CN112936246A - Motor speed reduction system and robot - Google Patents
Motor speed reduction system and robot Download PDFInfo
- Publication number
- CN112936246A CN112936246A CN202110190747.8A CN202110190747A CN112936246A CN 112936246 A CN112936246 A CN 112936246A CN 202110190747 A CN202110190747 A CN 202110190747A CN 112936246 A CN112936246 A CN 112936246A
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- China
- Prior art keywords
- motor
- shaft
- output shaft
- encoder
- control board
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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
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
The invention discloses a motor deceleration system and a robot, wherein the motor deceleration system comprises: a motor body including a motor shaft; the speed reducer is meshed with the motor shaft; an output shaft is arranged on the speed reducer and connected with the speed reducer; the mounting piece is arranged on the motor main body and used for fixing the motor main body; and is positioned at the junction of the output shaft and the motor shaft; at least two encoders; the mounting piece is provided with a main control board which is respectively electrically connected with the motor main body, the speed reducer and the encoder and used for controlling the motor main body and the speed reducer; the rotating speed and the position of the output shaft and the motor shaft are respectively detected by the at least two encoders, so that the position and the rotating speed of the output shaft and the motor shaft can be clearly known, and the position deviation between the output shaft and the motor shaft can be quickly found or other algorithm control can be used.
Description
Technical Field
The invention belongs to the technical field of motor equipment, and particularly relates to a motor speed reduction system and a robot.
Background
Commonly used industrial robot system, body structure contain joint structure and robot control cabinet usually, are equipped with motor and speed reducer system in the joint structure, and the tradition has motor and speed reducer in the joint structure, and through the gear engagement effect of motor and speed reducer, on the output shaft of speed reducer is converted to the turning force of motor, act on the joint by output shaft output turning force. The traditional joint structure is limited in space position, only one single encoder is arranged to monitor the position and speed of the motor, and the rotating speed and position of the output shaft are judged according to the rotating speed of the motor; however, since the speed reducer and the motor are meshed and connected through the gears, there may be a position deviation caused by a gap, hysteresis and transmission rigidity, so that a user cannot know the real position and speed of the output shaft of the speed reducer through a single encoder, which affects the control of product precision.
Disclosure of Invention
The embodiment of the invention mainly aims to provide a motor speed reduction system and a robot, aiming at overcoming the defect that the real position and speed of an output shaft cannot be directly obtained.
In order to solve the above technical problems, the present invention provides a motor deceleration system, including:
a motor body including a motor shaft;
the speed reducer is meshed with the motor shaft; an output shaft is arranged on the speed reducer and connected with the speed reducer;
the mounting piece is arranged on the motor main body and used for fixing the motor main body; and is positioned at the junction of the output shaft and the motor shaft;
at least two encoders provided on the mount; a signal receiving port of the encoder faces to one side of the motor shaft and is used for detecting the rotating speed and/or the position of the motor shaft; a signal receiving port of the other encoder faces one side of the output shaft and is used for detecting the rotating speed and/or the position of the output shaft;
the mounting piece is provided with a main control board, and the main control board is electrically connected with the motor main body, the speed reducer and the encoder respectively and used for controlling the motor main body and the speed reducer.
Further, the motor deceleration system comprises two encoders which are an input encoder and an output encoder, wherein the input encoder and the output encoder are respectively arranged on two opposite sides of the main control board and are electrically connected with the main control board.
Further, the output encoder includes: the output shaft photocell is electrically connected with the main control board and is fixed relative to the main control board; the signal transmitting port of the output shaft light source is opposite to the signal receiving port of the output shaft photocell; the output shaft coded disc is positioned between the output shaft photocell and the output shaft light source; the output shaft coded disc is provided with a mounting hole, the output shaft is arranged in the mounting hole and drives the output shaft coded disc to rotate, and a light transmission part is arranged on the output shaft coded disc.
Further, the motor deceleration system further comprises: the casing, the installed part is established in the casing, the casing is relative the installed part is equipped with the output light source fixed plate, the output shaft light source is established on the output light source fixed plate.
Further, the input encoder includes: the input shaft photocell is fixed relative to the main control board and is electrically connected with the main control board; the signal receiving port of the input shaft photocell faces the motor shaft; the signal transmitting port of the input shaft light source is opposite to the signal receiving port of the input shaft photocell; an input shaft code wheel positioned between the input shaft photocell and the input shaft light source; the motor shaft is arranged in the through hole and drives the input shaft code disc to rotate, and a transparent part is arranged on the input shaft code disc.
Further, the motor main body further includes: the motor shaft is arranged in the motor shell; a motor end cover is arranged on the motor shell in the direction close to the mounting piece; the input shaft light source is arranged on the motor end cover.
Further, the motor main body further includes: and the motor stator winding is fixed in the motor shell and arranged around the motor shaft.
Further, the motor deceleration system further comprises: and the communication device is arranged on the main control board and is electrically connected with the main control board.
Further, the speed reducer includes: and the steel wheel is meshed and connected with the output shaft through a screw lock.
The invention further provides a robot, which comprises a robot body and the motor deceleration system, wherein the motor deceleration system is arranged at the joint of the robot body.
The embodiment of the invention provides a motor speed reduction system and a robot, wherein at least two encoders are arranged on a mounting part between an output shaft and a motor shaft, and at least one encoder is used for detecting the rotating speed and/or the position of the motor shaft; at least one encoder is used for detecting the rotating speed and/or the position of the output shaft; the rotating speed and the position of the output shaft and the motor shaft are respectively detected by the at least two encoders, so that the position and the rotating speed of the output shaft and the motor shaft can be clearly known, and the position deviation between the output shaft and the motor shaft can be quickly found or other algorithm control can be used.
Drawings
FIG. 1 is a schematic view of a planing surface structure of the motor speed reduction system of the present invention;
FIG. 2 is an enlarged schematic view of part A of the present invention;
fig. 3 is a schematic structural diagram of the motor deceleration system according to the present invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 100 | Motor |
41 | Encoder for encoding a |
| 11 | |
42 | |
| 12 | |
421 | |
| 13 | |
422 | Input |
| 14 | Input |
423 | Input |
| 15 | Stator winding of |
43 | |
| 21 | |
431 | |
| 22 | |
432 | Output |
| 31 | |
433 | Output |
| 32 | |
51 | |
| 52 | Output light source fixing plate |
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
As shown in fig. 1 to 3, the present invention provides a motor deceleration system, where the motor deceleration system 100 includes:
a motor main body 11, the motor main body 11 including a motor shaft 12;
a speed reducer 21, wherein the speed reducer 21 is engaged with the motor shaft 12; an output shaft 22 is arranged on the speed reducer 21, and the output shaft 22 is connected with the speed reducer 21;
the mounting piece 31 is arranged on the motor main body 11, and is used for fixing the motor main body 11; and is located at the interface of the output shaft 22 and the motor shaft 12;
at least two encoders 41, the encoders 41 being provided on the mount 31; a signal receiving port of the encoder 41 faces a side of the motor shaft 12 for detecting a rotational speed and/or a position of the motor shaft 12; the signal receiving port of the other encoder 41 faces the side of the output shaft 22 and is used for detecting the rotating speed and/or the position of the output shaft 22;
the mounting member 31 is provided with a main control board 32, and the main control board 32 is electrically connected to the motor main body 11, the speed reducer 21 and the encoder 41 respectively, and is used for controlling the motor main body 11 and the speed reducer 21.
It should be noted that, in this embodiment, the conventional motor system can only be provided with one single encoder due to the limitation of the spatial position, and the rotational speed and the position of the motor shaft 12 of the motor can be obtained through the rotational speed and the position of the motor shaft 12 by the single encoder, but the rotational speed and the position of the output shaft 22 are obtained through the rotational speed and the position of the motor shaft 12 by the single encoder, but the motor shaft 12 is connected with the output shaft 22 through engagement, and the position relationship between the motor shaft 12 and the output shaft 22 may be changed to some extent due to a gap between engaged gears or long-term use, which causes the position and the rotational speed of; the invention arranges at least two encoders 41 on the mounting parts 31-32 between the output shaft 22 and the motor shaft 12, at least one encoder 41 is used for detecting the rotating speed and/or the position of the motor shaft 12; at least one of said encoders 41 is adapted to detect the rotational speed and/or position of said output shaft 22; the positions and the rotating speeds of the output shaft 22 and the motor shaft 12 are respectively detected by at least two encoders 41, so that the positions and the rotating speeds of the output shaft 22 and the motor shaft 12 can be clearly known, the positions or the rotating speeds of the output shaft 22 and the motor shaft 12 can be independently detected, and the position deviation between the output shaft 22 and the motor shaft 12 can be quickly found.
Specifically, the main control board 32 is configured to transmit the signal information received by the encoder 41 to the control terminal and control the motor main body 11 and the speed reducer 21, and provide power for the encoder 41; establish main control board 32 is established on the installed part 31, or main control board 32 is as being used for the installation the installed part 31 of encoder 41, two encoder 41 establishes respectively on the main control board 32, save the loaded down with trivial details nature of wiring, and the setting of saving the wiring, reduce the occupation space of device.
In an implementation manner, the output shaft 22 is disposed in a central through cavity of the motor shaft 12, the output shaft 22 is disposed coaxially with the motor shaft 12, the output shaft 22 protrudes from the motor shaft 12, and the occupied space between the output shaft 22 and the motor shaft 12 is small; the two encoders 41 are respectively arranged on two opposite sides of the mounting parts 31-32, so that the positions and the rotating speeds of the output shaft 22 and the motor shaft 12 can be detected simultaneously; the positions and the rotating speeds of the output shaft 22 and the motor shaft 12 can be rapidly and respectively detected, and whether the position deviation exists between the output shaft 22 and the motor shaft 12 can be rapidly known by comparing the real-time rotating speed and the position of the output shaft 22 with the real-time rotating speed and the position of the motor shaft 12; the real time position and speed of rotation of the output shaft 22 can also be known.
In an implementable manner, the output shaft 22 is juxtaposed on the same side as the motor shaft 12, one of the encoders 41 being provided on the mounting 31 near the output shaft 22, the other encoder 41 being provided on the mounting 31 near the motor shaft 12; the two encoders 41 detect the rotational speeds and positions of the output shaft 22 and the motor shaft 12, respectively, and thus the real-time position and rotational speed of the output shaft 22 can be known clearly.
Further, as shown in fig. 2, the motor deceleration system 100 includes two encoders 41, the two encoders 41 are an input encoder 42 and an output encoder 43, and the input encoder 42 and the output encoder 43 are respectively disposed on two opposite sides of the main control board 32 and electrically connected to the main control board 32.
It should be noted that, in this embodiment, the input encoder 42 is used for detecting the position and the rotational speed of the motor shaft 12, the output encoder 43 is used for detecting the position and the rotational speed of the output shaft 22, the input encoder 42 and the output encoder 43 are disposed on the main control board 32 and electrically connected to the main control board 32, signals of the input encoder 42 and the output encoder 43 are transmitted through the main control board 32, and power is provided for the input encoder 42 and the output encoder 43; the flat cable is not required to be arranged and connected on the circuit board 32, the motor is free of flat cable interference, the structure is arranged more tightly, the occupied space of components is reduced, and the adaptability of the motor is improved.
Further, as shown in fig. 2 to 3, the output encoder 43 includes: an output shaft photocell 431, wherein the output shaft photocell 431 is electrically connected with the main control board 32, and the output shaft photocell 431 is fixed relative to the main control board 32; the signal transmitting port of the output shaft light source 432 is opposite to the signal receiving port of the output shaft photocell 431; an output shaft code wheel 433, the output shaft code wheel 433 being located between the output shaft photocell 431 and the output shaft light source 432; the output shaft coded disc 433 is provided with a mounting hole, the output shaft 22 is arranged in the mounting hole and drives the output shaft coded disc 433 to rotate, and a light-transmitting part is arranged on the output shaft coded disc 433.
It should be noted that, in this embodiment, the output shaft photocell 431 and the output shaft light source 432 may be coaxially disposed on a housing, or the output shaft photocell 431 is disposed on the main control board 32, and the output shaft light source 432 and the output shaft photocell 431 are coaxially disposed on the housing of the motor reduction system 100, such that a certain gap is formed between the output shaft photocell 431 and the output shaft light source 432, and the signal transmitting port of the output shaft light source 432 and the signal receiving port of the output shaft photocell 431 are disposed opposite to each other, a signal transmitted by the output shaft light source 432 can be accurately transmitted to the signal receiving port of the output shaft photocell 431, the output shaft code wheel 433 is located in the gap, the output shaft code wheel 433 is provided with a mounting hole, the output shaft 22 is installed in the mounting hole and drives the output shaft code wheel 433 to rotate, a light-transmitting part is arranged on the output shaft coded disc 433, the light-transmitting part rotates along with the rotation of the output shaft 22, in the rotating process, a signal sent by a signal sending port of the output shaft light source 432 passes through the light-transmitting part to a signal receiving port of the output shaft photocell 431 to form accurate transmission of the signal, if the position of the output shaft 22 is changed, the position of the light-transmitting part is also changed, and the signal sent by the signal sending port of the output shaft light source 432 and received by the signal receiving port of the output shaft photocell 431 is changed; thus, the user can find that the position of the output shaft 22 changes, and the displacement direction of the output shaft 22 can be obtained according to the position relation of the received signals; the rotating speed and the position of the output shaft 22 can be accurately measured, and the position and the rotating speed of the output shaft 22 can be monitored in real time.
Further, as shown in fig. 1-2, the motor deceleration system 100 further includes: the housing 51, the mounting member 31 is disposed in the housing 51, the housing 51 is provided with an output light source fixing plate 52 opposite to the mounting member 31, and the output shaft light source 432 is disposed on the output light source fixing plate 52.
In this embodiment, the mounting member 31 is fixed to the housing 51, the output shaft 22 is located in the housing 51, and an end of the output shaft 22 away from the motor shaft 12 protrudes out of the housing 51; the output light source fixing plate 52 may be integrally provided with the inner wall of the housing 51, or the output light source fixing plate 52 is provided on the inner wall of the housing 51; the output shaft light source 432 is arranged on the output light source fixing plate 52, so that a gap is formed between the output shaft light source 432 and the output shaft photocell 431, and the output shaft coded disc 433 can rotate in the gap without resistance, so that the position and the rotating speed of the output shaft 22 can be detected in real time.
Further, as shown in fig. 2, the input encoder 42 includes: an input axis photocell 421, wherein the input axis photocell 421 is fixed relative to the main control board 32, and the input axis photocell 421 is electrically connected with the main control board 32; the signal receiving port of the input shaft photocell 421 faces the motor shaft 12; an input shaft light source 422, wherein a signal transmitting port of the input shaft light source 422 is arranged opposite to a signal receiving port of the input shaft photocell 421; an input shaft code wheel 423, the input shaft code wheel 423 being located between the input shaft photocell 421 and the input shaft light source 422; the input shaft code wheel 423 is provided with a through hole, the motor shaft 12 is arranged in the through hole and drives the input shaft code wheel 423 to rotate, and the input shaft code wheel 423 is provided with a transparent part.
In this embodiment, the input shaft photocell 421 and the input shaft light source 422 are coaxially arranged, and may be arranged on a housing of the unified mounting member 31, or the input shaft photocell 421 is arranged on the main control board 32, and the input shaft light source 422 is arranged on a motor housing corresponding to the input shaft photocell 421; thus, a space is formed between the input shaft photocell 421 and the input shaft light source 422, the input shaft code wheel 423 is located in the space, and the input shaft code wheel 423 can rotate in the space when rotating along with the motor shaft 12. The input shaft code disc 423 is provided with a through hole, and the motor shaft 12 is arranged in the through hole; the rotation of the motor shaft 12 drives the input shaft code disc 423 to rotate, and the input shaft code disc 423 rotates in the space between the input shaft photocell 421 and the input shaft light source 422; the input shaft coded disc 423 is provided with a transparent part; in the process of rotating the input shaft code disc 423, the signal receiving port of the input shaft photocell 421 receives a signal, detects the rotating speed and the position of the motor shaft 12 in time, and finds whether the position deviation occurs on the motor shaft 12 in time.
Further, as shown in fig. 1 to 2, the motor main body 11 further includes: a motor housing, in which the motor shaft 12 is arranged; the motor shell is provided with a motor end cover 13 in the direction close to the mounting piece 31; the input shaft light source 422 is disposed on the motor end cap 14.
In this embodiment, an input light source board 14 is disposed on the motor end cover 13, the input shaft light source 422 is disposed on the input light source board 14, and a certain space is provided between the input shaft light source 422 and the input shaft photocell 421 disposed on the mounting member 31, and the space is used for rotating the input shaft code wheel 423.
Further, as shown in fig. 1 and 3, the motor main body 11 further includes: and the motor stator winding 15 is fixed in the motor shell and is arranged around the motor shaft 12.
It should be noted that, in this embodiment, the motor stator winding 15 is fixed in the motor casing, and the motor stator winding 15 is disposed around the motor shaft 12 to provide power for the rotation of the motor shaft 12.
Further, the motor deceleration system 100 further includes: and the communication device is arranged on the main control board 32 and is electrically connected with the main control board 32.
It should be noted that, in this embodiment, the communication device is disposed on the main control board 32, and is electrically connected to the main control board 32, and is used for transmitting the signal of the encoder 41 to the user, so that the user can timely and clearly know the position information and the rotation speed information of the motor shaft 12 and the output shaft 22.
Further, the speed reducer 21 includes: and the steel wheel is meshed and connected with the output shaft 22 through a screw lock.
It should be noted that, in this embodiment, the speed reducer 21 further includes a flexible gear and a wave generator, the flexible gear is engaged with the motor shaft, an inner ring of the wave generator is slightly larger than the flexible gear, the flexible gear is installed in the wave generator, the steel gear is connected with the flexible gear, and the steel gear is connected with the output shaft 22 through a screw.
The invention also provides a robot, which comprises a robot body and the motor deceleration system 100, wherein the motor deceleration system 100 is arranged at the joint of the robot body.
In this embodiment, the motor deceleration system 100 is provided at a joint of the robot body, and is configured to detect a rotation condition of the joint.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A motor deceleration system, comprising:
a motor body including a motor shaft;
the speed reducer is meshed with the motor shaft; an output shaft is arranged on the speed reducer and connected with the speed reducer;
the mounting piece is arranged on the motor main body and used for fixing the motor main body; and is positioned at the junction of the output shaft and the motor shaft;
at least two encoders provided on the mount; a signal receiving port of the encoder faces to one side of the motor shaft and is used for detecting the rotating speed and/or the position of the motor shaft; a signal receiving port of the other encoder faces one side of the output shaft and is used for detecting the rotating speed and/or the position of the output shaft;
the mounting piece is provided with a main control board, and the main control board is electrically connected with the motor main body, the speed reducer and the encoder respectively and used for controlling the motor main body and the speed reducer.
2. The motor deceleration system of claim 1, wherein the motor deceleration system comprises two encoders, the two encoders are an input encoder and an output encoder, and the input encoder and the output encoder are respectively disposed on two opposite sides of the main control board and electrically connected to the main control board.
3. The motor deceleration system of claim 2 wherein said output encoder comprises:
the output shaft photocell is electrically connected with the main control board and is fixed relative to the main control board;
the signal transmitting port of the output shaft light source is opposite to the signal receiving port of the output shaft photocell;
the output shaft coded disc is positioned between the output shaft photocell and the output shaft light source; the output shaft coded disc is provided with a mounting hole, the output shaft is arranged in the mounting hole and drives the output shaft coded disc to rotate, and a light transmission part is arranged on the output shaft coded disc.
4. The motor reduction system of claim 3, further comprising:
the casing, the installed part is established in the casing, the casing is relative the installed part is equipped with the output light source fixed plate, the output shaft light source is established on the output light source fixed plate.
5. The motor deceleration system of claim 2 wherein the input encoder comprises:
the input shaft photocell is fixed relative to the main control board and is electrically connected with the main control board; the signal receiving port of the input shaft photocell faces the motor shaft;
the signal transmitting port of the input shaft light source is opposite to the signal receiving port of the input shaft photocell;
an input shaft code wheel positioned between the input shaft photocell and the input shaft light source; the motor shaft is arranged in the through hole and drives the input shaft code disc to rotate, and a transparent part is arranged on the input shaft code disc.
6. The motor retarding system of claim 1, wherein the motor body further comprises:
the motor shaft is arranged in the motor shell; a motor end cover is arranged on the motor shell in the direction close to the mounting piece; the input shaft light source is arranged on the motor end cover.
7. The motor retarding system of claim 6, wherein the motor body further comprises:
and the motor stator winding is fixed in the motor shell and arranged around the motor shaft.
8. The motor retarding system of claim 1, wherein the mount further comprises:
and the communication device is arranged on the main control board and is electrically connected with the main control board.
9. The motor retarding system of claim 1, wherein the speed reducer comprises:
and the steel wheel is meshed and connected with the output shaft through a screw lock.
10. A robot, characterized in that the robot comprises a robot body and a motor deceleration system according to any of claims 1-9, which is provided at joints of the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110190747.8A CN112936246B (en) | 2021-02-19 | 2021-02-19 | Motor deceleration system and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110190747.8A CN112936246B (en) | 2021-02-19 | 2021-02-19 | Motor deceleration system and robot |
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| CN112936246A true CN112936246A (en) | 2021-06-11 |
| CN112936246B CN112936246B (en) | 2022-06-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110190747.8A Active CN112936246B (en) | 2021-02-19 | 2021-02-19 | Motor deceleration system and robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113829383A (en) * | 2021-10-28 | 2021-12-24 | 上海宇航系统工程研究所 | Driving joint |
| WO2023284394A1 (en) * | 2021-07-12 | 2023-01-19 | Oppo广东移动通信有限公司 | Driving device and robot having same |
| CN113829383B (en) * | 2021-10-28 | 2024-04-16 | 上海宇航系统工程研究所 | Driving joint |
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| CN111113480A (en) * | 2019-12-31 | 2020-05-08 | 深圳市优必选科技股份有限公司 | Robot and integrated joint thereof |
| CN111230922A (en) * | 2020-02-28 | 2020-06-05 | 洛阳尚奇机器人科技有限公司 | Modular robot joint integrating driving function and detection function |
| CN211565962U (en) * | 2019-12-31 | 2020-09-25 | 深圳市优必选科技股份有限公司 | Robot joint structure and robot |
| CN112223341A (en) * | 2019-07-15 | 2021-01-15 | 深圳市零差云控科技有限公司 | Robot joint module |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112223341A (en) * | 2019-07-15 | 2021-01-15 | 深圳市零差云控科技有限公司 | Robot joint module |
| CN111113480A (en) * | 2019-12-31 | 2020-05-08 | 深圳市优必选科技股份有限公司 | Robot and integrated joint thereof |
| CN211565962U (en) * | 2019-12-31 | 2020-09-25 | 深圳市优必选科技股份有限公司 | Robot joint structure and robot |
| CN111230922A (en) * | 2020-02-28 | 2020-06-05 | 洛阳尚奇机器人科技有限公司 | Modular robot joint integrating driving function and detection function |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023284394A1 (en) * | 2021-07-12 | 2023-01-19 | Oppo广东移动通信有限公司 | Driving device and robot having same |
| CN113829383A (en) * | 2021-10-28 | 2021-12-24 | 上海宇航系统工程研究所 | Driving joint |
| CN113829383B (en) * | 2021-10-28 | 2024-04-16 | 上海宇航系统工程研究所 | Driving joint |
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| Publication number | Publication date |
|---|---|
| CN112936246B (en) | 2022-06-28 |
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