CN207643177U - A kind of mechanical joint structure of unilateral driving - Google Patents

A kind of mechanical joint structure of unilateral driving Download PDF

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Publication number
CN207643177U
CN207643177U CN201721112568.8U CN201721112568U CN207643177U CN 207643177 U CN207643177 U CN 207643177U CN 201721112568 U CN201721112568 U CN 201721112568U CN 207643177 U CN207643177 U CN 207643177U
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China
Prior art keywords
installation
main
interconnecting piece
auxiliary
armed lever
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CN201721112568.8U
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Chinese (zh)
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吴厚科
周健华
唐继勇
邓联松
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Guangzhou Thai Intelligent Technology Co Ltd
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Guangzhou Thai Intelligent Technology Co Ltd
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Abstract

The utility model provides a kind of mechanical joint structure of unilateral driving, including the first armed lever, second armed lever, main drive gear and auxiliary drive gear, first armed lever is equipped with main installation cavity and auxiliary installation cavity, second armed lever is equipped with the connection cavity for being connected to main installation cavity and auxiliary installation cavity, main drive gear is set to the joint of main installation cavity and connection cavity, it is connect with the direct-connected form of harmonic wave speed reducing machine integral type using servo motor, it is connected with synchronous band connection or gear drive compared to the synchronizing wheel that similar product uses, improve the rigidity of transmission mechanism, precision and stability, trembling, which can be eliminated, simultaneously causes robot body to lead to the problem of resonance, and it can avoid the entrance of metallic particles, improve the robot service life;Auxiliary drive gear is set to the joint of auxiliary installation cavity and connection cavity, helps main drive gear transmission driving power, while keeping the balance of armed lever, reduces the deformation that rotary inertia is brought, and improves the arm exhibition upper limit of mechanical arm.

Description

A kind of mechanical joint structure of unilateral driving
Technical field
The utility model is related to robot field more particularly to a kind of mechanical joint structures of unilateral driving.
Background technology
Mechanical arm is that robot relies the executing agency of the task of fulfiling assignment, also referred to as operator or operation arm, can With the specified operation of the executive control system in determining environment.The mechanical arm of typical industry robot is generally by hand (end Hold actuator), wrist, arm, waist and pedestal constitute.Mechanical arm mostly uses jointed robot structure, generally certainly with 6 By spending, wherein 3 are used for determining the positions of end effector, other 3 direction (appearances for then being used for determining end executive device Gesture).End executive device on armed lever can need to change the power tools such as welding gun, sucker, spanner into according to operation.Tradition machinery The joint structure of arm is to be connected to transmission mechanism using synchronizing wheel and synchronous belt, or directly gear drive is used to connect, The transmission accuracy of the above two kind of drive and inefficient, it is limited to accept ability, and when operating is also easy to produce trembling, causes manipulator Arm leads to the problem of resonance, and easily enters metallic particles, reduces the service life of mechanical arm;In addition, general mechanical arm Joint structure only has transmission mechanism at one, is easily deformed under the action of big rotary inertia, to limit manipulator The arm exhibition of arm.
Invention content
In order to solve the above technical problems, the utility model provides a kind of mechanical joint structure of unilateral driving, structure essence Degree is high, stability is good, long working life, and the arm for improving mechanical arm opens up the upper limit.
Based on this, the utility model provides a kind of mechanical joint structure of unilateral driving, including the first armed lever, the second arm Bar, main drive gear and auxiliary drive gear, the main interconnecting piece and auxiliary interconnecting piece that first armed lever is provided symmetrically, The main interconnecting piece is equipped with main installation cavity and the main opening in the connection external world, and the auxiliary interconnecting piece is equipped with auxiliary installation cavity And the assist openings that connection is extraneous, the main opening and the assist openings face, the main interconnecting piece and the auxiliary connect An installing port is formed between socket part, second armed lever is equipped with middle interconnecting piece, and the middle interconnecting piece stretches into the installation In mouthful, the middle interconnecting piece is equipped with the connection cavity for being connected to the main installation cavity and the auxiliary installation cavity, in described Between interconnecting piece be equipped with the first installation position and the second installation position, the main interconnecting piece be equipped with third installation position, the auxiliary interconnecting piece Equipped with the 4th installation position, the main drive gear is installed on simultaneously on first installation position and the third installation position, described Auxiliary drive gear is installed on simultaneously on second installation position and the 4th installation position.
Preferably, the connection cavity be equipped with the first of the main opening face connect be open and with it is described Second connection opening of assist openings face, the edge that first installation position connects opening set on described first, described second Installation position be set to it is described second connection opening edge, the third installation position be set to the main opening edge, the described 4th Installation position is set to the edge of the assist openings.
Preferably, the main drive gear includes motor, the first mounting flange, the second mounting flange, output method Blue and harmonic speed reducer, first mounting flange are installed by fastener and first installation position cooperation, the motor In the connection cavity and the shell of the motor is clamped with first mounting flange, and the output shaft of the motor passes through The through-hole of first mounting flange is connected with the first end of the harmonic speed reducer, and the harmonic speed reducer is set to the master It is connected with first mounting flange in installation cavity body and by fastener, second mounting flange is cylindrical shape and is set to The first end in the outside of the harmonic speed reducer, second mounting flange is pacified by fastener and third installation position cooperation Dress, the second end of second mounting flange and the second end of the harmonic speed reducer are connected with the output flange.
Preferably, the centre of the output flange is equipped with the observation panel for leading to the harmonic speed reducer, the sight The oiling flange with oil filler point is equipped at Cha Kou.
Preferably, the harmonic speed reducer includes firm gear, flexbile gear and wave producer, and the firm gear passes through fastening Part is connected with first mounting flange, and the output flange is fixed with the flexbile gear and described second respectively by fastener Flange is connected, and the wave producer is installed on by limiting gland on the output shaft of the motor.
Preferably, the auxiliary drive gear includes hollow shaft and rolling bearing, and the rolling bearing passes through outer End face gland is installed on second installation position, and the first end of the hollow shaft is matched by fastener and the 4th installation position Installation is closed, the second end of the hollow shaft is stretched into the rolling bearing and formed by inner face gland and the rolling bearing It is connected.
Preferably, the auxiliary drive gear includes hollow shaft and rolling bearing, the first end of the hollow shaft It is installed across the rolling bearing and by fastener and second installation position cooperation, the second end of the hollow shaft is equipped with diameter To boss, the rolling bearing is mounted by the radial boss, outer spacing ring and interior spacing ring in the 4th peace It fills on position.
Preferably, the motor is absolute value servo motor.
Preferably, first armed lever is set there are two the installing port, and two installing ports are disposed opposite to each other.
Preferably, the main interconnecting piece is equipped with the first pin hole, and the middle interconnecting piece is equipped with the second pin hole, When first pin hole and the second pin hole face, first armed lever or second armed lever are adjusted to zero-bit.
Implement the utility model embodiment, has the advantages that:
A kind of mechanical joint structure of unilateral driving provided by the utility model, compared with the prior art, high with precision, Stability is good, long working life, the advantages of improving the arm exhibition upper limit.The mechanical joint structure of unilateral driving provided by the utility model Including the first armed lever, the second armed lever, main drive gear and auxiliary drive gear, main installation that the first armed lever is provided symmetrically Cavity and auxiliary installation cavity, the second armed lever are equipped with the connection cavity for being connected to main installation cavity and auxiliary installation cavity, main transmission Mechanism is set to the joint of main installation cavity and connection cavity, is connected using servo motor and the direct-connected form of harmonic wave speed reducing machine integral type Connect, the synchronizing wheel and the synchronous band connection that are used compared to similar product or gear drive connection, improve transmission mechanism rigidity, Precision and stability, while can eliminate trembling causes robot body to lead to the problem of resonance, and can avoid metallic particles Into improving the robot service life;Auxiliary drive gear is set to the joint of auxiliary installation cavity and connection cavity, helps main biography Motivation structure transmission driving power, while the balance of armed lever is kept, reduce the deformation that rotary inertia is brought, improves the arm exhibition of mechanical arm The upper limit.
Description of the drawings
Fig. 1 is first armed lever of the utility model embodiment one and its structural schematic diagram of main interconnecting piece.
Fig. 2 is first armed lever of the utility model embodiment one and its assists the structural schematic diagram of interconnecting piece.
Fig. 3 is second armed lever of the utility model embodiment one and its structural schematic diagram of the first installation position.
Fig. 4 is second armed lever of the utility model embodiment one and its structural schematic diagram of the second installation position.
Fig. 5 is the schematic diagram of the joint structure of the utility model embodiment one.
Fig. 6 is the structural schematic diagram of the transmission mechanism of the utility model embodiment one.
Fig. 7 is the enlarged drawing in the regions I in Fig. 5.
Fig. 8 is the schematic diagram of the having a double meaning section structure of the utility model embodiment one.
Fig. 9 is the scheme of installation of the auxiliary drive gear of the utility model embodiment two.
Reference sign:
1, the first armed lever, 1.1, main interconnecting piece, 1.11, third installation position, the 1.12, first pin hole, 1.2, auxiliary connection Portion, the 1.21, the 4th installation position, the 2, second armed lever, 2.1, middle interconnecting piece, the 2.11, first installation position, the 2.12, second installation position, 2.13, the second pin hole, 3, motor, 3.1, output shaft, the 4, first mounting flange, the 5, second mounting flange, 6, output flange, 7, Harmonic speed reducer, 7a, firm gear, 7b, flexbile gear, 7c, wave producer, 8, oiling flange, 9, limit gland, 10, hollow shaft, 10.1, Radial boss, 11, rolling bearing, 12, outer end face gland, 13, inner face gland, 14, third armed lever, 15, outer spacing ring, 16, Interior spacing ring.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts The all other embodiment obtained, shall fall within the protection scope of the present invention.
Embodiment one
As shown in Figures 1 to 5, the utility model embodiment provides a kind of mechanical joint structure of unilateral driving, including One armed lever 1, the second armed lever 2, main drive gear and auxiliary drive gear, the main interconnecting piece that the first armed lever 1 is provided symmetrically 1.1 are equipped with main installation cavity and the main opening in the connection external world, assist interconnecting piece with auxiliary interconnecting piece 1.2, main interconnecting piece 1.1 1.2 are equipped with the assist openings in auxiliary installation cavity and the connection external world, main opening and assist openings face.1.1 He of main interconnecting piece It assists forming an installing port between interconnecting piece 1.2, the second armed lever 2 is equipped with middle interconnecting piece 2.1, and middle interconnecting piece 2.1 stretches into In installing port, middle interconnecting piece 2.1 is equipped with the connection cavity for being connected to main installation cavity and auxiliary installation cavity, and connection cavity is equipped with It connect opening with the first of main opening face and connect opening with the second of assist openings face.The edge of first connection opening Equipped with the first installation position 2.11, the edge of the second connection opening is equipped with the second installation position 2.12, and the edge of main opening is equipped with third The edge of installation position 1.11, assist openings is equipped with the 4th installation position 1.21.Main drive gear is installed on the simultaneously by fastener On one installation position 2.11 and third installation position 1.11, auxiliary drive gear is installed on the second installation position 2.12 simultaneously by fastener On the 4th installation position 1.21.Main and auxiliary transmission mechanism common transport drives power as a result, and the second armed lever 2 can be relative to the first arm Bar 1 rotates;Meanwhile main and auxiliary transmission mechanism is arranged symmetrically the stability of equilibrium that can keep mechanical arm entirety, and side drives, The special construction of other side auxiliary can also reduce the deformation that rotary inertia is brought, and extend the service life of transmission mechanism.Therefore, with it is existing Similar product compare, which can get longer arm exhibition.
Further, main interconnecting piece 1.1 be equipped with the first pin hole 1.12, it is corresponding, middle interconnecting piece 2.1 its with The joint of main interconnecting piece 1.1 is equipped with the second pin hole 2.13.If the first pin hole 1.12 represents initial zero position, second is rotated Armed lever 2, when the second pin hole 2.13 and the first 1.12 face of pin hole, the second armed lever 2 is adjusted to zero-bit;If the second pin hole 2.13 represent initial zero position, then rotate the first armed lever 1, when the first pin hole 1.12 and the second 2.13 face of pin hole, first Armed lever 2 is adjusted to zero-bit.Using the pin hole of pedestal as zero-bit before robot work, according to said method each section of armed lever is adjusted successively For zero-bit, co-ordinate system location can be accurately positioned, improve the operational precision of robot.In addition, to face in transportational process First pin hole 1.12 and the second pin hole 2.13 are inserted into positioning pin (not shown), can solid mechanical arm position, prevent Mechanical arm arbitrarily swings to other people or itself damages.
As shown in fig. 6, above-mentioned main drive gear includes motor 3, the first mounting flange 4, the second mounting flange 5, output method Orchid 6 and harmonic speed reducer 7, motor 3 and harmonic speed reducer 7 are respectively arranged on the both sides of the first mounting flange 4, the shell of motor 3 It is clamped with the first mounting flange 4, the output shaft 3.1 of motor 3 passes through the of the through-hole of the first mounting flange 4 and harmonic speed reducer 7 One end connects, and harmonic speed reducer 7 is connected by fastener with the first mounting flange 4, and the second mounting flange 5 is cylindrical shape and sets In the outside of harmonic speed reducer 7, the first end of the second mounting flange 5 is used to coordinate with extraneous installation position and install, the second fixation The second end of orchid 5 and the second end of harmonic speed reducer 7 are connected with output flange 6 simultaneously.Rotation centerline, the harmonic wave of motor 3 In the center line of retarder 7, the center line of the first mounting flange 4, the center line of the second mounting flange 5 and output flange 6 Five line of heart line overlaps.It is connected with synchronous band connection or gear drive compared to the synchronizing wheel that similar product uses, motor 3 and harmonic wave The direct-connected form connection of integral type of retarder 7, improves the rigidity, precision and stability of transmission mechanism, while can eliminate and quiver It is dynamic that robot body is caused to lead to the problem of resonance, and the entrance of metallic particles is can avoid, improve the robot service life.
Further, the centre of output flange 6 is additionally provided with the observation panel for leading to harmonic speed reducer 7, can by the observation panel To check the lubricating oil service condition in harmonic speed reducer 7, the oiling flange 8 with oil filler point is equipped at observation panel, it is necessary When lubricating oil can be added to harmonic speed reducer 7 by the oil filler point.
Further, above-mentioned harmonic speed reducer 7 includes firm gear 7a, flexbile gear 7b and wave producer 7c, and firm gear 7a is Rigid gear with ring gear is located at the outermost of harmonic speed reducer 7, is fixedly connected with the first mounting flange 4;Wave producer 7c is the oval gear with external toothing, is located at the center of harmonic speed reducer 7, and motor 3 is installed on by limiting gland 9 On output shaft 3.1;Flexbile gear 7b is the flexible gear with external toothing, between wave producer 7c and firm gear 7a, with output method Orchid 6 is fixedly connected.The center line of firm gear 7a, flexbile gear 7b and wave producer 7c overlap, as the center line of harmonic speed reducer 7. The diameter of flexbile gear 7b is slightly less than the long axis length of wave producer 7c, when bowlder in wave producer 7c loading flexbile gears 7b, forces flexbile gear 7b generates flexible deformation and is in ellipticity, and the flexbile gear 7b gear teeth are inserted into the wheel tooth socket of firm gear 7a at long axis, become at a fully engaged shape State, and the flexbile gear 7b gear teeth do not contact completely with the firm gear 7a gear teeth at its short axle, are in disengaged condition, by the process for being engaged to disengagement Between be then in and nibble out or engaging-in state.When motor 3 drives wave producer 7c continuous rotations, flexbile gear 7b is forced constantly to generate change Shape, make the two-wheeled gear teeth carry out it is engaging-in, engage, nibble out, disengage during constantly change respective working condition, produce institute The side set of meaning moves, and the movement to realize wave producer 7c and flexbile gear 7b is transmitted, and is changed flexbile gear 7b rotating speeds, is increased and turn Square, then the output rotating speed of the output flange 6 by being connect with flexbile gear 7b and big torque, are transferred to angular contact bearing and armed lever, complete whole The transmission of a movement and torque.Multiple tooth due to harmonic speed reducer 7 engages simultaneously in two 180 ° of symmetric positions, gear teeth Influence away from error and accumulated pitch error to running accuracy is more average, and high positional precision and running accuracy can be obtained.
Referring to Fig. 7 on the basis of Fig. 5, auxiliary drive gear includes hollow shaft 10 and rolling bearing 11, rolling bearing 11 It is mounted on the second installation position 2.12 by outer end face gland 12, the first end of hollow shaft 10 is flange end, is pacified by fastener On the 4th installation position 1.21, the second end of hollow shaft 10 stretches into rolling bearing 11, passes through inner face gland 13 and fastening Part is formed with rolling bearing 11 and is connected, and the inner space of hollow shaft 10 can be used for arranging cable.Likewise, main drive gear Motor 3 be placed in connection cavity, the first mounting flange 4 by fastener be mounted on the first installation position 2.11 on, harmonic reduction Device 7 is placed in main connection cavity, and the first end of the second mounting flange 5 is mounted on by fastener on third installation position 1.11.By This, the center line of the rotation centerline of motor 3, the center line of harmonic speed reducer 7 and rolling bearing 11 overlaps, it is ensured that electricity The concentricity of machine 3, harmonic speed reducer 7 and rolling bearing 11, without will produce lobbing, improve three running precision and Service life.
As shown in figure 8, setting the installing port there are two above structure on the first armed lever 1, two installing ports are disposed opposite to each other, one Installing port connects the second armed lever 2, another installing port connects the third armed lever 14 for being again provided with middle interconnecting piece 2.1, and second The rotation direction of armed lever 2 and third armed lever 14 is in the same plane.Based on this structure, the transformable angular range of mechanical arm is more Greatly, it operates more flexible changeable.
Embodiment two
The difference of the present embodiment and embodiment one is the mounting means of auxiliary drive gear, as shown in figure 9, hollow shaft 10 First end pass through rolling bearing 11 and by fastener and the cooperation installation of the second installation position 2.12, the second end of hollow shaft 10 sets There is a radial boss 10.1, rolling bearing is mounted by radial boss 10.1, outer spacing ring 15 and interior spacing ring 16 in the On four installation positions 1.21, the inner space of hollow shaft 10 can be used for arranging cable.Such mounting structure is primarily adapted for use in auxiliary peace It behave affectedly in the case of the small volume of body, when being advantageous in that the second armed lever 2 is rotated relative to the first armed lever 1, hollow shaft 10 is not It can be rotated relative to motor 3, therefore the cable across hollow shaft 10 will not rub with the shell of motor 3, to reduce electricity The abrasion of cable, the service life of prolonged mechanical arm.And if auxiliary installation cavity volume it is sufficiently large, have around motor 3 compared with If big space passes through cable, cable will not be in contact with the shell of motor 3, then be not required to consider that cable is sent out with 3 shell of motor The case where raw friction.In addition to above-mentioned difference, other concrete structures of the present embodiment are consistent in embodiment one, corresponding principle Also consistent, details are not described herein again.
It should be pointed out that in the above two embodiments, motor is electric using the multi-turn absolute value servo of resolution ratio 21 Machine, feature are that precision is high, (peak speed is up to 6500r/min), torque are big, light-weight soon for speed, can automatically record motor number According to without having to worry about after power-off the problem of loss of data;In addition, screw can be used in above-mentioned fastener.
To sum up, the utility model provides a kind of mechanical joint structure of unilateral driving, including the first armed lever, the second arm Bar, main drive gear and auxiliary drive gear, the main installation cavity and auxiliary installation cavity that the first armed lever is provided symmetrically, Second armed lever be equipped be connected to it is main installation cavity and auxiliary installation cavity connection cavity, main drive gear be set to main installation cavity with The joint of connection cavity is connect using servo motor with the direct-connected form of harmonic wave speed reducing machine integral type, is used compared to similar product Synchronizing wheel and synchronous band connection or gear drive connect, improve the rigidity, precision and stability of transmission mechanism, simultaneously Trembling, which can be eliminated, causes robot body to lead to the problem of resonance, and can avoid the entrance of metallic particles, improves machine life insurance Life;Auxiliary drive gear is set to the joint of auxiliary installation cavity and connection cavity, helps main drive gear transmission driving power, The balance of armed lever is kept simultaneously, reduces the deformation that rotary inertia is brought, and improves the arm exhibition upper limit of mechanical arm.
It should be understood that describing various information, but these information using term " first ", " second " etc. in the present invention These terms are should not necessarily be limited by, these terms are only used for same type of information being distinguished from each other out.For example, not departing from the present invention In the case of range, " first " information can also be referred to as " second " information, similar, and " second " information can also be referred to as " first " information.
The above is preferred embodiments of the present invention, it is noted that for the ordinary skill of the art For personnel, without departing from the principle of this utility model, several improvement and deformations can also be made, these improve and become Shape is also considered as the scope of protection of the utility model.

Claims (10)

1. a kind of mechanical joint structure of unilateral driving, which is characterized in that including the first armed lever, the second armed lever, main drive gear And auxiliary drive gear, the main interconnecting piece and auxiliary interconnecting piece that first armed lever is provided symmetrically, the main interconnecting piece Equipped with the main opening that main installation cavity and connection are extraneous, the auxiliary interconnecting piece is equipped with auxiliary installation cavity and connection is extraneous Assist openings, the main opening and the assist openings face are formed between the main interconnecting piece and the auxiliary interconnecting piece One installing port, second armed lever are equipped with middle interconnecting piece, and the middle interconnecting piece stretches into the installing port, the centre Interconnecting piece is equipped with the connection cavity for being connected to the main installation cavity and the auxiliary installation cavity, and the middle interconnecting piece is equipped with the One installation position and the second installation position, the main interconnecting piece are equipped with third installation position, and the auxiliary interconnecting piece is equipped with the 4th installation position, The main drive gear is installed on simultaneously on first installation position and the third installation position, and the auxiliary drive gear is simultaneously It is installed on second installation position and the 4th installation position.
2. the mechanical joint structure of unilateral driving according to claim 1, which is characterized in that the connection cavity be equipped with First connection of the main opening face is open and connect opening, first installation with the second of the assist openings face Position is set to the edge of the first connection opening, and second installation position is set to the edge of the second connection opening, and described the Three installation positions are set to the edge of the main opening, and the 4th installation position is set to the edge of the assist openings.
3. the mechanical joint structure of unilateral driving according to claim 2, which is characterized in that the main drive gear includes Motor, the first mounting flange, the second mounting flange, output flange and harmonic speed reducer, first mounting flange pass through tight The cooperation of firmware and first installation position is installed, the motor be set in the connection cavity and the shell of the motor with it is described First mounting flange is clamped, and the output shaft of the motor passes through the through-hole of first mounting flange and the harmonic speed reducer First end is connected, and the harmonic speed reducer is set in the main installation cavity body and passes through fastener and first mounting flange It is connected, second mounting flange is cylindrical shape and is set to the outside of the harmonic speed reducer, second mounting flange First end is installed by fastener and third installation position cooperation, and the second end of second mounting flange and the harmonic wave subtract The second end of fast device is connected with the output flange.
4. the mechanical joint structure of unilateral driving according to claim 3, which is characterized in that the centre of the output flange Equipped with the observation panel for leading to the harmonic speed reducer, the oiling flange with oil filler point is equipped at the observation panel.
5. the mechanical joint structure of unilateral driving according to claim 3, which is characterized in that the harmonic speed reducer includes Firm gear, flexbile gear and wave producer, the firm gear are connected by fastener with first mounting flange, the output flange It is connected respectively with the flexbile gear and second mounting flange by fastener, the wave producer is installed by limiting gland In on the output shaft of the motor.
6. the mechanical joint structure of unilateral driving according to claim 2, which is characterized in that the auxiliary drive gear packet Hollow shaft and rolling bearing are included, the rolling bearing is installed on by outer end face gland on second installation position, described hollow The first end of axis is installed by fastener and the 4th installation position cooperation, and the second end of the hollow shaft stretches into the axis of rolling It is formed in holding and by inner face gland and the rolling bearing and is connected.
7. the mechanical joint structure of unilateral driving according to claim 2, which is characterized in that the auxiliary drive gear packet Hollow shaft and rolling bearing are included, the first end of the hollow shaft passes through the rolling bearing and pacifies by fastener and described second Position cooperation installation is filled, the second end of the hollow shaft is equipped with radial boss, and the rolling bearing passes through the radial boss, outer limit Position ring and interior spacing ring are mounted on the 4th installation position.
8. according to the mechanical joint structure of the unilateral driving of claim 3-5 any one of them, which is characterized in that the motor is Absolute value servo motor.
9. according to the mechanical joint structure of the unilateral driving of claim 1-7 any one of them, which is characterized in that first arm Bar is set there are two the installing port, and two installing ports are disposed opposite to each other.
10. according to the mechanical joint structure of the unilateral driving of claim 1-7 any one of them, which is characterized in that the main company Socket part is equipped with the first pin hole, and the middle interconnecting piece is equipped with the second pin hole, when first pin hole and second pin When nail hole face, first armed lever or second armed lever are adjusted to zero-bit.
CN201721112568.8U 2017-08-31 2017-08-31 A kind of mechanical joint structure of unilateral driving Active CN207643177U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110000808A (en) * 2019-04-28 2019-07-12 深圳市汇川技术股份有限公司 The assembly method of robot joint structure and robot joint structure
CN112936335A (en) * 2021-05-13 2021-06-11 上海捷勃特机器人有限公司 Robot joint structure and assembling method thereof

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110000808A (en) * 2019-04-28 2019-07-12 深圳市汇川技术股份有限公司 The assembly method of robot joint structure and robot joint structure
CN112936335A (en) * 2021-05-13 2021-06-11 上海捷勃特机器人有限公司 Robot joint structure and assembling method thereof

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