CN114589683A - Be applied to straining device of rope drive robot - Google Patents
Be applied to straining device of rope drive robot Download PDFInfo
- Publication number
- CN114589683A CN114589683A CN202011425713.4A CN202011425713A CN114589683A CN 114589683 A CN114589683 A CN 114589683A CN 202011425713 A CN202011425713 A CN 202011425713A CN 114589683 A CN114589683 A CN 114589683A
- Authority
- CN
- China
- Prior art keywords
- rope
- tensioning
- shaft
- worm
- reverse
- 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.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 238000004804 winding Methods 0.000 claims description 60
- 230000000694 effects Effects 0.000 abstract description 5
- 230000007547 defect Effects 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a tensioning mechanism applied to a rope-driven robot, which comprises: the tensioning device comprises a supporting structure, a driving motor arranged on the supporting structure, a transmission assembly connected with the driving motor, a tensioning assembly connected with the transmission assembly, and a fixing assembly for fixing the tensioning assembly on the transmission assembly. The invention utilizes the self-locking characteristic based on the worm gear and the worm, and can solve the defects of low efficiency, non-continuous tensioning effect time, time-consuming and labor-consuming tensioning operation and the like of the existing tensioning mechanism.
Description
Technical Field
The invention belongs to a steel wire rope tensioning mechanism, and particularly relates to a tensioning mechanism applying the self-locking characteristic of a worm gear and a worm and a concentric shaft structure.
Background
The rope-driven robot is a novel robot, and a transmission mechanism is designed by utilizing the characteristics of a steel wire rope. Compared with the traditional robot, the rope-driven robot adopts the combination of a light rope and a passive joint, and the driving force is transmitted through the rope, so that a driving device is not required to be installed on the mechanical arm, the light weight is realized, and the load dead weight ratio is improved. Due to the drive redundancy characteristic of rope driven robots, the number of ropes is typically greater than the degree of freedom. Based on the basic characteristics and elastic deformation of the rope, the wound rope needs to be tensioned in order to ensure a small return stroke difference of the rope-driven robot.
After the existing tensioning device is tensioned once, the existing tensioning device still needs to be tensioned continuously along with the use of a robot, and the tensioning effect is not ideal along with the increase of the tensioning force. And the rope-driven robot generally adopts screw tensioning, and the operation is inconvenient.
Disclosure of Invention
The invention provides a tensioning mechanism applied to a rope-driven robot, which can overcome the defects of low efficiency, non-continuous tensioning effect time, time-consuming and labor-consuming tensioning operation and the like of the conventional tensioning mechanism.
The technical solution of the present invention is described in detail with reference to the specific embodiments below.
The embodiment of the invention provides a tensioning mechanism applied to a rope-driven robot, which comprises: the tensioning device comprises a supporting structure, a driving motor arranged on the supporting structure, a transmission assembly connected with the driving motor, a tensioning assembly connected with the transmission assembly, and a fixing assembly for fixing the tensioning assembly on the transmission assembly; the transmission assembly comprises a tensioning motor shaft and a rope winding shaft, the tensioning assembly comprises a worm wheel, a worm, a forward output rope and a reverse output rope, and the fixing assembly comprises a worm wheel fixing structure, a worm fixing structure, a forward output rope fixing structure and a reverse output rope fixing structure.
In an embodiment provided by the invention, the rope winding shaft is a hollow shaft, and the rope winding shaft is concentrically and coaxially mounted with the tensioning motor shaft. The tensioning motor shaft is characterized in that a spigot joint is arranged on one side of the right end of the tensioning motor shaft, and one side of the right end of the rope winding shaft is connected with the spigot joint.
In the embodiment provided by the invention, the right end of the tensioning motor shaft is connected with the output end of the driving motor, the worm wheel is connected with the left end of the tensioning motor shaft through a key groove and a flat key, the worm is connected with the worm fixing structure at the left end of the rope winding shaft through a worm fixing screw, and the worm wheel is in meshed connection with the worm.
In the embodiment provided by the invention, the forward output rope is wound on the right side of the rope winding shaft in the forward direction, one end of the forward output rope is connected with the forward rope fixing structure on the shaft of the tensioning motor through the tensioning block, and the other end of the forward output rope is connected with the driven shaft. Reverse output rope reverse winding is in the left side of rope winding axle, and one end is connected with the epaxial reverse rope fixed knot of rope winding through rope set screw and is constructed, and the other end is connected with the driven shaft.
When the driving motor rotates forwards, the forward output rope is a driving rope, and the reverse output rope is a driven rope;
when the driving motor rotates reversely, the reverse output rope is a driving rope, and the forward output rope is a driven rope.
In the embodiment provided by the invention, when the rope needs to be tensioned, the worm is rotated through the rotating tool, the worm and the worm wheel rotate relatively, the rope winding shaft rotates relatively to the tensioning motor shaft, and one end of the reverse winding rope is fixed on the driven shaft and cannot rotate, so that the other end of the reverse winding rope moves along with the rope winding shaft, and the reverse winding rope is tensioned.
In the embodiment provided by the invention, the tensioning motor further comprises a worm gear flange, and the worm gear flange is fixed on the tensioning motor shaft through a flange fixing screw.
The invention provides a tensioning mechanism of a worm and worm transmission structure, which realizes the tensioning of a rope by utilizing the self-locking characteristic of the tensioning mechanism, designs a double-shaft concentric structure and realizes that the output of a motor and the winding of the rope do not interfere with each other. When normal rotation time biax is static relatively, when carrying out the tensioning, the biax takes place relative rotation, realizes the tensioning of rope through the fixed different positions of rope end, and this tensioning part is few, compact structure, the installation of being convenient for, has higher work efficiency, compares with traditional mechanism and has all obtained very big improvement in practicality and operability. Meanwhile, the invention has low cost, small quality and low operation noise.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1: explosion diagram of tensioning mechanism.
FIG. 2: the tensioning mechanism is assembled.
FIG. 3: a cross-sectional view of the drive train.
FIG. 4: a cross-sectional view of the tensioning system.
FIG. 5 is a schematic view of: tensioning motor shaft structure chart.
FIG. 6: rope winding axle structure chart.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
The terms "left" and "right" in the description and claims of the embodiments of the present invention are based on the drawings provided by the embodiments of the present invention, and are not limitations on the technical solutions.
The technical scheme of the invention provides a tensioning mechanism applied to a rope-driven robot, which is characterized by comprising the following components: supporting structure 2, set up driving motor 1 on supporting structure 2, with the drive assembly that driving motor 1 is connected, with the tensioning subassembly that drive assembly connects, and will tensioning subassembly is fixed subassembly on the drive assembly can solve current straining device's inefficiency, tensioning effect time and do not last to tensioning operation is wasted time and energy and other shortcomings.
The technical solution of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, 2, 3, and 4, the present invention provides a tensioning mechanism applied to a rope-driven robot, including: the device comprises a supporting structure 2, a driving motor 1 arranged on the supporting structure 2, a transmission assembly connected with the driving motor 1, a tensioning assembly connected with the transmission assembly, and a fixing assembly for fixing the tensioning assembly on the transmission assembly; the transmission assembly comprises a tension motor shaft 5 and a rope winding shaft 6, the tension assembly comprises a worm wheel 10, a worm 11, a forward rotation output rope 7 and a reverse rotation output rope 8, and the fixing assembly comprises a worm wheel fixing structure 62, a worm fixing structure 61, a forward rotation rope fixing structure 3 and a reverse rotation rope fixing structure 63.
In the embodiment provided by the present invention, the rope winding shaft 6 is a hollow shaft, and the rope winding shaft 6 is concentrically and coaxially installed with the tension motor shaft 5. A spigot joint is arranged on one side of the right end of the tensioning motor shaft 5, and one side of the right end of the rope winding shaft 6 is connected with the spigot structure 51. The two shafts can be ensured not to generate radial movement and form a kinematic pair capable of rotating relatively.
In the embodiment provided by the present invention, the right end of the tension motor shaft 5 is connected to the output shaft of the driving motor 1, the worm wheel 10 is connected to the left end of the tension motor shaft 5 through the key slot 52 and the flat key, the worm 11 is connected to the worm fixing structure 61 at the left end of the rope winding shaft 6 through the worm fixing screw 12, and the worm wheel 10 is engaged with the worm 11.
In the embodiment provided by the invention, the positive rotation output rope 7 is wound on the right side of the rope winding shaft 6, one end of the positive rotation output rope is connected with the positive rotation rope fixing structure 3 on the tension motor shaft 5 through the tension block 4, and the other end of the positive rotation output rope is connected with the driven shaft 16. The reverse output rope 8 is wound on the left side of the rope winding shaft 6, one end of the reverse output rope is connected with a reverse rope fixing structure 63 on the rope winding shaft 6 through a rope fixing screw 9, and the other end of the reverse output rope is connected with the driven shaft 16.
Further, as shown in fig. 5 and 6, a forward rotation rope fixing structure 3 is designed on the tension motor shaft 5, the rope is adhered through a middle hole of the tension block 4, and the tension block 4 is matched with the forward rotation rope fixing structure 3 on the tension motor shaft 5 to realize the stop of the tension block 4. The rope winding shaft 6 is provided with a reverse rope fixing structure 63, and the rope passes through the reverse rope fixing structure 63 and is matched with the rope fixing screw 9 for fixing and locking.
When the driving motor 1 rotates forwards, the forward rotation output rope 7 is a driving rope, and the reverse rotation output rope 8 is a driven rope;
when the driving motor 1 rotates reversely, the reverse rotation output rope 8 is a driving rope, and the forward rotation output rope 7 is a driven rope.
Further, one end of the forward rotation output rope 7 is fixed on the forward rotation rope fixing structure 3 of the tension motor shaft 5, and the other end is fixed on the driven shaft 16, and the forward rotation output rope 7 is wound on the tension motor shaft 5 in a certain winding manner. When the driving motor 1 rotates forwards, the forward rotation output rope 7 is a driving rope and drives the driven shaft 16 to rotate, and the reverse rotation output rope 8 is a driven rope.
One end of the reverse output rope 8 is fixed on the reverse rope fixing structure of the rope winding shaft 6, and the other end is fixed on the driven shaft 16, and the reverse output rope 8 is wound on the tension motor shaft 5 in a certain winding mode. When the driving motor 1 rotates reversely, the reverse rotation output rope 8 is a driving rope and drives the driven shaft 16 to rotate, and the forward rotation output rope 7 is a driven rope.
The worm wheel is connected on tensioning motor shaft 5 through the parallel key, and worm 11 and worm wheel 10 cooperation installation, worm 11 pass through fixing system and link to each other with rope winding axle 6, design regulation structure on the worm 11.
When the rope needs to be tensioned, the worm 11 is rotated through the rotating tool, the worm 11 and the worm wheel 10 rotate relatively, the rope winding shaft 6 rotates relatively on the tensioning motor shaft 5, and one end of the reverse winding rope is fixed on the driven shaft 16 and cannot rotate, so that the other end of the reverse winding rope moves along with the rope winding shaft 6, and the reverse winding rope is tensioned.
Further, when the driving motor 1 rotates forwards or backwards, the tensioning motor shaft 5 and the rope winding shaft 6 are relatively static based on the self-locking characteristic of the worm gear and the worm, and the driven shaft 16 is driven to rotate forwards and backwards through the forward output rope 7 and the reverse output rope 8. When the rope needs to be tensioned, the worm 11 is rotated through the rotating tool 111, the worm 11 rotates relative to the worm wheel, the worm 11 is fixedly connected with the rope winding shaft 6 through the worm fixing screw 12, the worm wheel is fixedly connected with the tensioning motor shaft 5 through the flat key 15, the tensioning motor shaft 5 keeps static, and the worm 11 drives the rope winding shaft 6 and the tensioning motor shaft 5 to rotate relatively. Since one end of the rope is fixed to the rope winding shaft 6 and the other end is fixed to the driven shaft 16 and stationary, the tensioning of the rope is accomplished by rotating the worm 11. And due to the self-locking characteristic of the worm gear 11, the tensioning effect can be kept for a long time
In the embodiment provided by the invention, the motor further comprises a worm gear flange 13, and the worm gear flange 13 is fixed on the tension motor shaft 5 through a flange fixing screw 14.
Examples
As shown in fig. 1 and 2, a driving motor 1 is fixed to a hole of a support structure 2 by a screw, and an output shaft of the driving motor 1 is connected to a tension motor shaft 5. One end of the forward rotation output rope 7 is fixed through a central hole of the tensioning block 4, the tensioning block 4 is matched and fixed with the forward rotation rope fixing structure 3, and the other end of the forward rotation output rope 7 is fixed on the driven shaft 16.
As shown in fig. 3, the rope winding shaft 6 and the tension motor shaft 5 are mutually matched through the seam allowance structure 51 to form a rotation pair, the rope winding shaft 6 and the tension motor shaft 5 are concentric shafts, the forward output rope 7 is wound on the forward output rope through a certain rope winding mode, one end of the rope winding shaft 6 is designed to be an installation structure of a worm gear 11, wherein the worm gear is connected on the tension motor shaft 5 through a flat key, the worm gear 11 and the worm gear 10 are meshed to form a matching relation, one end of the reverse output rope 8 is fixed on a reverse rope fixing structure of the rope winding shaft 6, and the other end of the reverse output rope is fixed on the driven shaft 16. The worm flange 13 is fixed to a screw hole 53 of the tension motor shaft 5 by a flange fixing screw 14.
As shown in fig. 4, when the tension rope is required, the worm 11 is rotated by the rotating tool 111, the worm wheel and the worm 11 relatively rotate due to the meshing relationship, the rope winding shaft 6 and the tension motor shaft 5 relatively rotate due to the interconnection of the worm 11 and the rope winding shaft 6 and the interconnection of the worm wheel and the tension motor shaft 5, one end of the reverse output rope 8 is fixed on the driven shaft 16 and cannot rotate, and the other end of the reverse output rope 8 moves along with the rope winding shaft 6, thereby tensioning the reverse output winding rope 8.
While embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.
Claims (9)
1. A tensioning mechanism for a rope-driven robot, comprising: the tensioning device comprises a supporting structure, a driving motor arranged on the supporting structure, a transmission assembly connected with the driving motor, a tensioning assembly connected with the transmission assembly, and a fixing assembly for fixing the tensioning assembly on the transmission assembly;
the transmission assembly comprises a tensioning motor shaft and a rope winding shaft, the tensioning assembly comprises a worm wheel, a worm, a forward output rope and a reverse output rope, and the fixing assembly comprises a worm wheel fixing structure, a worm fixing structure, a forward output rope fixing structure and a reverse output rope fixing structure.
2. The tensioning mechanism applied to the rope-driven robot as claimed in claim 1, wherein the rope winding shaft is a hollow shaft, and the rope winding shaft is concentrically and coaxially installed with the tensioning motor shaft.
3. The tensioning mechanism applied to the rope-driven robot as claimed in claim 2, wherein a spigot is provided on the right end side of the tensioning motor shaft, and the rope winding shaft is connected with the spigot structure on the right end side.
4. The tensioning mechanism applied to the rope-driven robot as claimed in claim 1, wherein the right end of the tensioning motor shaft is connected with the output end of the driving motor, the worm wheel is connected with the left end of the tensioning motor shaft through a key groove and a flat key, the worm is connected with the worm fixing structure at the left end of the rope winding shaft through a worm fixing screw, and the worm wheel is connected with the worm in a meshed manner.
5. The tensioning mechanism applied to the rope-driven robot as claimed in claim 1, wherein the positive rotation output rope is wound on the right side of the rope winding shaft in a positive direction, and one end of the positive rotation output rope is connected with the positive rotation rope fixing structure on the shaft of the tensioning motor through a tensioning block, and the other end of the positive rotation output rope is connected with the driven shaft.
6. The tensioning mechanism applied to the rope-driven robot as claimed in claim 1, wherein the reverse output rope is reversely wound on the left side of the rope winding shaft, and one end of the reverse output rope is connected with the reverse rope fixing structure on the rope winding shaft through a rope fixing screw, and the other end of the reverse output rope is connected with the driven shaft.
7. Tensioning mechanism applied to a rope-driven robot, according to claims 5 and 6,
when the driving motor rotates forwards, the forward output rope is a driving rope, and the reverse output rope is a driven rope;
when the driving motor rotates reversely, the reverse output rope is a driving rope, and the forward output rope is a driven rope.
8. The tensioning mechanism applied to the rope-driven robot as claimed in claims 1 to 6, wherein when the rope is required to be tensioned, the worm is rotated by the rotating tool, the worm gear and the worm wheel are rotated relatively, the rope winding shaft is rotated relatively to the tensioning motor shaft, and one end of the reverse winding rope is fixed to the driven shaft and cannot be rotated, so that the other end of the reverse winding rope moves along with the rope winding shaft, thereby tensioning the reverse winding rope.
9. The tensioning mechanism applied to the rope-driven robot as claimed in claim 1, further comprising a worm gear flange, wherein the worm gear flange is fixed on the tensioning motor shaft by a flange fixing screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011425713.4A CN114589683A (en) | 2020-12-07 | 2020-12-07 | Be applied to straining device of rope drive robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011425713.4A CN114589683A (en) | 2020-12-07 | 2020-12-07 | Be applied to straining device of rope drive robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114589683A true CN114589683A (en) | 2022-06-07 |
Family
ID=81812640
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011425713.4A Pending CN114589683A (en) | 2020-12-07 | 2020-12-07 | Be applied to straining device of rope drive robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114589683A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1481882A1 (en) * | 1966-08-25 | 1969-07-17 | Kondo Shinzo | Cantilever wheel carriers of the wire rope type |
| US5149305A (en) * | 1991-08-16 | 1992-09-22 | Gordon Belt Scrapers, Inc. | Continuously adjustable rotary bias device |
| US5378202A (en) * | 1993-11-15 | 1995-01-03 | Martin Engineering Company | Tensioning device |
| US5388480A (en) * | 1993-08-04 | 1995-02-14 | Barrett Technology, Inc. | Pretensioning mechanism for tension element drive systems |
| KR20040035354A (en) * | 2002-10-22 | 2004-04-29 | 한국과학기술연구원 | Wire power transmitting apparatus with rotary and its wire tension control apparatus and control method |
| US20100284757A1 (en) * | 2007-11-19 | 2010-11-11 | Yukio Numata | Rope fastening device |
| CN105835050A (en) * | 2016-05-23 | 2016-08-10 | 西安电子科技大学 | Three-degree-of-freedom rope driven series robot device |
| CN105972170A (en) * | 2016-06-13 | 2016-09-28 | 北京理工大学 | Rope-driven pulley of rope-driven exoskeleton mechanical arm |
| CN106038169A (en) * | 2016-06-13 | 2016-10-26 | 北京理工大学 | Arm length adjusting mechanism of rope-driven exoskeleton mechanical arm |
| CN107676438A (en) * | 2017-11-13 | 2018-02-09 | 中国科学院合肥物质科学研究院 | It is a kind of for robot driven by ropes people's transmission device from tension structure |
| CN214520195U (en) * | 2020-12-07 | 2021-10-29 | 山东新松工业软件研究院股份有限公司 | Be applied to straining device of rope drive robot |
-
2020
- 2020-12-07 CN CN202011425713.4A patent/CN114589683A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1481882A1 (en) * | 1966-08-25 | 1969-07-17 | Kondo Shinzo | Cantilever wheel carriers of the wire rope type |
| US5149305A (en) * | 1991-08-16 | 1992-09-22 | Gordon Belt Scrapers, Inc. | Continuously adjustable rotary bias device |
| US5388480A (en) * | 1993-08-04 | 1995-02-14 | Barrett Technology, Inc. | Pretensioning mechanism for tension element drive systems |
| US5378202A (en) * | 1993-11-15 | 1995-01-03 | Martin Engineering Company | Tensioning device |
| KR20040035354A (en) * | 2002-10-22 | 2004-04-29 | 한국과학기술연구원 | Wire power transmitting apparatus with rotary and its wire tension control apparatus and control method |
| US20100284757A1 (en) * | 2007-11-19 | 2010-11-11 | Yukio Numata | Rope fastening device |
| CN105835050A (en) * | 2016-05-23 | 2016-08-10 | 西安电子科技大学 | Three-degree-of-freedom rope driven series robot device |
| CN105972170A (en) * | 2016-06-13 | 2016-09-28 | 北京理工大学 | Rope-driven pulley of rope-driven exoskeleton mechanical arm |
| CN106038169A (en) * | 2016-06-13 | 2016-10-26 | 北京理工大学 | Arm length adjusting mechanism of rope-driven exoskeleton mechanical arm |
| CN107676438A (en) * | 2017-11-13 | 2018-02-09 | 中国科学院合肥物质科学研究院 | It is a kind of for robot driven by ropes people's transmission device from tension structure |
| CN214520195U (en) * | 2020-12-07 | 2021-10-29 | 山东新松工业软件研究院股份有限公司 | Be applied to straining device of rope drive robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7753184B2 (en) | Bidirectional clutch mechanism | |
| CN106428638A (en) | Single driving multi-stage synchronous stretch-retract repeatable solar panel unfolding mechanism | |
| US20100199805A1 (en) | Continuously variable transmission | |
| US4662861A (en) | Two speed accessory drive | |
| CN214520195U (en) | Be applied to straining device of rope drive robot | |
| CN110735899A (en) | kinds of mixed power device | |
| CN114589683A (en) | Be applied to straining device of rope drive robot | |
| CN110125974B (en) | Single-motor double-speed reducer robot joint structure | |
| CN210256196U (en) | Single-motor double-speed reducer robot joint structure | |
| CN201281115Y (en) | Novel isolator and motion converting device assembled thereby | |
| CN216306641U (en) | Transmission and vehicle | |
| CN101704475B (en) | Novel crane | |
| CN214425042U (en) | Device for realizing reciprocating motion of fracturing pump by reversing of screw rod | |
| CN211778772U (en) | A gear train for new energy automobile reduction gear | |
| CN111043247A (en) | Speed reducer gear assembly for new energy vehicle | |
| CN101767529B (en) | Clutch type output mechanism of electrically-propelled vehicle shifting driving hub | |
| CN216328329U (en) | Robot integrated driving flexible driver | |
| CN113910213B (en) | Robot integrated driving flexible driver and driving method thereof | |
| CN111015722B (en) | Three-degree-of-freedom dexterous wrist structure based on linear driving | |
| CN216279288U (en) | Simple bidirectional ratchet wheel stopping structure | |
| CN218267060U (en) | Transmission mechanism for switch machine and switch machine | |
| CN221033833U (en) | Double-roller driving structure for wind driven generator sliding bearing test bed | |
| CN220393217U (en) | Working device adopting gear rack as driving mechanism | |
| CN116247872B (en) | Mechanism and method for controlling double shafts by single motor | |
| CN216519419U (en) | Compact worm and gear mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |