CN208914158U - A kind of robot modularized series connection joint - Google Patents
A kind of robot modularized series connection joint Download PDFInfo
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- CN208914158U CN208914158U CN201821362362.5U CN201821362362U CN208914158U CN 208914158 U CN208914158 U CN 208914158U CN 201821362362 U CN201821362362 U CN 201821362362U CN 208914158 U CN208914158 U CN 208914158U
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- joint
- connect
- brake
- encoder
- series connection
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Abstract
The utility model discloses a kind of robot modularized series connection joint, including joint connecting flange, the joint connection frame being connect with joint connecting flange, the end cap and joint housing being connect with joint connection frame, the hollow motor component, harmonic reduction thermomechanical components, brake assemblies, the encoder component, actuator assembly that are placed in joint housing；The harmonic reduction thermomechanical components, brake assemblies are connect with the hollow motor component, the encoder component is connect with harmonic reduction thermomechanical components, and the hollow motor component, harmonic reduction thermomechanical components, brake assemblies, encoder component are electrically connected with the actuator assembly；Joint housing is connect by bearing assembly with joint connection frame, and joint connection frame, bearing assembly, joint housing, actuator assembly are equipped with cable-through hole, is used for side cabling.The utility model have the characteristics that compact-sized, line group wear it is low, assembly it is simple, highly-safe, robot can be improved in the ability of narrow space operation.
Description
Technical field
The utility model relates to robotic technology field more particularly to a kind of robot modularized series connection joints.
Background technique
With the development of science and technology, the degree of automation improves, novel industry requires robot to can be realized man-machine collaboration, thus
It realizes the more inaccessible accuracy of the mankind, and allows the mankind far from dangerous environment or work, this requires robots can perceive peace
With all strength, has higher load self weight ratio.
Machine person series joint structure is the core building block of robot, and performance is in entire robot kinematics
It is particularly important, has the characteristics that flexibility, modularization, integrated, safe, dexterous.But in robotic technology field
It is interior, it needs to solve there are also some technical problems, specifically include that 1. hollow motor installation questions: the mounting means of hollow motor has
Hot jacket, cold pressing, plate pressure and gluing etc. are several, need to control assembly technology, assemble cumbersome；2. inside cabling mode is single:
For hollow motor cabling；3. brake is not in time: if motor, just in high-speed rotation, the bump for the baffle that brakes encounters electromagnetism break iron
When, so that electromagnetism block is shifted, motor is caused not stall in time.
Therefore, it is necessory to design a machine person series joint structure to solve the above problems.
Utility model content
In view of this, the embodiments of the present invention provide a kind of robot modularized series connection joint, have structure tight
Gather, line group wears low, simple, the highly-safe feature of assembly, robot can be improved in the ability of narrow space operation.
To achieve the above object, the utility model uses a kind of a kind of technical solution: robot modularized series connection joint,
The robot modularized series connection joint include joint connecting flange, the joint connection frame being connect with the joint connecting flange,
The end cap and joint housing being connect with the joint connection frame, and the hollow motor component, humorous being placed in the joint housing
Wave deceleration thermomechanical components, brake assemblies, encoder component, actuator assembly；
The harmonic reduction thermomechanical components, brake assemblies are connect with the hollow motor component, the encoder component with
The connection of harmonic reduction thermomechanical components, the hollow motor component, harmonic reduction thermomechanical components, brake assemblies, encoder component are and institute
State actuator assembly electric connection；
The joint housing is connect by bearing assembly with the joint connection frame, and the joint connection frame, bearing group
Part, joint housing, actuator assembly are equipped with cable-through hole, are used for side cabling.
Further, the joint connecting flange is connect with joint connection frame by seal assembly, wherein the sealing group
Part includes inner seal ring and exterior seal ring.
Further, the hollow motor component includes motor stator, rotor, expansion sleeve and rotor axle sleeve, described
Motor stator is connect with joint housing.
Further, the expansion sleeve includes inner ring and outer ring, and the inner ring of the expansion sleeve and the section of outer ring are in
Wedge shape.
Further, the brake assemblies include brake solenoid, brake fixed plate, compression spring and flange baffle, institute
State brake solenoid and be connected by the brake fixed plate with joint housing, the compression spring be placed in the brake solenoid with
Between fixed plate of braking, the flange baffle is connected with rotor axle sleeve, and the swelling is placed on the rotor axle sleeve and flange is kept off
Between piece.
Further, the lower end of the brake solenoid is equipped with short axle, and the bottom of the brake fixed plate is equipped with through-hole,
When system cut-off, the brake solenoid its short axle under the restoring force of the compression spring passes through the logical of the brake fixed plate
Hole.
Further, the encoder component includes incremental encoder, absolute type encoder and encoder mounting base, institute
The shell for stating incremental encoder is connect with joint housing, and the ontology of the absolute type encoder passes through support frame and the joint
The shaft of shell connection, the incremental encoder is connect by the flange baffle with rotor axle sleeve.
Further, the harmonic reduction thermomechanical components include harmonic wave speed reducing machine ontology, speed reducer returns to axis, speed reducer inputs
Axis, the harmonic wave speed reducing machine ontology are connected with joint housing；The speed reducer returns to axis and sequentially passes through the speed reducer ontology, subtracts
Fast machine input shaft, flange baffle, incremental encoder, support frame, one end that the speed reducer returns to axis are connect with the joint
One end connection of frame, the other end are connect with the absolute type encoder, and the rotor is by the rotor axle sleeve and slows down
Machine inputs axis connection.
Further, the bearing assembly includes bearing block auxiliary, bearing block, ball bearing, rotary shaft, the bearing block
Auxiliary, bearing block, ball bearing, rotary shaft are equipped with cable-through hole.
Further, the actuator assembly includes drive installation plate and the driving that is mounted in the drive installation plate
Device, the actuator assembly and the perpendicular arrangement of hollow motor component.
The technical solution that the embodiments of the present invention provide has the benefit that (1) is compact-sized, driver group
Part and the perpendicular arrangement of electric machine assembly are substantially shorter the lateral dimension in series connection joint, can operate with the machine of narrow space operation
Device people；(2) joint wiring uses interior side cabling, and motor control line, encoder control line and brake solenoid control line are equal
Sequentially pass through joint housing cable-through hole, drive installation plate cable-through hole is connect with driver；The line group in next joint sequentially passes through pass
Save connection frame cable-through hole, rotary shaft cable-through hole, bearing block cable-through hole, joint housing cable-through hole, drive installation plate cable-through hole；The cloth
Line mode reduces cabling distance, reduces the abrasion of line group；(3) motor assembly is simple, rotor axle sleeve and speed reducer input shaft it
Between connection using wedge-shaped expansion sleeve connection, save space, and the concentricity of rotor axle sleeve and the cooperation of speed reducer input shaft
Height, simple process keep the assembly of hollow motor simple and reliable；(4) brake is reliable, if motor just in high-speed rotation, flange gear
When the bump of piece encounters electromagnetism break iron, electromagnetism block is easily made to shift, motor is caused not stall in time, this is practical new
The brake fixed plate bottom of type is equipped with through-hole, and brake solenoid lower end is equipped with short axle, and in system cut-off, brake solenoid is being pressed
Its short axle passes through through-hole just under the restoring force of power spring, and the setting of through-hole makes electromagnetism break iron stress more adduction in brake
Reason, offset is small, and braking safe is reliable.
Detailed description of the invention
Fig. 1 is the schematic diagram of the section structure in the robot modularized series connection joint of the utility model；
Fig. 2 is the schematic perspective view in the robot modularized series connection joint of the utility model；
Fig. 3 is the brake assemblies schematic diagram in the robot modularized series connection joint of the utility model；
Fig. 4 is the expansion sleeve diagrammatic cross-section in the robot modularized series connection joint of the utility model.
In figure: 1. joint connecting flanges, 2. seal assemblies, 2-1. inner seal ring, 2-2. exterior seal ring, the connection of 3. joints
Frame, 4. end caps, 5. hollow motor components, 5-1. motor stator, 5-2. rotor, 5-3. expansion sleeve, 5-31. inner ring, 5-32.
Outer ring, 5-4. rotor axle sleeve, 6. harmonic reduction thermomechanical components, 6-1. speed reducer ontology, 6-2. speed reducer return to axis, 6-3. speed reducer
Input shaft, 7. incremental encoders, 8. flange baffles, 9. support frames, 10. brake assemblies, 10-1. brake solenoid, 10-2. stop
Vehicle fixed plate, 10-3. compression spring, 11. encoder components, 11-1. absolute type encoder, 11-2. encoder mounting base, 12.
Wire-blocking board, 13. bearing assemblies, 13-1. bearing block auxiliary, 13-2. bearing block, 13-3. ball bearing, 13-4. rotary shaft, 14.
Sealing ring, 15. joint housings, 16. actuator assemblies, 16-1. driver, 16-2. drive installation plate.
Specific embodiment
It is practical new to this below in conjunction with attached drawing to keep the purpose of this utility model, technical solution and advantage clearer
Type embodiment is further described.
As shown in Figs 1-4, the embodiments of the present invention disclose a kind of robot modularized series connection joint, including joint
It connecting flange 1, seal assembly 2, joint connection frame 3, end cap 4, joint housing 15 and is placed in the joint housing 15
Empty electric machine assembly 5, harmonic reduction thermomechanical components 6, brake assemblies 10, encoder component 11, actuator assembly 16.The joint connection
Flange 1 is connect with joint connection frame 3 by seal assembly 2, and the joint connecting flange 1 and joint connection frame 3 are positioned at described
The top of joint housing 15, wherein the seal assembly 2 includes inner seal ring 2-1 and exterior seal ring 2-2；The end cap 4 and pass
It saves connection frame 3 to connect, and is located at the side of the joint housing 15, it is preferred that the quantity of the end cap 4 is two, and symmetrical
Set on the two sides of the joint housing 15.One end (in figure by taking right end as an example) of the joint housing 15 by bearing assembly 13 with
One end (in figure by taking right end as an example) of the joint connection frame 3 is connected, and the bearing assembly 13 includes bearing block auxiliary 13-1, axis
Hold a 13-2, ball bearing 13-3, rotary shaft 13-4.
The hollow motor component 5, harmonic reduction thermomechanical components 6, brake assemblies 10, encoder component 11 with the joint
Shell 15 connects, and the harmonic reduction thermomechanical components 6, brake assemblies 10 are connect with the hollow motor component 5, the encoder
Component 11 is connect with harmonic reduction thermomechanical components 6, the axis phase of the axis of the actuator assembly 16 and the hollow motor component 5
Vertically.
The hollow motor component 5 includes motor stator 5-1, rotor 5-2, expansion sleeve 5-3 and rotor axle sleeve 5-4,
The motor stator 5-1 is connect with joint housing 15, and the rotor 5-2 is defeated by the rotor axle sleeve 5-4 and speed reducer
Enter axis 6-3 connection.The expansion sleeve 5-3 is placed between the rotor axle sleeve 5-4 and flange baffle 8, and including inner ring 5-31 with
Outer ring 5-32, it is preferred that the inner ring 5-31 of the expansion sleeve 5-3 and the section of outer ring 5-32 are wedge shaped.The hollow motor
Component 5 is used to provide power, and converts electrical energy into kinetic energy, after actuation, the rotor 5-2 rotation.
The harmonic reduction thermomechanical components 6 include harmonic wave speed reducing machine ontology 6-1, speed reducer return axis 6-2, speed reducer input shaft
6-3, the harmonic wave speed reducing machine ontology 6-1 are fixedly connected with joint housing 15, and the speed reducer returns to axis 6-2 and sequentially passes through described subtract
Fast machine ontology 6-1, speed reducer input shaft 6-3, flange baffle 8, incremental encoder 7, support frame 9 are (to be from left to right in figure
Example), the speed reducer returns to one end (in figure by taking left end as an example) of axis 6-2 and one end of the joint connection frame 3 (with a left side in figure
For end) it is connected, the other end (in figure by taking right end as an example) is connected with absolute type encoder 11-1.The harmonic reduction thermomechanical components 6
For slowing down, exported again after the speed of input is slowed down according to corresponding reduction ratio.
The brake assemblies 10 include brake solenoid 10-1, brake fixed plate 10-2, compression spring 10-3 and flange gear
Piece 8, the flange baffle 8 are connected with rotor axle sleeve 5-4, the brake solenoid 10-1 by the brake fixed plate 10-2 with
Joint housing 15 is connected；The compression spring 10-3 is placed between the brake solenoid 10-1 and brake fixed plate 10-2, institute
The lower end for stating brake solenoid 10-1 is equipped with short axle, and the bottom of the brake fixed plate 10-2 is equipped with through-hole, in system cut-off,
For the brake solenoid 10-1 under the restoring force of the compression spring 10-3, short axle passes through the brake fixed plate just
The through-hole of 10-2, and the setting of through-hole keeps electromagnetism break iron stress in brake more reasonable, offset is small, and braking safe can
It leans on.
The encoder component 11 includes incremental encoder 7, absolute type encoder 11-1 and encoder mounting base 11-2,
The shaft of the incremental encoder 7 is connect by the flange baffle 8 with rotor axle sleeve 5-4, the incremental encoder 7
Shell is connect with joint housing 15；The code-disc of the absolute type encoder 11-1 is by the encoder mounting base 11-2 and slows down
Machine returns to axis 6-2 and is connected, and the ontology of the absolute type encoder 11-1 is connected by support frame 9 with the joint housing 15.
The incremental encoder 7 and rotor 5-2 is rotated synchronously, and is measured the corner of motor and rotary speed information and is fed back to driver
16-1；The code-disc and speed reducer of the absolute type encoder 11-1 returns to axis 6-2 and rotates synchronously, and measures the corner information in joint simultaneously
Feed back to driver 16-1.
The actuator assembly 16 includes driver 16-1 and drive installation plate 16-2, and the driver 16-1 and driving are pacified
Loading board 16-2 is built in the bottom of the joint housing 15, the axis perpendicular of axis and the hollow motor component 5.Institute
Drive installation plate 16-2 is stated for installing the driver 16-1, various components are contained in the driver 16-1 (for example, described
Hollow motor component 5, harmonic reduction thermomechanical components 6, encoder component 11, brake assemblies 10 etc.) electric interfaces and for controlling
The control module of the hollow motor component 5, harmonic reduction thermomechanical components 6, encoder component 11, brake assemblies 10 etc. is made, it is described
Driver 16-1 carries out interpolation operation to joint trajectories and calculates in conjunction with the measuring signal of the encoder component 11 and export electricity
Machine control instruction；It receives and sends other control instructions；For example, input 48v voltage is converted to 12v and 5v voltage, respectively
For the encoder component 11 and the input power of brake assemblies 10.
The joint connection frame 3, rotary shaft 13-3, ball bearing 13-2, bearing block 13-1, joint housing 15, driver
Component 16 is equipped with cable-through hole, is used for side cabling.Wire-blocking board 12 is set to one end in the joint housing 15 (with right end in figure
For), it is used for barrier line group, is routed line group according to pre-determined route.Sealing ring 14 is set to the two sides of the joint housing 15, uses
In sealing.
The embodiment installation process of the utility model is as follows:
1, the components installation in joint housing:
(1) the motor stator 5-1 is sticked together with joint housing 15, for example, when being glued with gluing, notably glue is not
Other fitting surfaces of the motor stator 5-1 inner wall and joint ontology can be remained in；
(2) the harmonic reduction thermomechanical components 6 are fixedly connected with (for example, with screw) with joint housing 15；By axis circlip
From one end, (in figure by taking right end as an example) is attached on the speed reducer input shaft 6-3, and the axial direction for the rotor 5-2 is fixed
Position；
(3) the inner ring 5-31 of the expansion sleeve 5-3 and outer ring 5-32 are placed in the recess in the rotor axle sleeve 5-4,
And it is attached to together with the rotor axle sleeve 5-4, rotor 5-2 on the speed reducer input shaft 6-3；
(4) the flange baffle 8 is fixedly connected with (for example, passing through screw) with rotor axle sleeve 5-4, the flange baffle 8
Smaller with the 5-4 axial gap of rotor axle sleeve, the expansion sleeve 5-3 is pressed tighter, and the rotor 5-2 and speed reducer are defeated
Enter the radially connected more solid and reliable of axis 6-3；
(5) Moving plate of the incremental encoder 7 is fixedly connected (for example, passing through screw) with flange baffle 8, the increasing
The price fixing of amount formula encoder 7 is fixedly connected with (for example, passing through screw) with joint housing 15；
(6) support frame as described above 9 is fixedly connected with (for example, passing through screw) with joint housing 15；
(7) the encoder mounting base 11-2 is returned to axis 6-2 with speed reducer to be fixedly connected (for example, passing through screw), institute
The Moving plate for stating absolute type encoder 11-1 is connect (for example, passing through screw) with encoder mounting base 11-2, the absolute encoding
The price fixing of device 11-1 is fixedly connected with (for example, passing through screw) with support frame 9；
(8) wire-blocking board 12 is fixedly connected to (for example, by hexagonal copper post) with support frame 9；
(9) the drive installation plate 16-2 is mounted on the joint housing 15 (for example, passing through screw), by driver
16-1 is mounted on the drive installation plate 16-2 (for example, passing through screw), by motor control line, brake solenoid control line,
Incremental encoder control line, absolute type encoder control line pass through the cable-through hole of the joint housing 15, are connected to the drive
At each the corresponding interface of dynamic device 16-1；
(10) the inner seal ring 2-1 is mounted on the joint connecting flange 1, then by the joint connecting flange
1 is connected (for example, passing through screw) with joint housing 15, finally by the external seal snare 2-2 on the inner seal ring 2-1.
2, the installation of joint connection frame:
(1) the bearing block 13-2, ball bearing 13-3 are mounted on the rotary shaft 13-4, and are attached to together described
One end (in figure by taking right end as an example) of joint connection frame 3, is firmly connected with it by the screw on the rotary shaft 13-4；
(2) other end (in figure by taking left end as an example) of the joint connection frame 3 axis 6-2 is returned to the speed reducer to fix
Connection；
(3) by the bearing block auxiliary 13-1 from one end of the joint housing 15 and joint connection frame 3 (with right end in figure
For) gap in fill in, be fixedly connected with (for example, passing through screw) with the bearing block 13-2；
(4) sealing ring 14 of 15 two sides of joint housing is nested on the joint housing 15；Two end caps 3 are divided
Not Gu Dingdao the joint connection frame 3 two sides (for example, passing through screw).
The technical solution that the embodiments of the present invention provide has the benefit that (1) is compact-sized, driver group
Part and the perpendicular arrangement of electric machine assembly are substantially shorter the lateral dimension in series connection joint, can operate with the machine of narrow space operation
Device people；(2) joint wiring uses interior side cabling, and motor control line, encoder control line and brake solenoid control line are equal
Sequentially pass through joint housing cable-through hole, drive installation plate cable-through hole is connect with driver；The line group in next joint sequentially passes through pass
Save connection frame cable-through hole, rotary shaft cable-through hole, bearing block cable-through hole, joint housing cable-through hole, drive installation plate cable-through hole；The cloth
Line mode reduces cabling distance, reduces the abrasion of line group；(3) motor assembly is simple, rotor axle sleeve and speed reducer input shaft it
Between connection using wedge-shaped expansion sleeve connection, save space, and the concentricity of rotor axle sleeve and the cooperation of speed reducer input shaft
Height, simple process keep the assembly of hollow motor simple and reliable；(4) brake is reliable, if motor just in high-speed rotation, flange gear
When the bump of piece encounters electromagnetism break iron, electromagnetism block is easily made to shift, motor is caused not stall in time, this is practical new
The brake fixed plate bottom of type is equipped with through-hole, and brake solenoid lower end is equipped with short axle, and in system cut-off, brake solenoid is being pressed
Its short axle passes through through-hole just under the restoring force of power spring, and the setting of through-hole makes electromagnetism break iron stress more adduction in brake
Reason, offset is small, and braking safe is reliable.
It is worth noting that: the meaning of " plurality " is two or more in the description of the present invention, unless separately
There is clearly specific restriction.In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ",
The terms such as " connection ", " fixation " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or one
Ground connection, can be mechanical connection, for the ordinary skill in the art, can understand above-mentioned art as the case may be
The concrete meaning of language in the present invention.
Herein, the nouns of locality such as related front, rear, top, and bottom are to be located in figure with components in attached drawing and zero
Part mutual position defines, only for the purpose of expressing the technical solution clearly and conveniently.It should be appreciated that the noun of locality
Use should not limit the claimed range of the application.
In the absence of conflict, the feature in embodiment and embodiment herein-above set forth can be combined with each other.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all practical at this
Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model
Within the scope of shield.
Claims (10)
1. a kind of robot modularized series connection joint, it is characterised in that: the robot modularized series connection joint includes that joint connects
Acting flange, the joint connection frame being connect with the joint connecting flange, the end cap and joint shell being connect with the joint connection frame
Body, and the hollow motor component, harmonic reduction thermomechanical components, brake assemblies, the encoder component, drive that are placed in the joint housing
Dynamic device assembly；
The harmonic reduction thermomechanical components, brake assemblies are connect with the hollow motor component, the encoder component and harmonic wave
Deceleration thermomechanical components connection, the hollow motor component, harmonic reduction thermomechanical components, brake assemblies, encoder component with the drive
Dynamic device assembly is electrically connected；
The joint housing is connect by bearing assembly with the joint connection frame, and the joint connection frame, bearing assembly, pass
Section shell, actuator assembly are equipped with cable-through hole, are used for side cabling.
2. robot modularized series connection joint according to claim 1, it is characterised in that: the joint connecting flange and pass
It saves connection frame to connect by seal assembly, wherein the seal assembly includes inner seal ring and exterior seal ring.
3. robot modularized series connection joint according to claim 1, it is characterised in that: the hollow motor component includes
Motor stator, rotor, expansion sleeve and rotor axle sleeve, the motor stator are connect with joint housing.
4. robot modularized series connection joint according to claim 3, it is characterised in that: the expansion sleeve include inner ring with
Outer ring, and the inner ring of the expansion sleeve and the section of outer ring are wedge shaped.
5. robot modularized series connection joint according to claim 3, it is characterised in that: the brake assemblies include brake
Electromagnet, brake fixed plate, compression spring and flange baffle, the brake solenoid pass through the brake fixed plate and joint shell
Body is connected, and the compression spring is placed between the brake solenoid and brake fixed plate, the flange baffle and rotor axle sleeve
It is connected, the swelling is placed between the rotor axle sleeve and flange baffle.
6. robot modularized series connection joint according to claim 5, it is characterised in that: the lower end of the brake solenoid
Equipped with short axle, the bottom of the brake fixed plate is equipped with through-hole, and in system cut-off, the brake solenoid is in the pressure bullet
Its short axle passes through the through-hole of the brake fixed plate under the restoring force of spring.
7. robot modularized series connection joint according to claim 5, it is characterised in that: the encoder component includes increasing
Amount formula encoder, absolute type encoder and encoder mounting base, the shell of the incremental encoder are connect with joint housing, institute
The ontology for stating absolute type encoder is connect by support frame with the joint housing, and the shaft of the incremental encoder passes through institute
Flange baffle is stated to connect with rotor axle sleeve.
8. robot modularized series connection joint according to claim 7, it is characterised in that: the harmonic reduction thermomechanical components packet
Harmonic wave speed reducing machine ontology, speed reducer return axis, speed reducer input shaft are included, the harmonic wave speed reducing machine ontology is connected with joint housing；
The speed reducer returns to axis and sequentially passes through the speed reducer ontology, speed reducer input shaft, flange baffle, incremental encoder, branch
Support, one end that the speed reducer returns to axis connect with one end of the joint connection frame, the other end and the absolute encoding
Device connection, the rotor input axis connection by the rotor axle sleeve and speed reducer.
9. robot modularized series connection joint according to claim 1, it is characterised in that: the bearing assembly includes bearing
Seat auxiliary, bearing block, ball bearing, rotary shaft, the bearing block auxiliary, bearing block, ball bearing, rotary shaft were equipped with line
Hole.
10. robot modularized series connection joint according to claim 1, it is characterised in that: the actuator assembly includes
Drive installation plate and the driver being mounted in the drive installation plate, the actuator assembly and hollow motor component are perpendicular
Arrangement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821362362.5U CN208914158U (en) | 2018-08-22 | 2018-08-22 | A kind of robot modularized series connection joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821362362.5U CN208914158U (en) | 2018-08-22 | 2018-08-22 | A kind of robot modularized series connection joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208914158U true CN208914158U (en) | 2019-05-31 |
Family
ID=66703858
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821362362.5U Expired - Fee Related CN208914158U (en) | 2018-08-22 | 2018-08-22 | A kind of robot modularized series connection joint |
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| Country | Link |
|---|---|
| CN (1) | CN208914158U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108943006A (en) * | 2018-08-22 | 2018-12-07 | 中国地质大学（武汉） | A kind of robot modularized series connection joint |
-
2018
- 2018-08-22 CN CN201821362362.5U patent/CN208914158U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108943006A (en) * | 2018-08-22 | 2018-12-07 | 中国地质大学（武汉） | A kind of robot modularized series connection joint |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190531 Termination date: 20200822 |
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| CF01 | Termination of patent right due to non-payment of annual fee |