CN112888535A - 集成关节及机器人 - Google Patents
集成关节及机器人 Download PDFInfo
- Publication number
- CN112888535A CN112888535A CN201980064179.8A CN201980064179A CN112888535A CN 112888535 A CN112888535 A CN 112888535A CN 201980064179 A CN201980064179 A CN 201980064179A CN 112888535 A CN112888535 A CN 112888535A
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- CN
- China
- Prior art keywords
- torque sensor
- housing
- motor shaft
- speed reducer
- integrated joint
- 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 85
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Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (15)
- PCT国内申请,权利要求书已公开。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2019/109471 WO2021062637A1 (zh) | 2019-09-30 | 2019-09-30 | 集成关节及机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN112888535A true CN112888535A (zh) | 2021-06-01 |
CN112888535B CN112888535B (zh) | 2022-05-27 |
Family
ID=75337631
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201980064179.8A Active CN112888535B (zh) | 2019-09-30 | 2019-09-30 | 集成关节及机器人 |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN112888535B (zh) |
WO (1) | WO2021062637A1 (zh) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113829383A (zh) * | 2021-10-28 | 2021-12-24 | 上海宇航系统工程研究所 | 一种驱动关节 |
CN114732667A (zh) * | 2022-03-28 | 2022-07-12 | 上海电气集团股份有限公司 | 一种应用于康复机器人的变阻抗装置 |
CN117245687A (zh) * | 2023-11-17 | 2023-12-19 | 江西炬龙精密科技有限公司 | 基于行星滚柱丝杠副的柔性直线机器人关节及使用方法 |
CN117532595A (zh) * | 2023-12-27 | 2024-02-09 | 广东灵锶智能科技有限公司 | 一种谐波减速关节模组及机器人 |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114932575B (zh) * | 2022-04-28 | 2024-03-12 | 北京交通大学 | 用于外骨骼关节驱动的紧凑型大扭矩关节模组 |
CN115958626A (zh) * | 2023-02-10 | 2023-04-14 | 武汉理工大学 | 一种大负载机器人关节结构 |
CN117182960B (zh) * | 2023-11-07 | 2024-01-19 | 睿尔曼智能科技(北京)有限公司 | 一种一体化关节及机械臂 |
Citations (7)
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 |
CN104029216A (zh) * | 2014-06-11 | 2014-09-10 | 哈尔滨工业大学 | 具有张力和关节位置反馈的机器人关节用挠性驱动单元 |
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 |
CN108527352A (zh) * | 2018-04-18 | 2018-09-14 | 王潇 | 一种机器人的机械臂 |
CN109445416A (zh) * | 2018-10-31 | 2019-03-08 | 中国科学院合肥物质科学研究院 | 一种多传感器融合的高集成关节控制系统 |
CN210678773U (zh) * | 2019-09-30 | 2020-06-05 | 深圳市优必选科技股份有限公司 | 集成关节及机器人 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
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 |
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 |
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2019
- 2019-09-30 CN CN201980064179.8A patent/CN112888535B/zh active Active
- 2019-09-30 WO PCT/CN2019/109471 patent/WO2021062637A1/zh active Application Filing
Patent Citations (7)
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 |
CN104029216A (zh) * | 2014-06-11 | 2014-09-10 | 哈尔滨工业大学 | 具有张力和关节位置反馈的机器人关节用挠性驱动单元 |
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 |
CN108527352A (zh) * | 2018-04-18 | 2018-09-14 | 王潇 | 一种机器人的机械臂 |
CN109445416A (zh) * | 2018-10-31 | 2019-03-08 | 中国科学院合肥物质科学研究院 | 一种多传感器融合的高集成关节控制系统 |
CN210678773U (zh) * | 2019-09-30 | 2020-06-05 | 深圳市优必选科技股份有限公司 | 集成关节及机器人 |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113829383A (zh) * | 2021-10-28 | 2021-12-24 | 上海宇航系统工程研究所 | 一种驱动关节 |
CN113829383B (zh) * | 2021-10-28 | 2024-04-16 | 上海宇航系统工程研究所 | 一种驱动关节 |
CN114732667A (zh) * | 2022-03-28 | 2022-07-12 | 上海电气集团股份有限公司 | 一种应用于康复机器人的变阻抗装置 |
CN117245687A (zh) * | 2023-11-17 | 2023-12-19 | 江西炬龙精密科技有限公司 | 基于行星滚柱丝杠副的柔性直线机器人关节及使用方法 |
CN117245687B (zh) * | 2023-11-17 | 2024-02-27 | 江西炬龙精密科技有限公司 | 基于行星滚柱丝杠副的柔性直线机器人关节及使用方法 |
CN117532595A (zh) * | 2023-12-27 | 2024-02-09 | 广东灵锶智能科技有限公司 | 一种谐波减速关节模组及机器人 |
Also Published As
Publication number | Publication date |
---|---|
WO2021062637A1 (zh) | 2021-04-08 |
CN112888535B (zh) | 2022-05-27 |
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Effective date of registration: 20231204 Address after: Room 601, 6th Floor, Building 13, No. 3 Jinghai Fifth Road, Beijing Economic and Technological Development Zone (Tongzhou), Tongzhou District, Beijing, 100176 Patentee after: Beijing Youbixuan Intelligent Robot Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |
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CB03 | Change of inventor or designer information | ||
CB03 | Change of inventor or designer information |
Inventor after: Li Kang Inventor after: Li Hailei Inventor after: He Xiaoyu Inventor after: Zhang Zhihua Inventor after: Zhang Weining Inventor after: Hei Guangjun Inventor after: Xiong Youjun Inventor before: Li Kang Inventor before: Zhao Mingguo Inventor before: Li Hailei Inventor before: He Xiaoyu Inventor before: Zhang Zhihua Inventor before: Zhang Weining Inventor before: Hei Guangjun Inventor before: Xiong Youjun |