CN112888534B - 关节结构及机器人 - Google Patents
关节结构及机器人 Download PDFInfo
- Publication number
- CN112888534B CN112888534B CN201980064068.7A CN201980064068A CN112888534B CN 112888534 B CN112888534 B CN 112888534B CN 201980064068 A CN201980064068 A CN 201980064068A CN 112888534 B CN112888534 B CN 112888534B
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- Prior art keywords
- motor
- torque sensor
- joint structure
- speed reducer
- assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 55
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- 210000000629 knee joint Anatomy 0.000 description 1
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Images
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
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- 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
Abstract
Description
Claims (11)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2019/109469 WO2021062635A1 (zh) | 2019-09-30 | 2019-09-30 | 关节结构及机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN112888534A CN112888534A (zh) | 2021-06-01 |
CN112888534B true CN112888534B (zh) | 2022-05-06 |
Family
ID=75337632
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201980064068.7A Active CN112888534B (zh) | 2019-09-30 | 2019-09-30 | 关节结构及机器人 |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN112888534B (zh) |
WO (1) | WO2021062635A1 (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4349546A1 (en) * | 2022-10-08 | 2024-04-10 | Shenzhen Yuejiang Technology Co., Ltd. | Robot arm and joint module |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113983141A (zh) * | 2021-11-22 | 2022-01-28 | 无锡巨蟹智能驱动科技有限公司 | 一种搭载谐波减速器的紧凑型舵机 |
CN114407071B (zh) * | 2021-12-31 | 2024-03-29 | 北京敏锐达致机器人科技有限责任公司 | 机器人关节 |
CN114526761A (zh) * | 2022-02-23 | 2022-05-24 | 成都卡诺普机器人技术股份有限公司 | 一种机器人和机器人的检测方法、双编码器及其系统 |
CN114659696B (zh) * | 2022-03-22 | 2024-02-20 | 广西大学 | 电容式六维力传感器 |
CN114986557A (zh) * | 2022-05-10 | 2022-09-02 | 安徽工程大学 | 一种协作机器人关节装置及其驱控一体化系统、驱控方法 |
CN114851242A (zh) * | 2022-06-13 | 2022-08-05 | 深圳市飞瑶电机科技有限公司 | 一种基于谐波减速器的高集成度机器人关节模组 |
CN115056262B (zh) * | 2022-08-16 | 2023-05-09 | 库卡机器人(广东)有限公司 | 关节模组的驱动总成、机器人关节模组及机器人 |
CN116619347A (zh) * | 2023-07-06 | 2023-08-22 | 深圳逐际动力科技有限公司 | 致动器,双足、四足、四轮足机器人,机械臂及控制方法 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102744731A (zh) * | 2012-07-19 | 2012-10-24 | 北京理工大学 | 一体化旋转关节和确定一体化旋转关节零位的方法 |
KR101293497B1 (ko) * | 2012-05-10 | 2013-08-07 | 전자부품연구원 | 1축 관절 모듈 |
CN104175311A (zh) * | 2013-05-27 | 2014-12-03 | 北京理工大学 | 柔性按摩机器人 |
CN106239554A (zh) * | 2016-10-10 | 2016-12-21 | 中国科学院宁波材料技术与工程研究所 | 一种可变刚度的传导机构以及机器人关节 |
CN108381598A (zh) * | 2018-03-28 | 2018-08-10 | 中国科学院宁波材料技术与工程研究所 | 一种机器人智能驱动关节和机器人 |
CN110171016A (zh) * | 2019-05-22 | 2019-08-27 | 西安电子科技大学 | 一种基于高速串行通信的完全模块化柔性关节 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108527352A (zh) * | 2018-04-18 | 2018-09-14 | 王潇 | 一种机器人的机械臂 |
CN108662089A (zh) * | 2018-06-26 | 2018-10-16 | 深圳市零差云控科技有限公司 | 伺服减速机及应用该伺服减速机的机器人减速关节 |
CN108839042A (zh) * | 2018-07-23 | 2018-11-20 | 清华大学 | 驱控一体模块化驱动装置 |
CN210678771U (zh) * | 2019-09-30 | 2020-06-05 | 深圳市优必选科技股份有限公司 | 关节结构及机器人 |
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2019
- 2019-09-30 WO PCT/CN2019/109469 patent/WO2021062635A1/zh active Application Filing
- 2019-09-30 CN CN201980064068.7A patent/CN112888534B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101293497B1 (ko) * | 2012-05-10 | 2013-08-07 | 전자부품연구원 | 1축 관절 모듈 |
CN102744731A (zh) * | 2012-07-19 | 2012-10-24 | 北京理工大学 | 一体化旋转关节和确定一体化旋转关节零位的方法 |
CN104175311A (zh) * | 2013-05-27 | 2014-12-03 | 北京理工大学 | 柔性按摩机器人 |
CN106239554A (zh) * | 2016-10-10 | 2016-12-21 | 中国科学院宁波材料技术与工程研究所 | 一种可变刚度的传导机构以及机器人关节 |
CN108381598A (zh) * | 2018-03-28 | 2018-08-10 | 中国科学院宁波材料技术与工程研究所 | 一种机器人智能驱动关节和机器人 |
CN110171016A (zh) * | 2019-05-22 | 2019-08-27 | 西安电子科技大学 | 一种基于高速串行通信的完全模块化柔性关节 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4349546A1 (en) * | 2022-10-08 | 2024-04-10 | Shenzhen Yuejiang Technology Co., Ltd. | Robot arm and joint module |
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Publication number | Publication date |
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WO2021062635A1 (zh) | 2021-04-08 |
CN112888534A (zh) | 2021-06-01 |
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Inventor after: Li Kang Inventor after: Li Hailei Inventor after: Zhang Weining Inventor after: He Xiaoyu Inventor after: Zhang Zhihua Inventor after: Hei Guangjun Inventor after: Xiong Youjun Inventor before: Li Kang Inventor before: Zhao Mingguo Inventor before: Li Hailei Inventor before: Zhang Weining Inventor before: He Xiaoyu Inventor before: Zhang Zhihua Inventor before: Hei Guangjun Inventor before: Xiong Youjun |
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