CN204546556U - The parallel steering wheel of double freedom based on differential gear train - Google Patents

The parallel steering wheel of double freedom based on differential gear train Download PDF

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Publication number
CN204546556U
CN204546556U CN201520197601.6U CN201520197601U CN204546556U CN 204546556 U CN204546556 U CN 204546556U CN 201520197601 U CN201520197601 U CN 201520197601U CN 204546556 U CN204546556 U CN 204546556U
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China
Prior art keywords
gear
bevel gear
drive unit
steering wheel
driven
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Expired - Fee Related
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CN201520197601.6U
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Chinese (zh)
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姜国军
姚皓天
厉丹阳
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姜国军
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Abstract

The utility model relates to robot field, in particular to the parallel steering wheel of a kind of double freedom based on differential gear train.It comprises body frame, the first drive unit, the second drive unit, the first bevel gear, the second bevel gear and third hand tap gear; First bevel gear, the second bevel gear and third hand tap pinion rotation are arranged on body frame; First drive unit is connected with the first bevel gear; Second drive unit is connected with the second bevel gear, and the second bevel gear can be driven to rotate; First bevel gear is coaxial and be oppositely arranged with the second bevel gear; Third hand tap gear engages with the first bevel gear and the second bevel gear respectively, can carry out revolving round the sun and rotation under the driving of the first bevel gear and the second bevel gear.The utility model changes the present situation needing two steering wheel series connection when existing steering wheel realizes Bidirectional freedom degree, improves the utilization rate of steering wheel in joint, and the rotation overcome when two steering wheels are connected is non-intersect, the problem inconsistent with biology joint.

Description

The parallel steering wheel of double freedom based on differential gear train
Technical field
The utility model relates to robot field, in particular to the parallel steering wheel of a kind of double freedom based on differential gear train.
Background technology
Existing steering wheel output shaft all only has one degree of freedom, for multi-freedom robot joint, want to realize multiple free degree, be by by steering wheel series connection realize. current most of assembly robot be all connected by steering wheel assembled, complex structure, the steering wheel quantity of use is many.
For realizing the joint of robot of two frees degree, prior art is connected by single-degree-of-freedom steering wheel, and this structural disadvantages is as follows:
1, Bucket Principle, two steering wheel series connection, but respective dynamic performance is independent, and the exercise performance in two frees degree is also independent, and can there is a steering wheel and reach output limit, a steering wheel, without work, causes the utilization rate of two steering wheels in joint module not high;
2, structure is not compact, and two motor series connection can cause that structure is elongated, joint is elongated, wrist joint embody especially obvious;
3, two steering wheel rotations are non-intersect, inconsistent with biology joint.
Utility model content
The purpose of this utility model is to provide a kind of double freedom based on differential gear train parallel steering wheel, to solve the above problems.
Embodiments provides the parallel steering wheel of a kind of double freedom based on differential gear train of the present utility model, comprise body frame, the first drive unit, the second drive unit, the first bevel gear, the second bevel gear and third hand tap gear;
First bevel gear, the second bevel gear and third hand tap pinion rotation are arranged on body frame;
First drive unit is connected with the first bevel gear, and the first bevel gear can be driven to rotate;
Second drive unit is connected with the second bevel gear, and the second bevel gear can be driven to rotate;
First bevel gear is coaxial and be oppositely arranged with the second bevel gear;
Third hand tap gear engages with the first bevel gear and the second bevel gear respectively, can carry out revolving round the sun and rotation under the driving of the first bevel gear and the second bevel gear.
Further, deceleration device is provided with between the first drive unit and the first bevel gear;
Also deceleration device is provided with between second drive unit and the second bevel gear.
Further, deceleration device comprises driven wheel, driven gear and driving gear set;
First drive unit or the second drive unit connect driven wheel, and driven wheel can be driven to rotate;
Driving gear set engages with driven wheel and driven gear respectively;
Driven gear and the first bevel gear are coaxially arranged;
The rotating speed of driven wheel is greater than the rotating speed of driven gear.
Further, driving gear set comprises coaxially and the first travelling gear be fixedly installed and the second travelling gear;
The diameter of the first travelling gear is greater than the diameter of the second travelling gear;
First travelling gear engages with driven wheel;
Second travelling gear engages with driven gear.
Further, the parallel steering wheel of double freedom based on differential gear train also comprises controller;
Controller is arranged on body frame inside;
Controller is connected with the first drive unit and the second drive unit respectively, can control the duty of the first drive unit and the second drive unit.
Further, the parallel steering wheel of double freedom based on differential gear train also comprises feedback device;
Feedback device is arranged on the both sides of body frame inside, for feeding back the position of third hand tap gear.
Further, feedback device comprises the feedback gear of data processor, two magnetic coder processors, two magnetic patch and two and the synchronized rotation of the first bevel gear;
Magnetic patch is arranged on the side of feedback gear;
Data processor is fixedly installed on body frame, and is oppositely arranged with magnetic coder processor;
Data processor is connected with magnetic coder processor.
Further, the 3rd travelling gear is provided with between feedback gear and driven gear.
Further, the first bevel gear is all connected with body frame by bearing with the second bevel gear.
Further, the first drive unit and the second drive unit are motor.
The parallel steering wheel of the double freedom based on differential gear train that the utility model provides, central gear is formed by the first relatively independent bevel gear and the second bevel gear, triconodont wheel shape becomes planetary gear, jointly form an epicyclic train with the first bevel gear and the second bevel gear, drive the first bevel gear and the second bevel gear respectively by the first drive unit and the second drive unit.When the first bevel gear and the second bevel gear rotating in same direction, third hand tap gear revolves round the sun around the axis of the first bevel gear, when the first bevel gear and the second bevel gear rotate backward, third hand tap gear stops revolution carrying out rotation, and then the rotation of two frees degree achieving third hand tap gear exports, change the present situation needing two steering wheel series connection when existing steering wheel realizes Bidirectional freedom degree, improve the utilization rate of steering wheel in joint, and the rotation overcome when two steering wheels are connected is non-intersect, the problem inconsistent with biology joint.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model detailed description of the invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in detailed description of the invention or description of the prior art below, apparently, accompanying drawing in the following describes is embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the front view of the utility model based on the parallel steering wheel of double freedom of differential gear train;
Fig. 2 is the A-A sectional view of Fig. 1;
Fig. 3 is the perspective view of the utility model based on the parallel steering wheel of double freedom of differential gear train;
Fig. 4 is the structural representation of the utility model based on the driving gear set of the parallel steering wheel of double freedom of differential gear train;
Fig. 5 is the side view of Fig. 4;
Fig. 6 is the structural representation of the utility model based on the threeway frame of the parallel steering wheel of double freedom of differential gear train.
Reference numeral:
1: body frame 2: threeway frame 3: the third hand tap gear
4: the first bevel gears 5: driven gear 6: magnetic coder processor
7: controller 8: the second drive unit 9: driven wheel
10: driving gear set 11: the second bevel gear 12: bearing
13: feedback gear 14: the first drive unit 15: the first travelling gear
16: the second travelling gears 17: intercommunicating pore
Detailed description of the invention
For making the purpose of this utility model, technical scheme and advantage clearly, carry out clear, complete description by the technical solution of the utility model below.Obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, other embodiments all that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belong to the scope that the utility model is protected.
In description of the present utility model, it should be noted that, orientation or the position relationship of the instruction such as term " " center ", " on ", D score, "left", "right", " vertically ", " level ", " interior ", " outward " they be based on orientation shown in the drawings or position relationship; be only the utility model and simplified characterization for convenience of description; instead of instruction or imply the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as restriction of the present utility model.In addition, term " first ", " second ", " the 3rd " only for describing object, and can not be interpreted as instruction or hint relative importance.
In description of the present utility model, also it should be noted that, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, concrete condition the concrete meaning of above-mentioned term in the utility model can be understood.
As shown in drawings, the utility model provides the parallel steering wheel of a kind of double freedom based on differential gear train, comprises body frame 1, first drive unit 14, second drive unit 8, first bevel gear 4, second bevel gear 11 and third hand tap gear 3;
First bevel gear 4, second bevel gear 11 and third hand tap gear 3 rotate and are arranged on body frame 1;
First drive unit 14 is connected with the first bevel gear 4, and the first bevel gear 4 can be driven to rotate;
Second drive unit 8 is connected with the second bevel gear 11, and the second bevel gear 11 can be driven to rotate;
First bevel gear 4 is coaxial and be oppositely arranged with the second bevel gear 11;
Third hand tap gear 3 engages with the first bevel gear 4 and the second bevel gear 11 respectively, can carry out revolving round the sun and rotation under the driving of the first bevel gear 4 and the second bevel gear 11.
Body frame 1 comprises the casing integrating all parts and the threeway frame 2 installing the first bevel gear 4, second bevel gear 11 and third hand tap gear 3, threeway frame 2 is provided with at least three intercommunicating pores 17, three bevel gears to engage respectively by three intercommunicating pores 17 of threeway frame 2.
First drive unit 14 drives the first bevel gear 4, second drive unit 8 to drive the second bevel gear 11, and third hand tap gear 3 is output gear, connects output shaft.
If the axis of the first bevel gear 4 is A axle, the axis of third hand tap gear 3 is C axle.So, when the first bevel gear 4 and the second bevel gear 11 is synchronized in the same way rotate time, third hand tap gear 3 with A axle for axis rotates; When the first bevel gear 4 and the second bevel gear 11 reverse synchronized is rotated, third hand tap gear 3 with C axle for axis rotation; When the first bevel gear 4 and the second bevel gear 11 is not synchronized rotate time, third hand tap gear 3 both with A axle for axis revolves round the sun, again can with C axle for axis rotation.
From the above, when third hand tap gear 3 of the present utility model is as output gear, with C axle for axis rotation, can revolve round the sun for axis with A axle again, achieve double freedom and export.
The parallel steering wheel of the double freedom based on differential gear train that the utility model provides, central gear is formed by the first relatively independent bevel gear 4 and the second bevel gear 11, third hand tap gear 3 forms planetary gear, jointly form the difference train of an approximate epicyclic train with the first bevel gear 4 and the second bevel gear 11, drive the first bevel gear 4 and the second bevel gear 11 respectively by the first drive unit 14 and the second drive unit 8.When the first bevel gear 4 and the second bevel gear 11 rotating in same direction, third hand tap gear 3 revolves round the sun around the axis of the first bevel gear 4, when the first bevel gear 4 and the second bevel gear 11 rotate backward, third hand tap gear 3 stops revolution carrying out rotation, and then the rotation of two frees degree achieving third hand tap gear 3 exports, change the present situation needing two steering wheel series connection when existing steering wheel realizes Bidirectional freedom degree, improve the utilization rate of steering wheel in joint, and the rotation overcome when two steering wheels are connected is non-intersect, the problem inconsistent with biology joint.
Be preferred embodiment be provided with deceleration device between the first drive unit 14 and the first bevel gear 4;
Also deceleration device is provided with between second drive unit 8 and the second bevel gear 11.
The startup rotating speed of drive unit is general higher, by deceleration device the output speed of drive unit subtracted get off after pass to the first bevel gear 4 or the second bevel gear 11, and then ensure that the rotating speed of two bevel gears can not be too fast and have influence on positioning precision.
Deceleration device has a variety of, can be gearbox speed reduction, also can be harmonic speed reducer, RV decelerator, turbine and worm etc. slow down, as long as it can realize the deceleration to drive unit.
Be preferred embodiment that deceleration device comprises driven wheel 9, driven gear 5 and driving gear set 10;
First drive unit 14 or the second drive unit 8 connect driven wheel 9, and driven wheel 9 can be driven to rotate;
Driving gear set 10 engages with driven wheel 9 and driven gear 5 respectively;
Driven gear 5 and the first bevel gear 4 are coaxially arranged;
The rotating speed of driven wheel 9 is greater than the rotating speed of driven gear 5.
Two drive units are provided with driven wheel 9, and two driven wheels 9 drive two driving gear set 10 respectively, then drive two driven gears 5 to rotate respectively, and then two driven gears 5 drive the first bevel gear 4 and the second bevel gear 11 to rotate respectively.
Realize the rotating speed of driven wheel 9 being reduced rear transmission to driven gear 5 by driving gear set 10, realize the deceleration to drive unit.
When being slowed down by driving gear set 10, can be use one group of driving gear set 10, also can be use many group driving gear set 10 to carry out multi-stage speed-reducing, concrete condition can be carried out judgement according to the actual requirements and be selected.
Be preferred embodiment that driving gear set 10 comprises coaxially and the first travelling gear 15 and the second travelling gear 16 be fixedly installed;
The diameter of the first travelling gear 15 is greater than the diameter of the second travelling gear 16;
First travelling gear 15 engages with driven wheel 9;
Second travelling gear 16 engages with driven gear 5.
Driving gear set 10 is duplicate gear, two gears be namely coaxially fixedly installed.In the utility model, the number of teeth of two gears is all not identical with diameter, the first larger for diameter travelling gear 15 is engaged with driven wheel 9, the second travelling gear 16 that diameter is less engages with driven gear 5, and realizing is the slow-speed of revolution of driven gear 5 by the high rotation speed change of driven wheel 9.
Be preferred embodiment that the parallel steering wheel of the double freedom based on differential gear train also comprises controller 7;
It is inner that controller 7 is arranged on body frame 1;
Controller 7 is connected with the first drive unit 14 and the second drive unit 8 respectively, can control the duty of the first drive unit 14 and the second drive unit 8.
Rotation direction and the rotating speed of two drive units can be controlled by controller 7, and then control the position of the third hand tap gear 3 exported.
Be preferred embodiment that the parallel steering wheel of the double freedom based on differential gear train also comprises feedback device;
Feedback device is arranged on the both sides of body frame 1 inside, for feeding back the position of third hand tap gear 3.
By feedback device, the position of the third hand tap gear 3 as output gear is positioned and fed back, and then the outgoing position accurately controlling third hand tap gear 3 can be realized.
Be preferred embodiment that feedback device comprises the feedback gear 13 of data processor, two magnetic coder processors, 6, two magnetic patch and two and the synchronized rotation of the first bevel gear 4;
Magnetic patch is arranged on the side of feedback gear 13;
Data processor is fixedly installed on body frame 1, and is oppositely arranged with magnetic coder processor 6;
Data processor is connected with magnetic coder processor 6.
As the angle θ of two frees degree of the third hand tap gear 3 of output gear a, θ cwith the movement angle θ of input first bevel gear 4 and the second bevel gear 11 1, θ 2, there is following relation:
[ θ A θ C ] = A · [ θ 1 θ 2 ] - - - ( 1 )
Wherein:
A = - 1 2 1 2 z 1 2 z 3 z 1 2 z 3 , Z 1 = Z 2
Can be found out by above-mentioned computing formula, Z 1, Z 2and Z 3for fixed value, when knowing the movement angle θ of the first bevel gear 4 and the second bevel gear 11 1, θ 2time, just can draw the particular location of third hand tap gear 3.
On casing or utilize magnetic coder processor 6 to carry out angle orientation to the magnetic patch on two feedback gears 13, and then judge the movement angle θ of the first bevel gear 4 and the second bevel gear 11 1, θ 2, the data of the movement angle of the first bevel gear 4 and the second bevel gear 11 are passed to data processor by magnetic coder processor 6, and data processor draws the position of third hand tap gear 3 by above-mentioned formula.
It is pointed out that data processor can be independent setting, also can be unite two into one with above-mentioned controller 7, uses the processor of controller 7 to carry out data processing, and then more can save space, is also convenient to the unified process of data simultaneously.
Must be found out by above-mentioned, parallel two degree-of-freedom joint servo-drive system can be formed by absolute type magnetic coder (i.e. magnetic coder processor 6 and magnetic patch), drive unit and master control borad (i.e. controller 7).Absolute type magnetic coder obtains the absolute angle that two drive bevel gear, and the rotation of two drive units realizes the rotation of two bevel gears, and the double freedom realizing exporting cone pulley tooth through difference train exports.
The key problem in technology of joint servo system is the angle of output shaft both direction and transformation relation, the brushless electric machine drive scheme of the absolute angle of driving bevel gear.Introduce the working mechanism of each several part below respectively.
If the angle on target of output shaft is respectively θ gA, θ gC, the angle on target corresponding θ respectively of encoder g1, θ g1, can obtain according to formula (1):
θ g 1 θg 2 = A - 1 · θ gA θ gC - - - ( 2 )
Obviously, for the arbitrary target angle of output shaft, two drive the absolute angle of the equal existence anduniquess of bevel gear corresponding with it.Consider the angle restriction of output shaft, wherein-90 °≤θ gA≤ 90 ° ,-∞ < θ gC< ∞, can obtain-∞ < θ thus g1, θ g1< ∞.In fact the absolute angle of encoder is at [0 °, 360 °], can cause one group &theta; g 1 &theta;g 2 Corresponding multiple &theta; gA &theta; gC , For solving this situation, by the angle of encoder being carried out " separating winding ", be extended to [-∞, ∞].
Be preferred embodiment between feedback gear 13 and driven gear 5, be provided with the 3rd travelling gear.
By the setting of the 3rd travelling gear, the distance of feedback gear 13 with driven gear 5 can be pulled open, make the installation site of feedback gear 13 more flexible.
Be preferred embodiment that the first bevel gear 4 is all connected with body frame 1 by bearing 12 with the second bevel gear 11.
By bearing 12, first bevel gear 4 is connected with body frame 1 with the second bevel gear 11, reduces the friction between two bevel gears and body frame 1, improve the service life of bevel gear and body frame 1.
Be preferred embodiment that the first drive unit 14 and the second drive unit 8 are motor.
First drive unit 14 and the second drive unit 8 all adopt brushless electric machine.
In recent years, brushless electric machine starts to be widely used in all trades and professions, mainly comes from the high efficiency of brushless electric machine, high power density, high reliability and good controllability.Adopt the Electric Machine Control solution InstaSPIN-FOC chip of TI company of Texas Instrument herein, go through the improvement of more than 10 times, devise small-sized brushless motor driver, can realize controlling the rotating speed of motor, position control, Torque Control, Acceleration Control, Current Control.Chip adopts vector controlled, for six step formula induction less brush-less Electric Machine Control, is the control strategy of a kind of advanced person, greatly improves the power density of motor, conversion efficiency and low-speed performance.
The utility model utilizes bionics principle, devise parallel double-degree-of-freedom robot articulation structure, overcome the shortcoming of simple steering wheel tandem two degree-of-freedom joint, give full play to the performance of two drive motors, and the induction less brush-less motor drive schemes by adopting TI up-to-date, improve the low-speed motion performance of joint of robot.Double freedom robot joints is carried out modularized encapsulation, and just the rapid-assembling exploitation of Robot Design, simultaneously by different mounting means, can realize different application, have good application prospect.
Last it is noted that above each embodiment is only in order to illustrate the technical solution of the utility model, be not intended to limit; Although be described in detail the utility model with reference to foregoing embodiments, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of each embodiment technical scheme of the utility model.

Claims (10)

1. based on the parallel steering wheel of double freedom of differential gear train, it is characterized in that, comprise body frame, the first drive unit, the second drive unit, the first bevel gear, the second bevel gear and third hand tap gear;
Described first bevel gear, described second bevel gear and described third hand tap pinion rotation are arranged on described body frame;
Described first drive unit is connected with described first bevel gear, and described first bevel gear can be driven to rotate;
Described second drive unit is connected with described second bevel gear, and described second bevel gear can be driven to rotate;
Described first bevel gear is coaxial and be oppositely arranged with described second bevel gear;
Described third hand tap gear engages with described first bevel gear and described second bevel gear respectively, can carry out revolving round the sun and rotation under the driving of described first bevel gear and described second bevel gear.
2. the parallel steering wheel of the double freedom based on differential gear train according to claim 1, is characterized in that, is provided with deceleration device between described first drive unit and described first bevel gear;
Also deceleration device is provided with between described second drive unit and described second bevel gear.
3. the parallel steering wheel of the double freedom based on differential gear train according to claim 2, it is characterized in that, described deceleration device comprises driven wheel, driven gear and driving gear set;
Described first drive unit or described second drive unit connect described driven wheel, and described driven wheel can be driven to rotate;
Described driving gear set engages with described driven wheel and described driven gear respectively;
Described driven gear and described first bevel gear are coaxially arranged;
The rotating speed of described driven wheel is greater than the rotating speed of described driven gear.
4. the parallel steering wheel of the double freedom based on differential gear train according to claim 3, is characterized in that, described driving gear set comprises coaxially and the first travelling gear be fixedly installed and the second travelling gear;
The diameter of described first travelling gear is greater than the diameter of described second travelling gear;
Described first travelling gear engages with described driven wheel;
Described second travelling gear engages with described driven gear.
5. the parallel steering wheel of the double freedom based on differential gear train according to claim 1, is characterized in that, also comprise controller;
It is inner that described controller is arranged on described body frame;
Described controller is connected with described first drive unit and described second drive unit respectively, can control the duty of described first drive unit and described second drive unit.
6. the parallel steering wheel of the double freedom based on differential gear train according to claim 3, is characterized in that, also comprise feedback device;
Described feedback device is arranged on the both sides of described body frame inside, for feeding back the position of described third hand tap gear.
7. the parallel steering wheel of the double freedom based on differential gear train according to claim 6, it is characterized in that, described feedback device comprises the feedback gear of data processor, two magnetic coder processors, two magnetic patch and two and the synchronized rotation of described first bevel gear;
Described magnetic patch is arranged on the side of described feedback gear;
Described data processor is fixedly installed on described body frame, and is oppositely arranged with described magnetic coder processor;
Described data processor is connected with described magnetic coder processor.
8. the parallel steering wheel of the double freedom based on differential gear train according to claim 7, is characterized in that, is provided with the 3rd travelling gear between described feedback gear and described driven gear.
9. the parallel steering wheel of the double freedom based on differential gear train according to claim 1, is characterized in that, described first bevel gear is all connected with described body frame by bearing with described second bevel gear.
10. the parallel steering wheel of the double freedom based on differential gear train according to any one of claim 1-9, is characterized in that, described first drive unit and described second drive unit are motor.
CN201520197601.6U 2015-04-02 2015-04-02 The parallel steering wheel of double freedom based on differential gear train Expired - Fee Related CN204546556U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106182071A (en) * 2016-08-05 2016-12-07 北京理工大学 Two degrees of freedom rotates flexible differential driving joint module
CN109129393A (en) * 2018-08-01 2019-01-04 安徽信息工程学院 The automatic offsetting machine device people of carbon-free trolley
CN109539020A (en) * 2018-11-13 2019-03-29 江苏泓睿德智能科技有限公司 A kind of LED wall lamp
CN109866250A (en) * 2019-03-01 2019-06-11 达闼科技(北京)有限公司 Robot wrist structure and robot
CN111137437A (en) * 2019-12-27 2020-05-12 航天时代飞鸿技术有限公司 Dual-redundancy electric steering engine

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106182071A (en) * 2016-08-05 2016-12-07 北京理工大学 Two degrees of freedom rotates flexible differential driving joint module
CN106182071B (en) * 2016-08-05 2018-10-23 北京理工大学 The flexible differential driving joint module of two degrees of freedom rotation
CN109129393A (en) * 2018-08-01 2019-01-04 安徽信息工程学院 The automatic offsetting machine device people of carbon-free trolley
CN109129393B (en) * 2018-08-01 2022-03-04 安徽信息工程学院 Automatic pile placing robot for carbon-free trolley
CN109539020A (en) * 2018-11-13 2019-03-29 江苏泓睿德智能科技有限公司 A kind of LED wall lamp
CN109866250A (en) * 2019-03-01 2019-06-11 达闼科技(北京)有限公司 Robot wrist structure and robot
EP3715061A1 (en) * 2019-03-01 2020-09-30 Cloudminds (Beijing) Technologies Co., Ltd. Robot wrist structure and robot
CN109866250B (en) * 2019-03-01 2021-08-13 达闼科技(北京)有限公司 Robot wrist structure and robot
CN111137437A (en) * 2019-12-27 2020-05-12 航天时代飞鸿技术有限公司 Dual-redundancy electric steering engine

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