CN115107078A - Rotary driving device and equipment - Google Patents
Rotary driving device and equipment Download PDFInfo
- Publication number
- CN115107078A CN115107078A CN202110310388.5A CN202110310388A CN115107078A CN 115107078 A CN115107078 A CN 115107078A CN 202110310388 A CN202110310388 A CN 202110310388A CN 115107078 A CN115107078 A CN 115107078A
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- rotary drive
- hole
- limiting
- connecting part
- output shaft
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- 230000003068 static effect Effects 0.000 claims abstract description 8
- 238000009434 installation Methods 0.000 claims description 15
- 238000005192 partition Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 claims description 2
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
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Classifications
-
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D1/00—Couplings for rigidly connecting two coaxial shafts or other movable machine elements
- F16D1/02—Couplings for rigidly connecting two coaxial shafts or other movable machine elements for connecting two abutting shafts or the like
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Pivots And Pivotal Connections (AREA)
Abstract
The invention provides a rotary driving device and equipment, which comprise a driver, a driving device and a driving device, wherein the driver comprises a driver main body and an output shaft; a connecting shaft including a first connecting portion and a second connecting portion; the first connecting part is provided with an inner hole and is sleeved on the output shaft; the second connecting part is arranged at one end of the first connecting part far away from the driver main body; the clamping frame comprises a mounting part, the mounting part is connected with the driver main body and is provided with a through hole; the bearing assembly is arranged in the through hole and sleeved on the first connecting part, and one end, far away from the driver main body, of the bearing assembly is abutted against the second connecting part; the first limiting assembly comprises a circumferential limiting piece and an axial limiting piece; the circumferential limiting piece is used for keeping the first connecting part and the output shaft to be relatively static in the circumferential direction; the axial limiting piece is used for enabling the first connecting portion and the output shaft to keep relatively static in the axial direction, and the axial limiting piece is abutted to one end, close to the driver main body, of the bearing assembly. The rotary driving device has the advantages of simple structure and convenience in assembly.
Description
Technical Field
The invention relates to the technical field of mechanical structures, in particular to a rotary driving device and equipment.
Background
Fig. 1 shows a schematic structural diagram of a conventional rotation driving device, and as shown in fig. 1, the conventional rotation driving device includes a rotation cylinder 10, a clamping frame 20, a tension sleeve 30, a tension sleeve outer plate 40, a tension sleeve cover plate 50, a bearing 60, a bearing outer plate 70, a bearing cover plate 80, and the like. Wherein, the clamping frame 20 is connected with the rotary cylinder 10, and the clamping frame 20 is provided with a through hole for the output shaft 11 of the rotary cylinder 10 to penetrate through. The tensioning sleeve 30 is sleeved on the output shaft 11 of the rotary cylinder 10, and the tensioning sleeve outer plate 40 is sleeved on the output shaft 11 of the rotary cylinder 10 and connected with the tensioning sleeve 20. The cover plate 50 is fixed on the outer plate 30 and connected to a claw 90. The bearing outer plate 70 is connected with the clamping frame 20 and arranged around the through hole, and the bearing cover plate 80 is connected with the bearing outer plate 70 to form an accommodating cavity. The bearing 60 is sleeved on the tensioning sleeve outer plate 40 and arranged in the accommodating cavity. When the rotary cylinder 10 works, the output shaft 11 of the rotary cylinder 10 drives the tensioning sleeve 30 to rotate, and further drives the tensioning sleeve outer plate 40 to rotate, so that the tensioning sleeve cover plate 50 rotates along with the rotation of the tensioning sleeve outer plate, and drives the clamping piece 1' arranged on the tensioning sleeve cover plate 50 to rotate. The rotary driving device has the advantages of complex structure, large volume, large load, complex process during installation and long consumed time.
Disclosure of Invention
The invention aims to provide a rotary driving device and equipment, aiming at simplifying the structure of the rotary driving device and shortening the assembly time.
To achieve the above object, the present invention provides a rotation driving apparatus comprising:
a driver including a driver body and an output shaft disposed on the driver body;
a connecting shaft including a first connecting portion and a second connecting portion; the first connecting part is provided with an inner hole and is sleeved on the output shaft; the second connecting part is arranged at one end of the first connecting part far away from the driver main body;
the clamping frame comprises an installation part, the installation part is connected with the driver main body, and a through hole is formed in the installation part;
the bearing assembly is arranged in the through hole and sleeved on the first connecting part, and one end, far away from the driver main body, of the bearing assembly is abutted against the second connecting part; and the number of the first and second groups,
the first limiting assembly comprises a circumferential limiting piece and an axial limiting piece; the circumferential limiting piece is used for keeping the first connecting part and the output shaft to be relatively static in the circumferential direction; the axial limiting piece is arranged on the first connecting portion and used for enabling the first connecting portion and the output shaft to keep relatively static in the axial direction, and the axial limiting piece is abutted to one end, close to the driver main body, of the bearing assembly.
Optionally, the clamping frame further comprises a partition plate disposed on the hole wall of the through hole to divide the through hole into two hole sections in the axial direction;
the bearing assembly comprises two bearings which are respectively arranged in the two hole sections of the through hole.
Optionally, the circumferential limiter comprises a key and a key groove matched with the key; one of the hole wall of the inner hole of the first connecting part and the side wall of the output shaft is provided with the key, and the other is provided with the key groove.
Optionally, the axial limiting member includes a stop nut, and is sleeved on the outer wall of the first connecting portion.
Optionally, the connecting shaft further comprises a second limiting component for limiting the maximum rotation angle of the connecting shaft.
Optionally, the second limiting component includes a first limiting member and a second limiting member, the first limiting member is disposed on the second connecting portion of the connecting shaft, and the second limiting member is disposed on the mounting portion of the clamping frame.
Optionally, the first limiting member is a bump; the second limiting part is a stop column.
Optionally, the card frame still includes support arm and joint portion, the relative both ends of support arm respectively with the installation department with the joint portion is connected, the joint portion is used for being connected with external mechanism.
Optionally, a lightening hole is arranged on the clamping frame, and the lightening hole is at least partially positioned on the supporting arm.
Optionally, the actuator comprises a rotary cylinder.
To achieve the above object, the present invention also provides a rotation driving apparatus comprising:
a base;
the rotary drive device of any one of the preceding claims, connected to the base; and the number of the first and second groups,
and the clamping piece is connected with the second connecting part of the connecting shaft and is used for clamping a target object.
Optionally, the rotation driving device comprises two rotation driving devices, and each rotation driving device is provided with one clamping piece;
the clamping pieces are provided with clamping surfaces, and the clamping surfaces of the two clamping pieces are oppositely arranged and used for clamping the target object together.
Optionally, the base is a robotic arm of a robot.
Compared with the prior art, the rotary driving device and the equipment have the following advantages:
the rotary driving device comprises a driver, a connecting shaft, a clamping frame, a bearing assembly and a limiting assembly; wherein the driver comprises a driver body and an output shaft disposed on the driver body; the connecting shaft comprises a first connecting part and a second connecting part; the first connecting part is provided with an inner hole and is sleeved on the output shaft; the second connecting part is arranged at one end of the first connecting part far away from the driver main body; the clamping frame comprises an installation part, the installation part is connected with the driver main body, and a through hole is formed in the installation part; the bearing assembly is arranged in the through hole and sleeved on the first connecting part, and one end, far away from the driver main body, of the bearing assembly is abutted against the second connecting part; the limiting assembly comprises a circumferential limiting piece and an axial limiting piece; the circumferential limiting piece is used for keeping the first connecting part and the output shaft to be relatively static in the circumferential direction; the axial limiting piece is arranged on the first connecting portion and used for enabling the first connecting portion and the output shaft to keep relatively static in the axial direction, and the axial limiting piece is abutted to one end, close to the driver, of the bearing assembly. The rotary driving device has the advantages of simple structure, fewer parts and convenient assembly, and can effectively reduce the installation time and save the cost.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
FIG. 1 is a cross-sectional view of a prior art rotary drive device;
FIG. 2 is a cross-sectional view of a rotary drive apparatus provided in accordance with one embodiment of the present invention;
FIG. 3 is a schematic view of a portion of a rotary drive apparatus in accordance with one embodiment of the present invention, with a bearing assembly and a connecting shaft not shown;
FIG. 4 is a schematic view of a partial structure of a rotary driving apparatus according to an embodiment of the present invention, in which a card rack is not shown;
fig. 5 is a schematic structural diagram of a connection shaft of a rotary driving device according to an embodiment of the present invention.
[ reference numerals are described below ]:
1', 1-a clamp; 1 a-a clamping surface; 10-a rotary cylinder; 11, 120-output shaft; 20, 300-card frame; 30-tensioning sleeve; 40-tensioning the sleeve outer plate; 50-tensioning the cover plate; 60-a bearing; 70-bearing outer plate; 80-a bearing cover plate; 100-drive, 110-drive body; 200-a connecting shaft; 210-a first connection; 211-inner bore; 220-a second connection; 310-a mounting portion; 320-a separator; 330-a support arm; 340-a joint; 301-lightening holes; 400-a bearing assembly; 410-a bearing; 511-key way; 520-stop nut; 610-a bump; 620-bumping post.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in this embodiment are only for schematically illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings and not drawn according to the number, shape and size of the components in actual implementation, and the form, quantity and proportion of each component in actual implementation may be arbitrarily changed, and the component layout may be more complicated.
Furthermore, each of the embodiments described below has one or more technical features, and thus, the use of the technical features of any one embodiment does not necessarily mean that all of the technical features of any one embodiment are implemented at the same time or that only some or all of the technical features of different embodiments are implemented separately. In other words, those skilled in the art can selectively implement some or all of the features of any embodiment or combinations of some or all of the features of multiple embodiments according to the disclosure of the present invention and according to design specifications or implementation requirements, thereby increasing the flexibility in implementing the invention.
As used in this specification, the singular forms "a", "an" and "the" include plural referents, and the plural forms "a plurality" includes more than two referents unless the content clearly dictates otherwise. As used in this specification, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise, and the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either fixedly connected, detachably connected, or integrally connected. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to the appended drawings. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention. The same or similar reference numbers in the drawings identify the same or similar elements.
Fig. 2 shows a cross-sectional view of a rotary drive apparatus provided in accordance with an embodiment of the present invention; fig. 3 and 4 are partial schematic structural views of the rotary drive device, and the parts omitted in fig. 3 and 4 are different. Referring to fig. 2 to 4, the rotation driving apparatus includes a driver 100, a connecting shaft 200, a clamping frame 300, a bearing assembly 400 and a first limiting assembly. The driver 100 is, for example, a motor or other driving member such as a rotary cylinder, and the driver 100 includes a driver main body 110 and an output shaft 120 provided on the driver main body 110. The connection shaft 200 includes a first connection portion 210 and a second connection portion 220. The first connecting portion 210 has an inner hole 211 (shown in fig. 5) and is sleeved on the output shaft 120; the second connecting portion 220 is disposed on an end of the first connecting portion 210 away from the driver main body 110. The card frame 300 includes an installation portion 310, a through hole (not labeled in the figure) is provided on the installation portion 310, and the installation portion is connected with the driver main body 110. The bearing assembly 400 is disposed in the through hole and sleeved on the first connecting portion 210, and one end of the bearing assembly 400 away from the driver main body 110 abuts against the second connecting portion 220, and the second connecting portion 220 prevents the bearing assembly 400 from moving in a direction away from the driver main body 110. The first limiting component includes a circumferential limiting member and an axial limiting member, the circumferential limiting member is used for keeping the first connecting portion 210 and the output shaft 120 relatively stationary in the circumferential direction, the axial limiting member is disposed on the first connecting portion 210 and is used for keeping the first connecting portion 210 and the output shaft 120 relatively stationary in the axial direction, and the axial limiting member is further abutted against one end of the bearing assembly 400 close to the driver main body 110 to prevent the bearing assembly 400 from moving in the direction close to the driver 100. That is, in this embodiment, the bearing assembly 400 is radially limited by the through hole structure of the card holder 300 itself, and the connection shaft 200 is circumferentially limited by the circumferential limiting member, so that the connection shaft 200 can rotate synchronously with the output shaft 120 of the driver 100, and the bearing assembly 400 is axially limited by the axial limiting member and the second connection portion 220 of the connection shaft 200 together while the connection shaft 200 is axially limited by the axial limiting member, which reduces the number of components, simplifies the structure, shortens the assembly time, and effectively reduces the production cost, compared with the conventional rotation driving device.
Referring to fig. 5, in the present embodiment, the circumferential limiting member may include a key (not shown) and a key slot 511, in other words, the first connecting portion 210 of the connecting shaft 200 is connected with the output shaft 120 of the driver 100 by a key, which may be a flat key or a spline, which is not limited in the present invention. In a specific implementation, the key is disposed on a sidewall of the output shaft 120, and the key groove 511 is disposed on an inner wall of the inner hole 211 of the first connection portion 210. Alternatively, in another specific implementation manner, the positions of the key and the key groove may be interchanged, that is, the key groove is formed on the side wall of the output shaft, and the key (not shown in the figure) is arranged on the wall of the inner hole.
Referring back to fig. 2, the axial limiting member is, for example, a retaining nut 520, the retaining nut 520 is sleeved on the outer surface of the first connecting portion 210, the retaining nut 520 is used to axially limit the connecting shaft 200, so that the assembly is convenient, the anti-loosening effect is good, and the connecting shaft 200 is ensured to be kept relatively stationary in the axial direction with respect to the output shaft 120.
Further, the card frame 200 further includes a partition plate 320, and the partition plate 320 is disposed on the hole wall of the through hole to divide the through hole into two hole sections in the axial direction. Correspondingly, the bearing assembly 400 includes two bearings 410, and the two bearings 410 are respectively disposed in the two hole sections. By arranging the two bearings 410, the connecting shaft 200 is prevented from being stuck in the rotating process to the maximum extent.
In this embodiment, referring to fig. 2, the rotation driving device is used to connect with a clamping member 1, specifically, the second connecting portion 220 of the connecting shaft 200 is used to connect with the clamping member 1, and the clamping member 1 is used to clamp an object. Thus, the rotation driving device can drive the clamping piece 1 to rotate, and further drive the target object to rotate. It can be understood that in some practical application scenarios, the object needs to rotate within a predetermined range, i.e. the object has a limit of the rotation angle. In order to achieve this object, the rotation driving device further includes a second limiting component for limiting a maximum rotation angle of the connecting shaft 200, thereby limiting a rotation angle of the object.
Specifically, referring to fig. 2 in combination with fig. 5, the second limiting component includes a first limiting member and a second limiting member that are engaged with each other, for example, in a non-limiting embodiment, the first limiting member includes a protrusion 610 disposed on the second connecting portion 220 of the connecting shaft 200, and the second limiting member includes a stop pillar 620 disposed on the mounting portion 310 of the card frame 300. In more detail, if the maximum rotation angle of the target is 360 degrees, the second limiting member may include one of the stop posts 620, so that the stop post 620 may prevent the holder 1 from continuing to rotate in the current direction when the protrusion 610 contacts the stop post 620 no matter whether the rotation driving device drives the holder 1 to rotate clockwise or counterclockwise. It is understood that, when the maximum rotation angle of the target object is less than 360 °, the second limiting member may include two retaining pillars, and the distance between the two retaining pillars is set according to the maximum rotation angle of the target object. Alternatively, in another embodiment, the first limiting member may be a slider disposed on the second connecting portion, and the second limiting member is a sliding groove disposed on the mounting portion.
Further, the rotation driving device may be disposed on a base (not shown), and therefore, referring to fig. 2 and 3, the card frame 300 further includes a supporting arm 330 and a coupling portion 340. The supporting arm 330 is a strip-shaped structure, and two opposite ends of the supporting arm are respectively used for connecting the mounting portion 310 and the engaging portion 340. The joint 340 is connected at an angle to the support arm 330, and the joint 340 is used to connect with the base.
Preferably, referring to fig. 3, the card holder 300 is further provided with a lightening hole 301 to reduce the weight of the card holder 300. The lightening hole 301 is at least partially located on the supporting arm 330, and in an exemplary embodiment, the lightening hole 301 is an elongated hole that is disposed on the supporting arm 330 and extends from the supporting portion 330 near the mounting portion 310 to the engaging portion 340. In other embodiments, the lightening holes 301 may also include a plurality of sub-lightening holes distributed on the supporting arm 330 and/or the joint 340.
Further, the embodiment of the present invention further provides a rotation driving apparatus, which includes a base, the rotation driving device and the clamping member 1. The rotation driving device is connected to the base through the card holder 300 (specifically, the engaging portion 340 of the card holder), and the clamping member 1 is connected to the second connecting portion 220 of the connecting shaft 200.
Optionally, referring to fig. 2 and fig. 4, the clamping member 1 has a clamping surface 1 a. The rotary driving device comprises two rotary driving devices, each rotary driving device is provided with one clamping piece 1, and the clamping surfaces 1a of the two clamping pieces 1 are oppositely arranged and used for clamping the target object together.
Optionally, the base is a mechanical arm of a robot, so that the robot can move along with the rotary driving device to enlarge the application space of the rotary driving device.
The rotary driving device provided by the embodiment of the invention has the advantages of simple structure, few parts and small load, can be applied to limited load such as the working conditions of 0-70KG load and 0-4000mm/s running speed, and is particularly suitable for being matched with a cantilever structure (such as the mechanical arm) with the length of 0-700 mm.
Although the present invention is disclosed above, it is not limited thereto. Various modifications and alterations of this invention may be made by those skilled in the art without departing from the spirit and scope of this invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (13)
1. A rotary drive apparatus, comprising:
a driver including a driver body and an output shaft disposed on the driver body;
a connecting shaft including a first connecting portion and a second connecting portion; the first connecting part is provided with an inner hole and sleeved on the output shaft, and the second connecting part is arranged at one end of the first connecting part, which is far away from the driver main body;
the clamping frame comprises an installation part, the installation part is connected with the driver main body, and a through hole is formed in the installation part;
the bearing assembly is arranged in the through hole and sleeved on the first connecting part, and one end, far away from the driver main body, of the bearing assembly is abutted against the second connecting part; and the number of the first and second groups,
the first limiting assembly comprises a circumferential limiting piece and an axial limiting piece; the circumferential limiting piece is used for keeping the first connecting part and the output shaft to be relatively static in the circumferential direction; the axial limiting piece is arranged on the first connecting portion and used for enabling the first connecting portion and the output shaft to keep relatively static in the axial direction, and the axial limiting piece is abutted to one end, close to the driver main body, of the bearing assembly.
2. The rotary drive apparatus according to claim 1, wherein the holder further comprises a partition plate provided on a hole wall of the through hole to divide the through hole into two hole sections in an axial direction;
the bearing assembly comprises two bearings which are respectively arranged in the two hole sections of the through hole.
3. The rotary drive of claim 1, wherein the circumferential stop comprises a key and a keyway matching the key; one of the hole wall of the inner hole of the first connecting part and the side wall of the output shaft is provided with the key, and the other is provided with the key groove.
4. The rotary drive of claim 1, wherein the axial stop comprises a retaining nut that fits over an outer wall of the first coupling portion.
5. The rotary drive of claim 1, further comprising a second limiting assembly for limiting a maximum angle of rotation of the connecting shaft.
6. The rotational driving apparatus according to claim 5, wherein the second limiting member comprises a first limiting member and a second limiting member, the first limiting member is disposed on the second connecting portion of the connecting shaft, and the second limiting member is disposed on the mounting portion of the card frame.
7. The rotational drive apparatus according to claim 6, wherein the first limiting member is a protrusion; the second limiting part is a stop column.
8. The rotary drive apparatus as claimed in claim 1, wherein the card holder further comprises a support arm and a joint portion, opposite ends of the support arm being connected to the mounting portion and the joint portion, respectively, the joint portion being adapted to be connected to an external mechanism.
9. The rotary drive of claim 8, wherein the clip frame is provided with lightening holes, the lightening holes being located at least partially on the support arm.
10. The rotary drive of claim 1, wherein the drive comprises a rotary air cylinder.
11. A rotary drive apparatus, comprising:
a base;
the rotary drive device of any one of claims 1-10, the rotary drive device being connected to the base; and the number of the first and second groups,
and the clamping piece is connected with the second connecting part of the connecting shaft and is used for clamping a target object.
12. The rotary drive apparatus as claimed in claim 11, wherein the rotary drive apparatus comprises two rotary drive devices, and one of the grippers is provided on each of the rotary drive devices;
the clamping pieces are provided with clamping surfaces, and the clamping surfaces of the two clamping pieces are oppositely arranged and used for clamping the target object together.
13. A rotary drive apparatus as claimed in claim 11 or 12, wherein the base is a robotic arm of a robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110310388.5A CN115107078A (en) | 2021-03-23 | 2021-03-23 | Rotary driving device and equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110310388.5A CN115107078A (en) | 2021-03-23 | 2021-03-23 | Rotary driving device and equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115107078A true CN115107078A (en) | 2022-09-27 |
Family
ID=83323260
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110310388.5A Pending CN115107078A (en) | 2021-03-23 | 2021-03-23 | Rotary driving device and equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115107078A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BG51289A1 (en) * | 1990-01-09 | 1993-04-15 | Instit T Za Kompleksna Avtom N | Scara type training robot |
| CN101020314A (en) * | 2007-03-22 | 2007-08-22 | 上海交通大学 | Electric cord driver for artificial joint |
| CN101117990A (en) * | 2007-09-18 | 2008-02-06 | 洪涛 | Zero-impact spring steel ball safety clutch |
| CN105437221A (en) * | 2015-12-29 | 2016-03-30 | 苏州卓德电子有限公司 | Omnidirectional linked mechanical arm |
| CN106426175A (en) * | 2016-11-08 | 2017-02-22 | 北京中科万盛智能装备科技有限公司 | Automatic screwing robot for high-locking-force bolt and end effecter of automatic screwing robot |
| JP2020131317A (en) * | 2019-02-15 | 2020-08-31 | 株式会社コガネイ | Rotary gripper |
| CN212736066U (en) * | 2020-05-25 | 2021-03-19 | 王平喜 | Mechanical joint of mechanical arm |
| CN215037621U (en) * | 2021-03-23 | 2021-12-07 | 上海海立电器有限公司 | Rotary driving device and equipment |
-
2021
- 2021-03-23 CN CN202110310388.5A patent/CN115107078A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BG51289A1 (en) * | 1990-01-09 | 1993-04-15 | Instit T Za Kompleksna Avtom N | Scara type training robot |
| CN101020314A (en) * | 2007-03-22 | 2007-08-22 | 上海交通大学 | Electric cord driver for artificial joint |
| CN101117990A (en) * | 2007-09-18 | 2008-02-06 | 洪涛 | Zero-impact spring steel ball safety clutch |
| CN105437221A (en) * | 2015-12-29 | 2016-03-30 | 苏州卓德电子有限公司 | Omnidirectional linked mechanical arm |
| CN106426175A (en) * | 2016-11-08 | 2017-02-22 | 北京中科万盛智能装备科技有限公司 | Automatic screwing robot for high-locking-force bolt and end effecter of automatic screwing robot |
| JP2020131317A (en) * | 2019-02-15 | 2020-08-31 | 株式会社コガネイ | Rotary gripper |
| CN212736066U (en) * | 2020-05-25 | 2021-03-19 | 王平喜 | Mechanical joint of mechanical arm |
| CN215037621U (en) * | 2021-03-23 | 2021-12-07 | 上海海立电器有限公司 | Rotary driving device and equipment |
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