CN206326621U - A kind of robot wrist with built-in power transmission shaft - Google Patents

A kind of robot wrist with built-in power transmission shaft Download PDF

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Publication number
CN206326621U
CN206326621U CN201621209675.8U CN201621209675U CN206326621U CN 206326621 U CN206326621 U CN 206326621U CN 201621209675 U CN201621209675 U CN 201621209675U CN 206326621 U CN206326621 U CN 206326621U
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CN
China
Prior art keywords
axle
speed reducer
harmonic speed
shaft
transition
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.)
Withdrawn - After Issue
Application number
CN201621209675.8U
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Chinese (zh)
Inventor
龚仲华
龚晓雯
顾鑫
金建平
陈志文
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Changzhou Vocational Institute of Mechatronic Technology
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Changzhou Vocational Institute of Mechatronic Technology
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Priority to CN201621209675.8U priority Critical patent/CN206326621U/en
Application granted granted Critical
Publication of CN206326621U publication Critical patent/CN206326621U/en
Withdrawn - After Issue legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a kind of robot wrist with built-in power transmission shaft, including:Connector, the connector is hollow structure, and its rear end is used for connecting robot upper arm, and front end is used for supporting pendular body revolution and connection B axle reduction assemblies, and inner chamber is used for installing built-in B/T transmission shaft components;The pendular body rotates to realize B axle oscillating motion on connector;The B axle reduction assemblies can drive pendular body low speed oscillations;T axles to slow down and realize T axle gyrations with output precision band power driven tools mounting flange and power tool;T input shaft power in built-in B/T transmission shaft components can be delivered on T axle harmonic speed reducer input shafts by T axle intermediate transmissions component.It is 4 global facilities that are independent, can directly assembling and disassembling that B/T transmission shaft components of the present utility model, B axle reduction assemblies, T axles, which slow down with output precision, T axle intermediate transmissions component, in assembling or maintenance, any adjustment need not be carried out, the problems such as not only solving separation, the installation, maintenance of decelerator and drivetrain components, transmission system precision is ensure that, service life is extended;Meanwhile, the quantity of component of machine is drastically reduce the area again;It is simple in construction, manufacture and assembling maintenance is very easy to.

Description

A kind of robot wrist with built-in power transmission shaft
Technical field
The utility model is related to industrial robot field, especially a kind of robot wrist with built-in power transmission shaft.
Background technology
Industry robot wrist needs wrist revolution (R axles), 3 revolution fortune of wrist swinging (B axle) and wrist revolution (T axles) Moving axis.In order to realize gyration, it is necessary to have corresponding motor, decelerator and transmission system.In order to improve output torque With robot bearing capacity, R/B/T axle motors is needed enough installing spaces, and reduce the volume and again of upper arm Amount, big-and-middle humanoid robot needs R/B/T axle motors being arranged in upper arm rear end, to balance upper arm weight, lower the center of gravity, carried High job stabilization.The rearmounted robot wrist of motor, its B/T shaft transmission system needs to be arranged in inside upper arm, then B axle is converted into wrist to swing and T axle gyrations.Therefore, its drive system structure is generally more complicated, installs and adjusts Examination and maintenance are very difficult.
Utility model content
The purpose of this utility model is to overcome the defect of prior art there is provided a kind of robot with built-in power transmission shaft Wrist, can not only meet the B/T axles transmission requirement of the rearmounted robot of motor, and in installation and debugging and maintenance without separation Harmonic speed reducer and drivetrain components, therefore transmission accuracy can be improved, increased the service life;Meanwhile, its is simple in construction, production system Make and assemble, repair very easy.
The utility model solves the technical scheme that prior art problem is used:A kind of robot with built-in power transmission shaft Wrist, including:Connector, the connector is hollow structure, and its front end is used for connecting pendular body, and rear end is used for connecting robot Upper arm;
Built-in B/T transmission shaft components, in the hollow cavity of the connector, including overcoat and are located at the overcoat Interior B axle adapter sleeve, inner sleeve, B axle bevel gear, B input shafts, T input shafts and T shaft bevel gears, the rear end of the inner sleeve passes through institute State B axle adapter sleeve to be connected with the B input shafts, the front end of the inner sleeve is connected by locking nut, key and the B axle bevel gear Connect, the inner sleeve, B axle adapter sleeve, B axle bevel gear can revolve after being coordinated by bearing support and the overcoat in the overcoat Turn, the T shaft bevel gears are matched somebody with somebody with the inner sleeve by bearing support and merge and can be rotated in the inner sleeve, the T axles umbrella tooth Wheel is connected by key, fixing screws with the T input shafts;
B axle reduction assemblies, the B axle reduction assemblies are to realize the combiner that B axle is slowed down, before the connector Side, including B axle harmonic speed reducer are held, the B axle harmonic speed reducer includes B axle input bevel gear, B axle harmonic speed reducer and inputted Axle and B axle harmonic speed reducer output shaft, the B axle harmonic speed reducer output shaft are connected with the pendular body, and the B axle inputs umbrella Gear is located at the B axle harmonic speed reducer input shaft, and the input bevel gear is engaged with the B axle bevel gear;
T axles slow down and output precision, and it is for realizing that T axles slow down and installation exercise work that the T axles, which slow down with output precision, The combiner of tool, located at the front end of the pendular body, including T axles harmonic speed reducer, instrument mounting flange and hermetically sealed case, institute State T axles harmonic speed reducer, instrument mounting flange to be each provided in the hermetically sealed case, the T axles harmonic speed reducer is inputted including T axles Bevel gear, T axle harmonic speed reducer input shafts and T axle harmonic speed reducer output shafts, the T axles input bevel gear are located at the T axles On harmonic speed reducer input shaft, the instrument mounting flange is connected with the T axles harmonic speed reducer output shaft;
T axle intermediate transmission components, the T axles intermediate transmission component is for connection to built-in B/T transmission shaft components and T axles Slow down and the combiner of output precision, the opposite side located at the front end of the connector, including two groups completely identical in structure First Transition axle portion part and the second transition axis part, the First Transition axle portion part are located at the front end of the connector, described the Two transition axis parts are located at the front end of the pendular body, and the First Transition axle portion part passes through same with the second transition axis part Belt connection is walked, the First Transition axle portion part includes First Transition shaft bevel gear, First Transition e axle supporting seat and First Transition Axle intermediate propeller shaft, the First Transition shaft bevel gear is fixed on the First Transition axle intermediate propeller shaft by key, screw, pad On, the First Transition shaft bevel gear is engaged with the T shaft bevel gears, and the second transition axis part includes the second transition axis umbrella Gear, the second transition axis fulcrum bearing and the second transition axis intermediate propeller shaft, the second transition shaft bevel gear by key, screw, Pad is fixed on the second transition axis intermediate propeller shaft, and the second transition shaft bevel gear is nibbled with the T axles input bevel gear Close.
Further, the pendular body is U-shaped casing, including the casing with fixed arm and the auxiliary that is fixed on casing Arm, the pendular body is rotatably connected on the connector.
Further, the fixed arm is connected with the B axle harmonic speed reducer output shaft, and the sub-arm is provided with auxiliary Bearing support, the aiding support bearing is fixed on the connector by locking nut.
Further, the sub-arm is to pass through attachment screw and the pendular body on the inside of duplex end cover structure, drive end bearing bracket It is connected, rear end cap is provided with aiding support bearing, it can fix the outer ring of aiding support bearing by trim ring, attachment screw. Further, the B axle bevel gear is identical with the B axle input bevel gear modulus but diameter can be different, changes bevel gear Diameter can adjust the relative position of B axle harmonic speed reducer and B/T transmission shaft components.
Further, the T shaft bevel gears and the bevel gear mould being located on the T axles intermediate transmission component transition axis part The identical but diameter of number can be different, and the diameter for changing bevel gear can adjust the phase of T axle intermediate transmission components and B/T transmission shaft components To position.
Further, the B axle harmonic speed reducer and the B axle harmonic speed reducer input shaft, the B axle harmonic speed reducer Output shaft is connected by that can bear the crossed roller bearing of radial and axial load simultaneously respectively.
Further, the T axles harmonic speed reducer and the T axles harmonic speed reducer input shaft, the T axles harmonic speed reducer Output shaft is connected by that can bear the crossed roller bearing of radial and axial load simultaneously respectively.
Further, the instrument mounting flange is linked to be one by attachment screw and the T axles harmonic speed reducer output shaft Body.
Further, the hermetically sealed case is fixed on the pendular body, is pacified as the T axles harmonic speed reducer and instrument Fill the protection shell of flange.
The beneficial effect of utility model is:The utility model by whole Element Designs of wrist into 4 it is independent, can be straight Any adjustment need not be carried out when being hinged with the integral unit torn open, assembling or maintenance.Compared with common robot wrist, not only solved The problems such as separation of harmonic speed reducer and drivetrain components, installation, maintenance, and in assembling or maintenance without be appointed What is adjusted, therefore be can ensure that transmission accuracy, increased the service life;Meanwhile, component of machine quantity is drastically reduce the area again;Its structure Simply, manufacture and assemble, maintenance is very easy to.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and examples.
Fig. 1 is structural representation of the present utility model;
In figure:1st, connector, 2, overcoat, 2.1, B axle adapter sleeve, 2.2, B axle inner sleeve, 2.3, B axle bevel gear, 3, B axle it is defeated Enter axle, 4, T axle input shafts, 4.1, T shaft bevel gears, 5, First Transition axle portion part, 5.1, First Transition shaft bevel gear, 5.2, first Transition axis fulcrum bearing, 5.3, First Transition axle intermediate propeller shaft, 6, sub-arm, 6.1, aiding support bearing, 7, synchronous belt, 8, Passed in the middle of second transition axis part, the 8.1, second transition shaft bevel gear, the 8.2, second transition axis fulcrum bearing, the 8.3, second transition axis Moving axis, 9, T axle harmonic speed reducers, 9.1, T axle input bevel gears, 9.2, T axle harmonic speed reducer input shafts, 9.3, T axle harmonic waves subtract Fast device output shaft, 10, instrument mounting flange, 11, hermetically sealed case, 12, pendular body, 13, B axle harmonic speed reducer, 13.1, B axle it is defeated Enter bevel gear, 13.2, B axle harmonic speed reducer input shaft, 13.3, B axle harmonic speed reducer output shaft.
Embodiment
The utility model is described in further detail presently in connection with accompanying drawing.These accompanying drawings are simplified schematic diagram, Only illustrate basic structure of the present utility model in a schematic way, therefore it only shows the composition relevant with the utility model.
A kind of robot wrist with built-in power transmission shaft as shown in Figure 1, including:Connector 1, the connector 1 is Hollow structure, its front end is used for connecting pendular body 12, and rear end is used for connecting robot upper arm;
Built-in B/T transmission shaft components, in the hollow cavity of the connector 1, including overcoat 2 and are located at described outer B axle adapter sleeve 2.1, inner sleeve 2.2, B axle bevel gear 2.3, B input shafts 3, T input shafts 4 and T shaft bevel gears 4.1 in set 2, it is described The rear end of inner sleeve 2.2 is connected by the B axle adapter sleeve 2.1 with the B input shafts 3, front end and the B of the inner sleeve 2.2 Shaft bevel gear 2.3 is connected, and the inner sleeve 2.2, B axle adapter sleeve 2.1, B axle bevel gear 2.3 and the overcoat 2 are with merge can be in institute State in overcoat 2 and rotate, the T shaft bevel gears 4.1 are matched somebody with somebody with the inner sleeve 2.2 and merge and can be rotated in the inner sleeve 2.2, the T Shaft bevel gear 4.1 is connected with the T input shafts 4;
B axle reduction assemblies, located at the front end side of the connector 1, including B axle harmonic speed reducer 13, the B axle harmonic wave Decelerator 13 includes B axle input bevel gear 13.1, B axle harmonic speed reducer input shaft 13.2 and B axle harmonic speed reducer output shaft 13.3, the B axle harmonic speed reducer output shaft 13.3 is connected with the pendular body 12, and the B axle input bevel gear 13.1 passes through Connecting key, central screw, pad are fixed on the B axle harmonic speed reducer input shaft 13.2, described B axle harmonic speed reducer 13 with The B axle harmonic speed reducer input shaft 13.2, the B axle harmonic speed reducer output shaft 13.3 are respectively by can bear radially simultaneously Connected with the crossed roller bearing of axial load, the input bevel gear 13.1 is engaged with the B axle bevel gear 2.3;
T axles slow down and output precision, are installed located at the front end of the pendular body 12, including T axles harmonic speed reducer 9, instrument Flange 10 and hermetically sealed case 11, the T axles harmonic speed reducer 9, instrument mounting flange 10 are each provided in the hermetically sealed case 11, institute State T axles harmonic speed reducer 9 defeated including T axles input bevel gear 9.1, T axle harmonic speed reducers input shaft 9.2 and T axle harmonic speed reducers Shaft 9.3, the T axles input bevel gear 9.1 is located on the T axles harmonic speed reducer input shaft 9.2, the instrument mounting flange 10 are connected with the T axles harmonic speed reducer output shaft 9.3, and described T axles harmonic speed reducer 9 and the T axles harmonic speed reducer are defeated Enter axle 9.2, the T axles harmonic speed reducer output shaft 9.3 respectively by can be while bearing the crossed roller of radial and axial load Bearing is connected, and the instrument mounting flange 10 is connected by attachment screw and the T axles harmonic speed reducer output shaft 9.3, The hermetically sealed case 11 is fixed on the pendular body 12, is used as the guarantor of the T axles harmonic speed reducer 9 and instrument mounting flange 10 Protect shell;
T axle intermediate transmission components, the opposite side located at the front end of the connector 1, including two groups completely identical in structure First Transition axle portion part 5 and the second transition axis part 8, the First Transition axle portion part 5 are located at the front end of the connector 1, institute State the front end that the second transition axis part 8 is located at the pendular body 12, the First Transition axle portion part 5 and the second transition axle portion Part 8 is connected by synchronous belt 7, and the First Transition axle portion part 5 includes First Transition shaft bevel gear 5.1, First Transition axle branch Bearing 5.2 and First Transition axle intermediate propeller shaft 5.3, the First Transition shaft bevel gear 5.1 are fixed on the First Transition axle On intermediate propeller shaft 5.3, the First Transition shaft bevel gear 5.1 is engaged with the T shaft bevel gears 4.1, second transition axis Part 8 includes the second transition shaft bevel gear 8.1, the second transition axis fulcrum bearing 8.2 and the second transition axis intermediate propeller shaft 8.3, institute State the second transition shaft bevel gear 8.1 to be fixed on the second transition axis intermediate propeller shaft 8.3, the second transition shaft bevel gear 8.1 engage with the T axles input bevel gear 9.1.
The pendular body 12 is U-shaped casing, including the casing with fixed arm and the sub-arm 6 that is fixed on casing, described Pendular body 12 is rotatably connected on the connector 1.The fixed arm connects with the B axle harmonic speed reducer output shaft 13.3 Connect, the sub-arm 6 is provided with aiding support bearing 6.1, the aiding support bearing 6.1 is fixed on described by locking nut On connector 1.The sub-arm 6 is to be linked to be on the inside of duplex end cover structure, drive end bearing bracket by attachment screw and the pendular body 12 One, rear end cap is provided with aiding support bearing 6.1, and rear end cap is fixed on the aiding support bearing by trim ring, attachment screw On 6.1.
Operation principle of the present utility model is as follows:When wrist needs to carry out B axle swing, B axle servo drive motor drives B defeated Enter axle 2.1 to rotate, then transferred power to by the inner sleeve 2.2 of built-in B/T transmission shaft components on B axle bevel gear 2.3, passed through After the conversion of B axle input bevel gear 13.1 engaged with B axle bevel gear 2.3 is turned to, B axle harmonic speed reducer input shaft 13.2 is driven to revolve Turn, after B axle harmonic speed reducer 13 slows down, B axle harmonic speed reducer output shaft 13.3 can directly drive pendular body 12 to complete wrist pendulum Action;When wrist needs to carry out the rotation of T axles, T axles servo drive motor drives the inner sleeve 2.2 of built-in B/T transmission shaft components In T input shafts 4 rotate, then converted and turned to by T shaft bevel gears 4.1, and then again by engaging with T shaft bevel gears 4.1 After the conversion of First Transition shaft bevel gear 5.1 is turned to, First Transition axle intermediate propeller shaft 5.3 is driven to rotate, and then pass through synchronous skin The second transition axis intermediate propeller shaft 8.3 with 7 the second transition axis parts 8 of drive rotates, eventually through the second transition shaft bevel gear 8.1 and engaged with the second transition shaft bevel gear 8.1 T axles input bevel gear 9.1 conversion turn to, drive pendular body on T axles it is humorous Ripple reducer input shaft 9.2 rotates, after T axles harmonic speed reducer 9 slows down, because of T axle harmonic speed reducers output shaft 9.3 and instrument installation Flange 10 links into an integrated entity, therefore can be complete with power driven tools mounting flange 10 and the power tool being fixed on instrument mounting flange 10 Into wrist revolution action.
Specific case used herein is set forth to principle of the present utility model and embodiment, above example Explanation be only intended to help and understand method of the present utility model and its core concept.It should be pointed out that for the art For those of ordinary skill, on the premise of the utility model is not departed from, can also to the utility model carry out it is some improvement and Modification, these are improved and modification is also fallen into the utility model scope of the claims.

Claims (8)

1. a kind of robot wrist with built-in power transmission shaft, including:
Connector (1), the connector (1) is hollow structure, and its front end is used for connecting pendular body (12), and rear end is used for connecting machine Device people's upper arm;
Built-in B/T transmission shaft components, in the hollow cavity of the connector (1), including overcoat (2) and are located at described outer Cover B axle adapter sleeve (2.1), inner sleeve (2.2), B axle bevel gear (2.3), B input shafts (3), T input shafts (4) and the T axle umbrellas in (2) Gear (4.1), the rear end of the inner sleeve (2.2) is connected by the B axle adapter sleeve (2.1) with the B input shafts (3), described The front end of inner sleeve (2.2) is connected with the B axle bevel gear (2.3), the inner sleeve (2.2), B axle adapter sleeve (2.1), B axle umbrella tooth Wheel (2.3) is matched somebody with somebody with the overcoat (2) to be merged and can be rotated in the overcoat (2), the T shaft bevel gears (4.1) and the inner sleeve (2.2) it can be rotated with merging in the inner sleeve (2.2), the T shaft bevel gears (4.1) are connected with the T input shafts (4);
B axle reduction assemblies, located at the front end side of the connector (1), including B axle harmonic speed reducer (13), the B axle harmonic wave It is defeated that decelerator (13) includes B axle input bevel gear (13.1), B axle harmonic speed reducer input shaft (13.2) and B axle harmonic speed reducer Shaft (13.3), the B axle harmonic speed reducer output shaft (13.3) is connected with the pendular body (12), and the B axle inputs umbrella tooth Wheel (13.1) is located on the B axle harmonic speed reducer input shaft (13.2), the B axle input bevel gear (13.1) and the B axle Bevel gear (2.3) is engaged;
T axles slow down and output precision, the front end located at the pendular body (12), including T axles harmonic speed reducer (9), instrument are installed Flange (10) and hermetically sealed case (11), the T axles harmonic speed reducer (9), instrument mounting flange (10) are each provided at outside the sealing Cover in (11), the T axles harmonic speed reducer (9) includes T axles input bevel gear (9.1), T axle harmonic speed reducer input shafts (9.2) With T axle harmonic speed reducer output shafts (9.3), the T axles input bevel gear (9.1) is located at the T axles harmonic speed reducer input shaft (9.2) on, the instrument mounting flange (10) is connected with the T axles harmonic speed reducer output shaft (9.3);
T axle intermediate transmission components, the opposite side located at the front end of the connector (1), including two groups completely identical in structure One transition axis part (5) and the second transition axis part (8), the First Transition axle portion part (5) are located at before the connector (1) End, the second transition axis part (8) be located at the pendular body (12) front end, the First Transition axle portion part (5) with it is described Second transition axis part (8) is connected by synchronous belt (7), and the First Transition axle portion part (5) includes First Transition axle umbrella tooth Take turns (5.1), First Transition e axle supporting seat (5.2) and First Transition axle intermediate propeller shaft (5.3), the First Transition shaft bevel gear (5.1) it is fixed on the First Transition axle intermediate propeller shaft (5.3), the First Transition shaft bevel gear (5.1) and the T axles Bevel gear (4.1) is engaged, and the second transition axis part (8) includes the second transition shaft bevel gear (8.1), the second transition e axle supporting Seat (8.2) and the second transition axis intermediate propeller shaft (8.3), the second transition shaft bevel gear (8.1) are fixed on second mistake Cross on axle intermediate propeller shaft (8.3), the second transition shaft bevel gear (8.1) is engaged with the T axles input bevel gear (9.1).
2. a kind of robot wrist with built-in power transmission shaft according to claim 1, it is characterised in that the pendular body (12) it is U-shaped casing, including the casing with fixed arm and the sub-arm (6) that is fixed on casing, the pendular body (12) can revolve It is connected on the connector (1) with turning.
3. a kind of robot wrist with built-in power transmission shaft according to claim 2, it is characterised in that the fixed arm It is connected with the B axle harmonic speed reducer output shaft (13.3), the sub-arm (6) is provided with aiding support bearing (6.1), described Aiding support bearing (6.1) is fixed on the connector (1) by locking nut.
4. a kind of robot wrist with built-in power transmission shaft according to claim 3, it is characterised in that the sub-arm (6) it is duplex end cover structure, is connected on the inside of drive end bearing bracket by attachment screw and the pendular body (12), rear end cap is provided with auxiliary Bearing support (6.1) is helped, rear end cap is fixed on the aiding support bearing (6.1) by trim ring, attachment screw.
5. a kind of robot wrist with built-in power transmission shaft according to claim 1, it is characterised in that described B axle Harmonic speed reducer (13) and the B axle harmonic speed reducer input shaft (13.2), the B axle harmonic speed reducer output shaft (13.3) point Do not connected by the way that the crossed roller bearing of radial and axial load can be born simultaneously.
6. a kind of robot wrist with built-in power transmission shaft according to claim 1, it is characterised in that described T axles Harmonic speed reducer (9) and the T axles harmonic speed reducer input shaft (9.2), the T axles harmonic speed reducer output shaft (9.3) difference Connected by the crossed roller bearing that can bear radial and axial load simultaneously.
7. a kind of robot wrist with built-in power transmission shaft according to claim 1, it is characterised in that the instrument peace Dress flange (10) is connected by attachment screw and the T axles harmonic speed reducer output shaft (9.3).
8. a kind of robot wrist with built-in power transmission shaft according to claim 1, it is characterised in that outside the sealing Set (11) is fixed on the pendular body (12), is used as the protection of the T axles harmonic speed reducer (9) and instrument mounting flange (10) Shell.
CN201621209675.8U 2016-11-09 2016-11-09 A kind of robot wrist with built-in power transmission shaft Withdrawn - After Issue CN206326621U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201621209675.8U CN206326621U (en) 2016-11-09 2016-11-09 A kind of robot wrist with built-in power transmission shaft

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201621209675.8U CN206326621U (en) 2016-11-09 2016-11-09 A kind of robot wrist with built-in power transmission shaft

Publications (1)

Publication Number Publication Date
CN206326621U true CN206326621U (en) 2017-07-14

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201621209675.8U Withdrawn - After Issue CN206326621U (en) 2016-11-09 2016-11-09 A kind of robot wrist with built-in power transmission shaft

Country Status (1)

Country Link
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106426264A (en) * 2016-11-09 2017-02-22 常州机电职业技术学院 Robot wrist with built-in driving shaft

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106426264A (en) * 2016-11-09 2017-02-22 常州机电职业技术学院 Robot wrist with built-in driving shaft
CN106426264B (en) * 2016-11-09 2018-10-02 常州机电职业技术学院 A kind of robot wrist with built-in transmission shaft

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Granted publication date: 20170714

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