a brake structure, wherein the motor used for driving the harmonic speed reducer to rotate is installed inside the joint shell 1, the harmonic speed reducer is installed at the end part of the joint shell 1 as a front cover of the joint shell 1, the output end of the harmonic speed reducer is arranged inside the joint shell 1 and connected with an encoder assembly, and a plastic ring 3 and a rubber ring 4 are placed between the harmonic speed reducer and the joint shell 1.
The output end of the motor is provided with a brake pad 14, and the brake pad 14 is in a hexagonal shape as shown in fig. 5; a brake structure for controlling the brake pad 14 in a braking or non-braking state is mounted on the encoder assembly.
In this embodiment, the harmonic speed reducer includes a harmonic speed reducer body 2 and a harmonic speed reducer end cover 29 connected to the harmonic speed reducer body 2, wherein the harmonic speed reducer end cover 29 is connected to an output shaft of the harmonic speed reducer body 2, as shown in fig. 2, the encoder assembly is connected to the other end of the output shaft of the harmonic speed reducer body 2, the output shaft of the harmonic speed reducer body 2 is of a hollow structure, and the harmonic speed reducer body 2 is connected to an output end of the motor. The end cover 29 of the harmonic reducer is a designed customized structure and can be connected with the bottom of the joint shell 1 through screws, so that modular connection of the joint of the cooperative robot is realized.
In this embodiment, the motor includes a motor rotor 26, a rotor shaft 27 and a motor stator 22, the motor stator 22 is installed inside the joint housing 1, the motor rotor 26 is fixed on the rotor shaft 27 and rotates in the motor stator 22, the rotor shaft 27 is fixed on the input shaft of the harmonic reducer body 2, and the brake pad 14 is installed on the rotor shaft 27.
In this embodiment, the modular joint of the cooperative robot further includes a servo driver, the servo driver includes an upper circuit board and a lower circuit board, which are respectively a servo driver upper board 6 and a servo driver lower board 5, the servo driver lower board 5 is mounted on the driver flange 17, the servo driver upper board 6 is connected with the servo driver lower board 5 through a copper stud, and the servo driver lower board 5 is connected with the motor stator 22.
In the invention, the motor is a torque motor and can generate large torque. The motor stator 22 is fixed on the joint housing 1 through an adhesive, and the motor rotor 26 is fixed on the input shaft of the harmonic speed reducer body 2 through an adhesive. The motor drives the rotor shaft 27 to rotate through the rotation of the motor rotor 26, so that the input shaft of the harmonic speed reducer body 2 is driven to rotate, and the effect of rotating harmonic speed reduction is achieved. The output shaft of harmonic speed reducer body 2 is hollow structure, can let the communication line, and the power cord all passes in the middle of harmonic speed reducer body 2's output shaft, and the line of walking of being favorable to the line can not have the outside of being similar to industrial robot and walk the line, can play fine protection to communication line and power cord. And the line diameter is rubbed inside, the line card 21 is arranged on the servo driver upper plate 6 and used for fixing the line diameter. The friction of the inner wire diameter on the end cover 29 arm of the harmonic reducer is prevented.
In this embodiment, the encoder assembly includes an incremental encoder moving disk 25 and an incremental encoder static disk 28, the incremental encoder moving disk 25 is mounted on the rotor shaft 27, the incremental encoder static disk 28 is mounted on the incremental encoder static disk flange 15, and the incremental encoder static disk flange 15 is mounted on the joint housing 1.
In this embodiment, the encoder assembly further includes an absolute encoder fixed disk 7 and an absolute encoder movable disk 8, the absolute encoder fixed disk 7 is inversely installed on an absolute encoder fixed disk flange 16, and the absolute encoder fixed disk flange 16 is installed on an incremental encoder fixed disk flange 15; the absolute encoder driving disk 8 is flange-mounted at the other end of the output shaft of the harmonic speed reducer body 2 through the absolute encoder driving disk 8.
In the invention, the incremental encoder and the absolute encoder both adopt capacitance induction type encoders. The incremental encoder comprises an incremental encoder static disc 28, an incremental encoder moving disc 25, an absolute encoder static disc 7, an absolute encoder moving disc 8 and relevant installation and fixing components thereof. And in a double-encoder form, the incremental encoder is connected to the tail end of the motor. The absolute encoder is connected to the end of the end cover 29 of the harmonic reducer and is equivalent to an encoder for measuring signals at the input end, and an encoder for measuring signals at the output end, so that the signals form closed-loop control. The precision, the stability and the quick response of the control torque motor are all well improved.
In the invention, the incremental encoder and the absolute encoder both adopt capacitance induction type encoders. This encoder has the advantage of being easy to install. Compared with a photoelectric encoder, the capacitance induction type encoder is well suitable for dust and high-temperature environments. And the precision can reach the same as that of a photoelectric encoder.
In the invention, the tail end of a rotor shaft 27 is connected with an incremental encoder moving disc 25 through a screw, an incremental encoder static disc 28 is arranged on an incremental encoder static disc flange 15, and the incremental encoder static disc flange 15 is locked on a joint shell 1 through a copper stud. The joint shell 1 and the incremental encoder static disc flange 15 are formed by machining, so that the accuracy of the incremental encoder at the end of the motor rotor 26 can be guaranteed, and artificial installation errors are reduced.
In the prior art, because the tail end of the harmonic speed reducer has poor assembly precision and the connection structure of the output shaft end of the harmonic speed reducer and the absolute encoder is not compact, in the invention, the capacitance induction type encoder is connected with the tail end of the harmonic speed reducer, the requirement of the capacitance induction type encoder on the distance is lower than that of a photoelectric encoder, and the requirement of the capacitance induction type encoder on the tail end of the harmonic speed reducer can be completely met.
As shown in fig. 3 and 4, in the present embodiment, the braking structure includes an electromagnet 9, a mounting member 31, a catch pin 11, a pin bushing 12, a compression spring 13 and a driver flange 17, the pin bushing 12 is fixed on the joint housing 1, the compression spring 13 is fixed in the pin bushing 12, the catch pin 11 is slidably disposed in the pin bushing 12, the top of the catch pin 11 is fixed at the bottom of the electromagnet 9, the electromagnet 9 is fixed on the driver flange 17 through the mounting member 31, and the driver flange 17 is mounted on the incremental encoder fixed disk flange 15.
As shown in fig. 6, in the present invention, the electromagnet 9 is attached to the attachment 31, and the electromagnet 9 is a push-type electromagnet 9. When the electromagnet 9 is not energized, the catch pin 11 at the lower end of the electromagnet 9 is held by the compression spring 13 below the catch pin 11. When the stop pin 11 is positioned on the plane of the brake pad 14, the motor is in a braking state, and when the stop pin 11 is electrified through the electromagnet 9, the electromagnet 9 is pushed down. The stop pin 11 is pushed down and is not in the same plane as the brake pad 14. The motor is in a rotatable state at this time. The brake pad 14 is formed by pressing the adjusting pad 10, the wave-shaped pad 20 and the baffle plate 19 on the rotor shaft 27 through a snap spring. The function of the flaps 19 is to prevent iron cuttings and dust from entering the motor rotor 26. The pin sleeve 12 and the stop pin 11 are in clearance fit, and the pin sleeve 12 is mounted on the joint housing 1 through tight fit.
The brake block 14 is hexagonal and has a gap in the middle, so that the robot can move with a certain gap after braking. Because the brake block 14 is arranged at the tail end of the motor, and the reduction ratio of the harmonic speed reducer is 100:1, the hexagonal corner angle of the brake block 14 can rotate in a small range. Therefore, after the robot touches a person or an object, a little gap is formed in the middle of the mechanical arm and can move, and secondary damage can not be caused when the pressed object is removed.
In this embodiment, the cooperative robot modular joint further includes a joint housing 1 rear cover connected to the driver flange 17 by a copper stud, and a support ring 24 mounted on the end of the other end of the output shaft of the harmonic reducer body 2. The support ring 24 is arranged at the tail end of the harmonic reducer and is arranged together with an inner hole of the absolute type encoder static disc flange 16 through tight fit. The inner hole of the support ring 24 is in clearance fit with the flange of the absolute encoder moving disc 8 connected with the tail end of the end cover 29 of the harmonic reducer. Therefore, the problem of poor precision of an encoder connected to the end of the harmonic reducer is solved. The absolute type encoder moving disc 8 flange is arranged on the incremental type encoder static disc flange 15 through screws. Because of the output shaft overlength of harmonic speed reducer body 2, the terminal encoder rocks when probably causing the rotation, increases the fixed of support ring 24, can let the harmonic speed reducer machine more stable when the rotation. The position feedback of the encoder is accurate.
In the invention, the support ring 24 is placed between the joint shell 1 and the harmonic reducer, the rubber ring is placed on the plastic ring 3, the rubber ring has the function of dust prevention, and when the plastic ring 3 rotates along with the end cover 29 of the harmonic reducer, the rubber ring can prevent the plastic ring 3 from rubbing against the joint shell 1. Meanwhile, the utility model can play a role in beauty.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a collaborative robot modularization joint, a serial communication port, including joint casing (1), including a motor, the harmonic speed reducer machine, the brake structure, a motor for driving the harmonic speed reducer machine rotatory is installed inside joint casing (1), the harmonic speed reducer machine is installed at joint casing (1) tip and the output setting of harmonic speed reducer machine inside joint casing (1) and with encoder subassembly as the protecgulum of joint casing (1), brake block (14) are installed to the output of motor, a brake structure for controlling brake block (14) and be in braking or non-braking state is installed on the encoder subassembly.
2. The modular joint of the cooperative robot as claimed in claim 1, wherein the harmonic reducer comprises a harmonic reducer body (2) and a harmonic reducer end cover (29) connected with the harmonic reducer body (2), wherein the harmonic reducer end cover (29) is connected with an output shaft of the harmonic reducer body (2), the encoder assembly is connected with the other end of the output shaft of the harmonic reducer body (2), the output shaft of the harmonic reducer body (2) is of a hollow structure, and the harmonic reducer body (2) is connected with an output end of a motor.
3. The modular joint of claim 2, wherein the motor comprises a motor rotor (26), a rotor shaft (27) and a motor stator (22), the motor stator (22) is mounted inside the joint housing (1), the motor rotor (26) is fixed on the rotor shaft (27) and rotates in the motor stator (22), the rotor shaft (27) is fixed on the input shaft of the harmonic reducer body (2), and the brake pad (14) is mounted on the rotor shaft (27).
4. A modular joint according to claim 3, wherein the encoder assembly comprises an incremental encoder moving disc (25) and an incremental encoder static disc (28), the incremental encoder moving disc (25) being mounted on the rotor shaft (27), the incremental encoder static disc (28) being mounted on an incremental encoder static disc flange (15), the incremental encoder static disc flange (15) being mounted on the joint housing (1).
5. The modular joint of claim 4, wherein the encoder assembly further comprises a stationary absolute encoder disk (7) and a movable absolute encoder disk (8), the stationary absolute encoder disk (7) being inversely mounted on a stationary absolute encoder disk flange (16), the stationary absolute encoder disk flange (16) being mounted on the stationary incremental encoder disk flange (15); the absolute encoder moving disk (8) is arranged at the other end of the output shaft of the harmonic speed reducer body (2) through the absolute encoder moving disk (8) in a flange mode.
6. A modular joint of a cooperative robot according to claim 4, characterized in that the braking structure comprises an electromagnet (9), a mounting member (31), a catch pin (11), a pin bushing (12), a compression spring (13) and a driver flange (17), the pin bushing (12) is fixed on the joint housing (1), the compression spring (13) is fixed in the pin bushing (12), the catch pin (11) is slidably arranged in the pin bushing (12), the top of the catch pin (11) is fixed at the bottom of the electromagnet (9), the electromagnet (9) is fixed on the driver flange (17) through the mounting member (31), and the driver flange (17) is mounted on the incremental encoder stationary disk flange (15).
7. The modular joint of claim 3, further comprising a servo driver, wherein the servo driver comprises an upper circuit board and a lower circuit board, the upper circuit board (6) and the lower circuit board (5) are respectively a servo driver upper board (6) and a servo driver lower board (5), the servo driver lower board (5) is mounted on the driver flange (17), the servo driver upper board (6) is connected with the servo driver lower board (5) through a copper stud, and the servo driver lower board (5) is connected with the motor stator (22).
8. The cooperative robotic modular joint according to claim 3, further comprising a joint housing (1) back cover and a support ring (24), the joint housing (1) back cover being connected to the driver flange (17) by a copper stud, the support ring (24) being mounted at an end of the other end of the output shaft of the harmonic reducer body (2).
9. A cooperative robotic modular joint as claimed in claim 3, wherein a line card (21) is mounted on the servo drive upper plate (6).
10. A modular joint according to any one of claims 1 to 9, characterised in that said brake pads (14) are of hexagonal type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010420384.8A CN111452084A (en) | 2020-05-18 | 2020-05-18 | Modularized joint of cooperative robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010420384.8A CN111452084A (en) | 2020-05-18 | 2020-05-18 | Modularized joint of cooperative robot |
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| CN111452084A true CN111452084A (en) | 2020-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010420384.8A Pending CN111452084A (en) | 2020-05-18 | 2020-05-18 | Modularized joint of cooperative robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111975761A (en) * | 2020-08-11 | 2020-11-24 | 北京理工大学 | High-precision robot for precision assembly |
| CN112104149A (en) * | 2020-09-17 | 2020-12-18 | 之江实验室 | Modular joint of biped robot |
| CN112571449A (en) * | 2020-12-15 | 2021-03-30 | 埃夫特智能装备股份有限公司 | Novel joint structure of cooperative robot |
| CN113200100A (en) * | 2021-03-16 | 2021-08-03 | 杭州未名信科科技有限公司 | Rotary motion module and robot with same |
| CN113618776A (en) * | 2021-08-26 | 2021-11-09 | 伯朗特机器人股份有限公司 | Novel joint module of cooperative robot |
| CN114179122A (en) * | 2021-12-31 | 2022-03-15 | 成都卡诺普机器人技术股份有限公司 | Cooperative robot joint and cooperative robot |
| CN114526761A (en) * | 2022-02-23 | 2022-05-24 | 成都卡诺普机器人技术股份有限公司 | Robot and detection method thereof, double encoders and system thereof |
| CN115847476A (en) * | 2023-02-27 | 2023-03-28 | 珞石（北京）科技有限公司 | Compact cooperative robot wrist |
-
2020
- 2020-05-18 CN CN202010420384.8A patent/CN111452084A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111975761A (en) * | 2020-08-11 | 2020-11-24 | 北京理工大学 | High-precision robot for precision assembly |
| CN111975761B (en) * | 2020-08-11 | 2023-08-15 | 北京理工大学 | A high accuracy robot for precision assembly |
| CN112104149A (en) * | 2020-09-17 | 2020-12-18 | 之江实验室 | Modular joint of biped robot |
| CN112571449A (en) * | 2020-12-15 | 2021-03-30 | 埃夫特智能装备股份有限公司 | Novel joint structure of cooperative robot |
| CN113200100A (en) * | 2021-03-16 | 2021-08-03 | 杭州未名信科科技有限公司 | Rotary motion module and robot with same |
| CN113618776A (en) * | 2021-08-26 | 2021-11-09 | 伯朗特机器人股份有限公司 | Novel joint module of cooperative robot |
| CN113618776B (en) * | 2021-08-26 | 2023-03-10 | 伯朗特机器人股份有限公司 | Novel joint module of cooperative robot |
| CN114179122A (en) * | 2021-12-31 | 2022-03-15 | 成都卡诺普机器人技术股份有限公司 | Cooperative robot joint and cooperative robot |
| CN114526761A (en) * | 2022-02-23 | 2022-05-24 | 成都卡诺普机器人技术股份有限公司 | Robot and detection method thereof, double encoders and system thereof |
| CN115847476A (en) * | 2023-02-27 | 2023-03-28 | 珞石（北京）科技有限公司 | Compact cooperative robot wrist |
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Address after: 610000 No. 42, Huatai Road, Chenghua District, Chengdu, Sichuan Applicant after: Chengdu kanop Robot Technology Co.,Ltd. Address before: No.199, Huaguan Road, Longtan Industrial Park, Chenghua District, Chengdu, Sichuan 610000 Applicant before: CHENGDU CRP AUTOMATION CONTROL TECHNOLOGY Co.,Ltd. |
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