CN207189713U - The means for equalising of measurable moment of torsion - Google Patents
The means for equalising of measurable moment of torsion Download PDFInfo
- Publication number
- CN207189713U CN207189713U CN201720462764.1U CN201720462764U CN207189713U CN 207189713 U CN207189713 U CN 207189713U CN 201720462764 U CN201720462764 U CN 201720462764U CN 207189713 U CN207189713 U CN 207189713U
- Authority
- CN
- China
- Prior art keywords
- torque plate
- torsion
- moment
- equalising
- joint
- 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.)
- Expired - Fee Related
Links
Landscapes
- Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
Abstract
The utility model discloses the means for equalising of measurable moment of torsion, including at least one piece of torque plate and the joint being connected with torque plate, the scrollwork torsional spring slot or serpentine spring being distributed in the shape of a spiral around central shaft hole are offered on torque plate, scrollwork torsional spring slot or serpentine spring make torque plate form the elastic torsion structure around central shaft hole；It is provided with the joint at least one for measuring stress and/or the strain gauge of deformation.The device can not only effectively improve the operating efficiency of mechanical arm, so as to reduce the manufacturing cost of mechanical arm, reduce the volume of mechanical arm, and the fluctuation of the load torque of mechanical arm can be monitored, so as to avoid mechanical arm from occurring overloading at work or interference and collision.
Description
Technical field
It the utility model is related to machine-building association area, the means for equalising of particularly measurable moment of torsion.
Background technology
In the industrial production and robotic technology field of modernization, mechanical arm, which is obtained for, to be widely applied.It is although existing
All had nothing in common with each other in the structure and size and function of mechanical arm, but mechanical arm is at work, is all the essence by receiving after instructing
Complete to operate in a certain position really navigated on two dimension or three dimensions.
Existing mechanical arm is generally all driven control by the way of motor coordinates reductor, motor, reductor
Power output or moment of torsion be according to caused by the deadweight of mechanical arm, load weight the acceleration of moment of torsion and needs come design selection
's.Consider that be intended to can be with the bigger load of less power termination from cost, power consumption and volume.Born in these influence motors
Lotus while again no positive effect are exactly the moment of torsion brought by the deadweight of mechanical arm.Therefore, it is necessary to a kind of device be designed, not
Reduce motor, deceleration acc power and moment of torsion on the premise of reducing design mechanical arm load capacity, so as to reduce mechanical arm, motor and
Power consumption, volume and the cost of reductor.
A kind of joint of mechanical arm torque-measuring apparatus of CN104215372B, including elastomer, gauge head and displacement detection device,
Its elastomer is divided into outer shroud and inner ring, is connected between the inner ring and outer shroud by elastic rib；The displacement detection device peace
On outer shroud, the gauge head is arranged on elasticity close to one end of inner ring and corresponding with the displacement detection device, can be along institute
State the detection direction motion of the circumference, relative displacement detection device of elastomer.The outer shroud of the device elastic rib can with respect to inner ring
The anglec of rotation is small, and displacement detection device is arranged on inside elastomer, is easily occurred damaging and is difficult to change after damaging.
The content of the invention
The purpose of this utility model is to overcome the above-mentioned deficiency of prior art and provide a kind of simple in construction, easy for installation
The means for equalising of measurable moment of torsion, the device can not only effectively improve the operating efficiency of mechanical arm, so as to reduce
The manufacturing cost of mechanical arm, reduce the volume of mechanical arm, and the fluctuation of the load torque of mechanical arm can be monitored, from
And mechanical arm is avoided to occur overloading at work or interference and collision.
The technical solution of the utility model is：The means for equalising of measurable moment of torsion, including at least one piece of torque plate with
And the joint being connected with torque plate, the scrollwork torsional spring slot being distributed in the shape of a spiral set around central shaft hole is offered on torque plate,
The spring groove makes torque plate form spring structure, and the scrollwork torsional spring slot makes torque plate form scrollwork torsion spring structure；It is described to connect
It is provided with head at least one for measuring stress and/or the strain gauge of deformation.
The utility model has advantages below：
1st, under mechanical arm deadweight, load effect, the scrollwork torsion spring structure on torque plate can distort storage power therewith, and slow down
For machine when mechanical arm hovers or moves, the distortion of scrollwork torsion spring structure, which stores power, can eliminate mechanical arm deadweight sub-load, so as to
Reaching reduces motor, the purpose of reductor moment of torsion；
2nd, in the rotation process of arm angle, scrollwork torsion spring further distorts with rotation, so as to automatic
Moment of torsion caused by mechanical arm deadweight is balanced, so as to ensure that the quiet moment of torsion of mechanical arm is entirely due to caused by load；
3rd, by setting the torsional deflection amount of strain gauge butt joint to measure in joint, so as to obtain input shaft and defeated
The torque that shaft is transmitted, so as to realize that the fluctuation to the load torque of mechanical arm is monitored, it can prejudge and avoid
Mechanical arm occurs overloading at work or the situation of interference and collision；
4th, the utility model is simple in construction, occupies little space, can directly be installed at motor and speed reducer output end face or
On person's reductor and mechanical arm output end face, the action of mechanical arm will not be hindered.
Further, the spring structure is the snakelike symmetrical structure set around central shaft hole, its one end inner side and central shaft
The hole wall in hole is connected, is connected on the outside of the other end with spring groove outside wall surface.When input shaft or the axial different directions of output rotate,
The spring structure can produce corresponding moment of torsion clockwise or counter-clockwise, so as to eliminate different input shafts or defeated
Moment of torsion caused by the different steerings of shaft.
Further, corresponding stopper slot and spacing is additionally provided with two scrollwork torsional spring slots adjacent on the torque plate
Block.When mechanical arm occurs overloading at work or during interference and collision, central shaft hole can drive scrollwork torsion spring structure excessive distortion,
And when the structural distortion of scrollwork torsion spring to a certain extent when, stopper slot and limited block can be stuck by scrollwork torsion spring structure, so as to keep away
Exempt from mechanical arm overload or collide and caused accident.
Further, the opposite side that the torque plate is connected with joint offers concave surface, and the spring groove or scrollwork are turned round
Spring groove is opened in the concave surface region of torque plate., can by by spring structure or scrollwork torsion spring structure setting concave surface
To avoid spring structure from either interfering on surface of the scrollwork torsion spring structure when reversing with motor or equipment.
Further, torque plate and joint by key connection, be spirally connected, rivet, weld, be bonded or integrally formed mode phase
Even.
Further, the quantity of the torque plate is two pieces, and two pieces of torque plates are arranged on the side of joint in a symmetrical manner
Or both sides.
Because mechanical arm can be from plumbness to two lateral movements, therefore mechanical arm deadweight and load may be to reductors
Moment of torsion in opposite direction is produced, and after two pieces of torque plates are coordinated into installation in a symmetrical manner simultaneously, two pieces of symmetrical torque plates
The rotation direction of interior scrollwork torsion spring structure is different, therefore can eliminate the moment of torsion for the different directions that reductor is subject to.
Further, corresponding stopper slot and spacing is additionally provided with two scrollwork torsional spring slots adjacent on the torque plate
Block.When mechanical arm occurs overloading at work or during interference and collision, central shaft hole can drive scrollwork torsion spring structure excessive distortion,
And when the structural distortion of scrollwork torsion spring to a certain extent when, stopper slot and limited block can be stuck by scrollwork torsion spring structure, so as to keep away
Exempt from mechanical arm overload or collide and caused accident.
Further, the torque plate central shaft hole is set in the input shaft of the output shaft or equipment in drive device
On, the torque plate is accordingly on the output end face of drive device or the input end face of equipment；The moment of torsion
Either output shaft is connected disk center's axle by key connection, profile shaft, interference connects, is threadedly coupled, Nian Jie or one with input shaft
The mode of shaping is connected and transmits moment of torsion.
Further, axis hole is offered on the joint, the axis collinear of the axis hole and torque plate central shaft hole is described to connect
Head axis hole and the output shaft of drive device or the input shaft of equipment pass through key connection, profile shaft connection, interference connection, screw thread
Connection, bonding or integrally formed mode are connected and transmit moment of torsion.
Further, the joint is passed with output shaft using key transmission, Chain conveyer, belt transmission or gear-driven mode
It is dynamic to be connected.By being provided with spline wheel, sprocket wheel, belt pulley or gear in joint one end, so as to the output shaft with drive device
Or the input shaft of equipment uses the drive connection of corresponding manner.
Further, the measuring flume for placing strain gauge is offered on the outside of the joint and/or on joint axis hole hole wall.
The thickness of measurement position can be reduced by opening up measuring flume, such design produces when bearing same moment of torsion
Deformation it is bigger, improve strain gauge butt joint and transmit the Measurement Resolution of moment of torsion.
Further, the peripheral shape of torque plate is and the input end face of the output end face of drive device or equipment
Shape is identical.
When motor, the output end face of reductor or the input end face of reductor and mechanical arm for it is circular, square the latter is ellipse
During the shapes such as circle, the peripheral shape of torque plate is designed to corresponding shape, it is possible to reduce torque plate space-consuming, to keep away
Obstruction free mechanical arm acts.
Further, the material of torque plate is metal or engineering plastics.
When the material of torque plate is the metals such as potassium steel, stainless steel, aluminium alloy and titanium steel, there is service life length,
High temperature resistant, the characteristics of structural strength is high.And engineering plastics material has the spy that easy processing is molded, light weight and structural strength are high
Point.
The utility model is simple in construction, is easily worked shaping, and practical, installation is simply, not only can be by subtracting
Motor or moment of torsion needed for engine improve the operating efficiency of mechanical arm when working less, and can be to the load of mechanical arm
The fluctuation of moment of torsion is monitored, so as to avoid mechanical arm from occurring overloading at work or interference and collision.
Brief description of the drawings
Fig. 1 is a kind of cross-sectional view of mechanical arm means for equalising of the utility model embodiment 1；
Fig. 2 is a kind of right side structural representation of mechanical arm means for equalising of the utility model embodiment 1；
Fig. 3 is a kind of cross-sectional view of mechanical arm means for equalising of the utility model embodiment 2；
Fig. 4 is a kind of right side structural representation of mechanical arm means for equalising of the utility model embodiment 2；
Fig. 5 is a kind of right side structural representation of mechanical arm means for equalising of the utility model embodiment 3；
Fig. 6 is a kind of structural representation of mechanical arm means for equalising of the utility model embodiment 3；
Fig. 7 is the structural representation of the torque plate in Fig. 4；
Fig. 8 is the structural representation of the joint in Fig. 4；
Fig. 9 is a kind of cross-sectional view of mechanical arm means for equalising of the utility model embodiment 5；
Figure 10 is a kind of right side structural representation of mechanical arm means for equalising of the utility model embodiment 5；
Figure 11 is a kind of left view structural representation of mechanical arm means for equalising of the utility model embodiment 5；
Figure 12 is a kind of structural representation of mechanical arm means for equalising of the utility model embodiment 6；
Figure 13 is a kind of cross section structure diagram of mechanical arm means for equalising of the utility model embodiment 7；
Figure 14 is a kind of right side structural representation of mechanical arm means for equalising of the utility model embodiment 7；
Figure 15 is a kind of cross-sectional view of mechanical arm means for equalising of the utility model embodiment 8；
Figure 16 is the structural representation of two pieces of symmetrical torsion plates in the utility model embodiment 8.
In figure：1-torque plate, 2-scrollwork torsional spring slot, 3-central shaft hole, 4-through hole, 5-joint, 6-axis hole, 7-
Strain gauge, 8-measuring flume, 9-bolt hole, 10-stopper slot, 11-limited block, 12-serpentine spring structure, 13-concave surface,
14-spline wheel.
Embodiment
The utility model is described in further details below with reference to Figure of description and specific embodiment.
Embodiment 1
As shown in Figure 1 and 2, the means for equalising of measurable moment of torsion, including torque plate 1 and with torque plate 1 with one into
The connected joint 5 of the mode of type, the scrollwork torsional spring slot 2 being distributed in the shape of a spiral around central shaft hole 3, scrollwork are offered on torque plate 1
Torsional spring slot 2 makes torque plate 1 form scrollwork torsion spring structure；The outside of joint 5 is provided with two and is used to measure in a symmetrical manner
The strain gauge 7 of stress sum.
Torque plate 1 is corresponding square with reductor input end face shape, and use is offered on four angles of torque plate 1
In the through hole 4 through bolt, torque plate 1 is connected by bolt with reductor input end face.
The central shaft hole 3 of torque plate 1 connects by the way of flat key is connected with the input shaft of reductor and transmits moment of torsion.Tool
Keyway is provided with for body, on speed reducer output shaft and is equipped with flat key, the shape of central shaft hole 3 of torque plate 1 is with being equipped with flat key
Output shaft cross section it is corresponding.
The axis collinear of axis hole 6, the axis hole 6 and the central shaft hole 3 of torque plate 1 is offered on the joint 5,
The material of torque plate 1 is steel alloy.With using the spy that price is low, service life is long, high temperature resistant, structural strength are high
Point.
In the present embodiment, the axis hole 6 of joint 5 is connected with output shaft, torque plate 1 and central shaft hole 3 respectively with input
Face is connected with input shaft, and now, the measured value of strain gauge 7 subtracts the scrollwork in torque plate 1 for the actual loading moment of torsion that is born
Value after moment of torsion produced by torsion spring structural distortion.
Embodiment 2:
As shown in Fig. 3 ~ 4：The means for equalising of measurable moment of torsion, difference from Example 1 be,
Torque plate 1 is corresponding square with output end of reducer face shape, and use is offered on four angles of torque plate 1
In the through hole 4 through bolt, torque plate 1 is connected by bolt with output end of reducer face.
The central shaft hole 3 of torque plate 1 and the output shaft of reductor adopt splined mode and are connected and transmit moment of torsion.Tool
For body, output shaft is splined shaft, and the shape of central shaft hole 3 of torque plate 1 is identical with the cross sectional shape of output shaft.
Axis hole 6 is offered on joint 5, the axis hole 6 of joint 5 connects with the input shaft of mechanical arm by way of key spline is connected
Connect.The outside of joint 5 offers the measuring flume 8 for placing strain gauge 7 in a symmetrical manner.
The material of torque plate 11 is special stainless steel.The characteristics of with service life length, high temperature resistant, high structural strength.
In the present embodiment, the axis hole 6 of joint 5 is connected with input shaft, torque plate 1 and central shaft hole 3 respectively with output end
Face is connected with output shaft, and now, the measured value of strain gauge 7 is the actual loading value born.
Other structures are the same as embodiment 1.
Embodiment 3：
As shown in Figure 5：The means for equalising of measurable moment of torsion, difference from Example 1 be,
Torque plate 1 is connected with joint 5 by way of welding, adjacent two whirlpool of scrollwork torsion spring structure on torque plate 1
Corresponding stopper slot 10 and limited block 11 are additionally provided with volume torsional spring slot 2.
The central shaft hole 3 of torque plate 1 connects by the way of profile shaft is connected with the output shaft of reductor and transmits moment of torsion.Tool
For body, output shaft is profile shaft, and the shape of central shaft hole 3 of torque plate 1 is identical with the cross sectional shape of profile shaft.
Embodiment 4：
As shown in Fig. 6 ~ 8：The means for equalising of measurable moment of torsion, it is with the difference of embodiment 2：
Torque plate 1 is connected with joint 5 by way of spline, and joint is driven phase with output shaft by the way of key transmission
Even.
Specifically, spline wheel 14 is provided with the outside of the both ends of joint 5, is opened up on the torque plate 1 and output shaft
There is the corresponding spline axis hole of shape, be engaged by spline wheel 14 and spline axis hole, you can realize joint 4 and torque plate 1 and defeated
The connection of shaft.
Other structures are the same as embodiment 2.
Embodiment 5：
As shown in Fig. 9 ~ 11, the means for equalising of measurable moment of torsion, it is with the difference of embodiment 1：
The central shaft hole 3 of torque plate 1 and the input shaft of mechanical arm adopt splined mode and are connected and transmit moment of torsion.Tool
For body, output shaft is splined shaft, and the shape of central shaft hole 3 of torque plate 1 is identical with the cross sectional shape of output shaft.
Axis hole 6 is not opened up on joint 5, joint 5 is connected with speed reducer output shaft by bolted connection.It is specific and
Six bolts hole 9 are offered in a manner of circumference uniform distribution on the relevant position of the output shaft of speech, joint 5 and reductor, are passed through
Joint 5 is connected by bolt with speed reducer output shaft.
The other structures of the present embodiment are the same as embodiment 1.
Embodiment 6：
As shown in figure 12, the means for equalising of measurable moment of torsion, it is with the difference of embodiment 1：
The means for equalising of measurable moment of torsion, it is with the difference of embodiment 1：Offered on torque plate around center
The spring groove that axis hole 3 is set, the spring groove make torque plate 1 form serpentine spring structure 12；The serpentine spring structure 12 is
The symmetrical structure for being connected on the inside of one end with the hole wall of central shaft hole 3, being connected on the outside of the other end with spring groove outside wall surface.Work as input shaft
Or when exporting axial different directions rotation, the spring structure 12 can produce corresponding torsion clockwise or counter-clockwise
Square, so as to eliminate moment of torsion caused by the different steerings of different input shafts or output shaft.
The other structures of the present embodiment are the same as embodiment 1.
Embodiment 7：
As shown in Figure 13 ~ 14, the means for equalising of measurable moment of torsion, it is with the difference of embodiment 1：
The means for equalising of measurable moment of torsion, it is with the difference of embodiment 1：The torque plate 1 connects with joint 5
The opposite side connect offers concave surface 13, and the scrollwork torsional spring slot 2 is opened in the region of concave surface 13 of torque plate 1.Pass through
By scrollwork torsion spring structure setting concave surface, scrollwork torsion spring structure can be avoided to occur when reversing with the surface of motor or equipment
Interference.
The other structures of the present embodiment are the same as embodiment 1.
Embodiment 8：
As shown in Figure 15 ~ 16：The means for equalising of measurable moment of torsion, it is with the difference of embodiment 1, by two pieces
Torque plate 1 is respectively in a symmetrical manner on one end of robot axis.
Torque plate 1 is shape identical circular configuration with the rotating seat end face of mechanical arm, torque plate 1 it is upper in the outer part
Circumferentially uniform mode offers is connected for the through hole 4 through bolt, torque plate 1 by bolt with rotating seat end face.
Other structures are the same as embodiment 1.
The present embodiment not only has the advantages of embodiment 1, and torque plate 1 is arranged on the rotating seat of mechanical arm, can
To solve the problems, such as because the installing space deficiency of motor reducer 9 causes torque plate 1 not install.
In summary, the utility model has advantages below：
1st, when mechanical arm is from plumbness to during two lateral movements, under mechanical arm deadweight and load effect, on torque plate 1
Scrollwork torsion spring structure can distort storage power therewith, and reductor is when mechanical arm hovers or moves, the distortion of scrollwork torsion spring structure
Mechanical arm deadweight sub-load can be eliminated by storing power, so as to reach the purpose for reducing motor and speed reducer moment of torsion；And with machinery
The rotation of arm angle, scrollwork torsion spring can follow the angulation change moment of torsion turned, and autobalance falls moment of torsion caused by mechanical arm deadweight, guarantor
The quiet moment of torsion for hindering mechanical arm is entirely due to caused by load；
2nd, by setting the torsional deflection amount of the butt joint 5 of strain gauge 7 to measure in joint 5, so as to obtain input shaft
The torque transmitted with output shaft, so as to realize that the fluctuation to the load torque of mechanical arm is monitored, it can prejudge simultaneously
Mechanical arm is avoided to occur overloading at work or the situation of interference and collision；
3rd, because mechanical arm can be from plumbness to two lateral movements, therefore mechanical arm deadweight and load may be to slowing down
Machine produces moment of torsion in opposite direction, and after two pieces of torque plates 1 are coordinated into installation in a symmetrical manner simultaneously, two pieces of symmetrical moments of torsion
The rotation direction of scrollwork torsion spring structure in disk 1 is different, therefore can eliminate the moment of torsion for the different directions that reductor is subject to；
4th, the utility model is simple in construction, occupies little space, and can directly be installed at output end of reducer or mechanical arm
Rotating seat on, the action of mechanical arm will not be hindered.
Claims (9)
1. the means for equalising of measurable moment of torsion, it is characterised in that：It is connected including at least one piece of torque plate and with torque plate
Joint, the scrollwork torsional spring slot being distributed in the shape of a spiral is offered on torque plate, the scrollwork torsional spring slot makes torque plate form scrollwork
Torsion spring structure；It is provided with the joint at least one for measuring stress and/or the strain gauge of deformation.
2. the means for equalising of measurable moment of torsion according to claim 1, it is characterised in that：It is adjacent on the torque plate
Corresponding stopper slot and limited block are additionally provided with two scrollwork torsional spring slots.
3. the means for equalising of measurable moment of torsion according to claim 1 or claim 2, it is characterised in that：The torque plate is with connecing
The opposite side of head connection offers concave surface, and the scrollwork torsional spring slot is opened in the concave surface region of torque plate.
4. the means for equalising of measurable moment of torsion according to claim 1 or claim 2, it is characterised in that：Torque plate leads to joint
Cross be spirally connected, rivet, welding, being bonded, key connection or integrally formed mode are connected.
5. the means for equalising of measurable moment of torsion according to claim 3, it is characterised in that：The quantity of the torque plate is
Two pieces, two pieces of torque plates are arranged on the side or both sides of joint in a symmetrical manner.
6. the means for equalising of measurable moment of torsion according to claim 1 or claim 2, it is characterised in that：The moment of torsion disk center
Axis hole is set on the output shaft of drive device or the input shaft of equipment, and the torque plate is arranged on driving dress accordingly
On the output end face or the input end face of equipment put；The torque plate central shaft passes through key with input shaft or output shaft
Connection, profile shaft connection, interference connection, threaded connection, bonding or integrally formed mode are connected and transmit moment of torsion.
7. the means for equalising of measurable moment of torsion according to claim 1 or claim 2, it is characterised in that：Opened up on the joint
There are axis hole, the axis collinear of the axis hole and torque plate central shaft hole, the joint axis hole passes through with output shaft or input shaft
Key connection, profile shaft connection, interference connection, threaded connection, bonding or integrally formed mode are connected and transmit moment of torsion.
8. the means for equalising of measurable moment of torsion according to claim 7, it is characterised in that：On the outside of the joint and/or
The measuring flume for placing strain gauge is offered on person's joint axis hole hole wall.
9. the means for equalising of measurable moment of torsion according to claim 1, it is characterised in that：The joint and output shaft or
Person's input shaft is driven connected using key transmission, Chain conveyer, belt transmission or gear-driven mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720462764.1U CN207189713U (en) | 2017-04-28 | 2017-04-28 | The means for equalising of measurable moment of torsion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720462764.1U CN207189713U (en) | 2017-04-28 | 2017-04-28 | The means for equalising of measurable moment of torsion |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207189713U true CN207189713U (en) | 2018-04-06 |
Family
ID=61793383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720462764.1U Expired - Fee Related CN207189713U (en) | 2017-04-28 | 2017-04-28 | The means for equalising of measurable moment of torsion |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207189713U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106994698A (en) * | 2017-04-28 | 2017-08-01 | 长沙开山斧智能科技有限公司 | The means for equalising of measurable moment of torsion |
-
2017
- 2017-04-28 CN CN201720462764.1U patent/CN207189713U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106994698A (en) * | 2017-04-28 | 2017-08-01 | 长沙开山斧智能科技有限公司 | The means for equalising of measurable moment of torsion |
| CN106994698B (en) * | 2017-04-28 | 2024-03-29 | 长沙开山斧智能科技有限公司 | Torque balancing device capable of measuring torque |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5659446B2 (en) | Hollow drive module | |
| KR101208406B1 (en) | Driving modules with hollowness | |
| US8757029B2 (en) | Strain wave gearing and robotic arm | |
| US8302702B2 (en) | Torque sensing unit for a power tool and a power tool comprising such a torque sensing unit | |
| US9897499B2 (en) | Planet gear train based torque detector | |
| CN101264603A (en) | Robot joint based on harmonic wave speed reducer | |
| CN207189713U (en) | The means for equalising of measurable moment of torsion | |
| CN102042366A (en) | Worm reducer, robot joints and robot | |
| CN108679167B (en) | Planetary line gear reducer with small tooth difference | |
| CN209979107U (en) | Torque measuring device and structural part and overload protection mechanism thereof | |
| CN102392881B (en) | A kind of short cylinder flexbile gear harmonic wave drive speed reducer | |
| CN102069502A (en) | Space robot gripper mechanism | |
| WO2012096390A1 (en) | Electric cylinder and electric cylinder system | |
| Liu et al. | Torsional stiffness calculation of double-enveloping cycloid drive | |
| WO2008137698A1 (en) | Torque arm assembly for a backstopping clutch | |
| CN106994698A (en) | The means for equalising of measurable moment of torsion | |
| KR20230107546A (en) | gear pair and gear reducer | |
| CN105626828A (en) | Synchronous belt pulley device | |
| CN104315088A (en) | Novel cycloid needle roller damping speed reducer | |
| CN109434820B (en) | Six-degree-of-freedom industrial robot | |
| CN204422122U (en) | Wheel six square shaft torsion-testing sensor | |
| CN105626800B (en) | Ball reducer | |
| CN211255065U (en) | Rotary system for increasing column torsional force | |
| CN212318702U (en) | Integral differential mechanism shell | |
| CN213628713U (en) | Precision speed reducer for industrial robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180406 Termination date: 20200428 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |