CN209551775U - One kind controling integrated torque can observing and controlling rotating and swinging joint module of robot - Google Patents
One kind controling integrated torque can observing and controlling rotating and swinging joint module of robot Download PDFInfo
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- CN209551775U CN209551775U CN201822150899.1U CN201822150899U CN209551775U CN 209551775 U CN209551775 U CN 209551775U CN 201822150899 U CN201822150899 U CN 201822150899U CN 209551775 U CN209551775 U CN 209551775U
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Abstract
One kind controling integrated torque can observing and controlling rotating and swinging joint module of robot, including pedestal, joint output, drive control device, transmission mechanism, torque sensor, first encoder and second encoder, pedestal includes mounting portion and driving section, driving section is equipped with drive cavity, transmission mechanism includes rimless motor, transmission shaft and harmonic speed reducer, the stator of rimless motor is fixed in drive cavity, transmission shaft is connect with the rotor engagement of rimless motor, one end of transmission shaft is transmitted to one end of torque sensor by harmonic speed reducer, the other end of torque sensor is connect with joint output；Drive control device is located on mounting portion, and the first encoder is used to measure the angular displacement of torque sensor, and second encoder is used to measure the angular displacement of rotor；The control terminal of rimless motor is electrically connected with drive control device, and torque sensor, the first encoder and second encoder are electrically connected with drive control device respectively.The utility model realizes the Torque Control in joint and the Shared control of robot.
Description
Technical field
The utility model relates to robotic technology fields, and in particular to one kind controls integrated torque can observing and controlling robot pendulum
Turn joint module.
Background technique
With the high speed development of modern industrial technology, robot is had been widely used in all trades and professions.Such as automotive field
Welding, spraying, heat treatment, transport, automatic assembling, loading and unloading and detection etc., secondly transport, harbour, food and drug with
And the fields such as electronic manufacture robot is also gradually substituting and is manually being engaged in the repeatability such as heavy dull packaging, transport, carrying
Operation.But precision assembly, repair scrape or the tasks such as grinding workpiece surface, polishing and scouring in using seldom because
It needs end effector of robot to contact in similar task with environment and keeps certain contact force, this just needs robot to have
There are external force perception and power control function.
The mature robot product with power control function is few at present or its price is very high, usually general industry
Several times or more of robot.Simultaneously as the application range of robot expands, some tasks need machine person to person cooperation common
It completes, this just proposes very high requirement to the security performance of robot.The security performance of robot generally uses two kinds at present
Scheme solves, and guarantees safety when interacting with people one is the rigidity by changing robotic structure；Another kind is logical
The control algolithm strategy of software view is crossed to realize the flexibility when contact of the object in machine human and environment.Therefore it can develop
Integrated level is high, cost performance is high can force control robot joint module for expand the application range of robot will generate it is huge
Meaning, while can also greatly improve the security performance of robot.
Utility model content
The utility model aim is the shortcomings that overcoming the prior art and insufficient, provide one kind control integrated torque can
Observing and controlling rotating and swinging joint module of robot, the moment inspecting that joint of robot may be implemented and control are to realize entire serial machine
The power of people controls；The rotating and swinging joint module of robot is simple and compact for structure, and joint transmission precision is high, and torque output accuracy is high, and
And interior cabling mode is used, tailored appearance is beautiful, inherently improves the safety and reliability of robot.
To achieve the above object, the technical solution adopted in the utility model is as follows:
One kind control integrated torque can observing and controlling rotating and swinging joint module of robot, including pedestal, joint output, driving control
Device, transmission mechanism, torque sensor, the first encoder and second encoder processed, pedestal include mounting portion and driving section, driving section
Equipped with drive cavity, transmission mechanism includes rimless motor, transmission shaft and harmonic speed reducer, and rimless motor includes stator and rotor, nothing
The stator of frame motor is fixed in drive cavity, and transmission shaft is connect with the rotor engagement of rimless motor and both ends of the drive shaft passes through bearing
It is supported in drive cavity, one end of transmission shaft and the wave producer of harmonic speed reducer connect；The steel wheel and torque of harmonic speed reducer
One end of sensor connects, and the other end of torque sensor is connect with joint output；Drive control device is located on mounting portion, the
One encoder is used to measure the angular displacement information of joint output or torque sensor, and second encoder is for measuring rotor or biography
The angular displacement information of moving axis；The control terminal of rimless motor is electrically connected with drive control device, torque sensor, the first encoder and
Two encoders are electrically connected with drive control device respectively.
From the foregoing, it will be observed that the utility model reads joint output or power by the first encoder during joint motions
The angular displacement information of square sensor obtains the angular displacement information of rotor by second encoder, is measured and is closed by torque sensor
Moment of face suffered by output is saved, then drive control device is according to the angular displacement information of rotor, the angular displacement information of joint output
With suffered moment of face, rimless motor is controlled using the preset control algolithm of drive control device and is rotated.Drive control device passes through acquisition
The angular displacement information of rimless rotor and the angular displacement information of joint output, obtain the deflection angle of rimless rotor with
The deflection angle of joint output, and the moment of face that outer bound pair joint module applies is obtained by torque sensor, it is torque
The closed-loop feedback of control provides necessary condition, therefore can realize the Torque Control of joint module and the Shared control of robot,
To improve joint transmission precision and torque output accuracy.
As a kind of improvement of the utility model, first encoder is absolute type encoder, absolute type encoder packet
Magnet ring and reading head are included, the transmission shaft is hollow structure, and harmonic speed reducer is equipped with hollow hole, is equipped in the hollow hole of transmission shaft
Hollow measurement axis, measurement axis one end are fixedly connected after the hollow hole of harmonic speed reducer with torque sensor, and measurement axis is another
One end is extend out to outside the hollow hole of transmission shaft, and absolute type encoder magnet ring is fixed on measurement axis other end end by the first mounting base
On face, first support is equipped in drive cavity, absolute type encoder reading head is fixed in first support and and absolute type encoder
The position of magnet ring is corresponding；The hollow hole of harmonic speed reducer, measurement axis and transmission shaft constitutes interior lines cable hole.
Further, bearing is equipped between the transmission shaft and measurement axis.
As a kind of improvement of the utility model, the second encoder is incremental encoder, incremental encoder packet
Magnet ring and reading head are included, incremental encoder magnet ring is fixed in transmission shaft the other end face by the second mounting base, drive cavity
Interior to be equipped with second support, incremental encoder reading head is fixed on the secondary support bracket and the position phase with incremental encoder magnet ring
It is corresponding.
As a kind of improvement of the utility model, the transmission shaft other end is equipped with the stop for preventing transmission shaft from arbitrarily rotating
Mechanism, when rotating and swinging joint module is powered, transmission shaft can be freely rotated, and when rotating and swinging joint module power loss, transmission shaft is stopped
Mechanism, which is blocked, to be freely rotated.
As a kind of improvement of the utility model, the stop mechanism includes electromagnet, reset spring, armature and stop
Ring, on the transmission shaft other end, electromagnet and armature are fixed in drive cavity stop snap ring fixing sleeve, when rotating and swinging joint module is logical
Electromagnet is powered when electric, and electromagnet and armature are attracted, and armature is in attracted position, and transmission shaft can be freely rotated, when rotation is closed
Electromagnet power loss when saving module power loss, armature is replied under action of reset spring moves position to end, and stop snap ring is blocked by armature,
Transmission shaft cannot be freely rotated.
As a kind of improvement of the utility model, the bearing in the both ends of the drive shaft is supported on drive cavity by bearing block
It is interior, axle sleeve is additionally provided on the transmission shaft other end, the stop mechanism further includes wave washer and limit convex shoulder, limits convex shoulder
Fixation is located on the transmission shaft other end, and wave washer and stop ring set on the transmission shaft other end and are sequentially located at axle sleeve and limit
Between the convex shoulder of position, stop snap ring is squeezed by wave washer and limit convex shoulder to be clamped and covers on the transmission shaft other end.
Further, the limit convex shoulder is c-type positioning ring, and the transmission shaft other end is equipped with card slot, c-type positioning ring buckle
On card slot.
As a kind of improvement of the utility model, the torque sensor is wheel spoke type sensor, wheel spoke type sensor packet
Inner ring, outer ring and strain beam are included, the outer ring of the torque sensor and the steel wheel of harmonic speed reducer are bolted to connection, institute
The inner ring and joint output for stating torque sensor are bolted to connection.
Further, demarcation plate is equipped between the mounting portion and driving section of the pedestal, the drive control device is by dissipating
Hot plate is fixed on demarcation plate.
Compared with prior art, the utility model has the advantage that
1, torque sensor is added in the utility model in joint module so that by the module assembled at robot can be with
The force information in environment is perceived, realizes power control, therefore improve the safety of robot, self-protection, this joint module
It can be applied to high-precision assembly, polishing, scouring etc. to need robot end to contact with environment and control the building ring of power output
In border；
2, drive control device obtains the deflection angle of rimless rotor and the deflection angle of joint output by encoder
Degree and deflection angle between rotor and joint output are poor, provide necessary condition for the closed-loop feedback of Torque Control, realization
The Torque Control of joint module and the Shared control of robot, to improve joint transmission precision and torque output accuracy；
3, by using the combination of increment type and absolute type Dual-encoder, and absolute encoder is mounted on joint output
End, so as to realize that joint high precision position controls；
4, the utility model realizes the inside cabling of joint module by reasonable internal structure design and type selecting, thus
It ensure that the aesthetics of joint of robot appearance.
Detailed description of the invention
Fig. 1 be the utility model control integrated torque can observing and controlling rotating and swinging joint module of robot cross-sectional view；
Fig. 2 is the partial enlarged view of Fig. 1；
Fig. 3 be the utility model control integrated torque can observing and controlling rotating and swinging joint module of robot left view；
Fig. 4 be the utility model control integrated torque can the principle of observing and controlling rotating and swinging joint module of robot stop mechanism show
It is intended to.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.It is understood that described herein
Specific embodiment be used only for explaining the utility model, rather than the restriction to the utility model.It also should be noted that
For ease of description, part relevant to the utility model is illustrated only in attached drawing rather than full content.
Embodiment
Please refer to figs. 1 to 4, one kind control integrated torque can observing and controlling rotating and swinging joint module of robot, including pedestal
100, joint output 200, drive control device 300, transmission mechanism, torque sensor 400, the first encoder and the second coding
Device；
Pedestal 100 includes mounting portion 10 and driving section 20, and driving section 20 is equipped with drive cavity 21, and transmission mechanism includes rimless electricity
Machine, transmission shaft 30 and harmonic speed reducer 40, rimless motor include stator 51 and rotor 52, and the stator 51 of rimless motor is fixed on biography
Move intracavitary, the rotor 52 of transmission shaft 30 and rimless motor is cooperatively connected and 30 both ends of transmission shaft by bearing 31 are supported on drive cavity
Interior, one end of transmission shaft 30 is connect with the wave producer of harmonic speed reducer 40；
The steel wheel of harmonic speed reducer 40 is connect with one end of torque sensor 400, the other end of torque sensor 400 and pass
Output 200 is saved to connect；
Drive control device 300 is located on mounting portion 10, and the first encoder is for measuring joint output 200 or moment sensing
The angular displacement information of device 400, second encoder are used to measure the angular displacement information of rotor 52 or transmission shaft 30；The control of rimless motor
End processed is electrically connected with drive control device 300, torque sensor 400, the first encoder and second encoder respectively with drive control
Device electrical connection.
From the foregoing, it will be observed that the utility model reads joint output or power by the first encoder during joint motions
The angular displacement information of square sensor obtains the angular displacement information of rotor by second encoder, is measured and is closed by torque sensor
Moment of face suffered by output is saved, then drive control device is according to the angular displacement information of rotor, the angular displacement information of joint output
With suffered moment of face, rimless motor is controlled using the preset control algolithm of drive control device and is rotated.Drive control device passes through acquisition
The angular displacement information of rimless rotor and the angular displacement information of joint output, obtain the deflection angle of rimless rotor with
The deflection angle of joint output, and the moment of face that outer bound pair joint module applies is obtained by torque sensor, it is torque
The closed-loop feedback of control provides necessary condition, the Torque Control of joint module and the Shared control of robot is realized, to mention
High joint transmission precision and torque output accuracy.
In the present embodiment, first encoder is absolute type encoder, and absolute type encoder includes magnet ring 62 and reads
Several 61, the transmission shaft 30 is hollow structure, harmonic speed reducer 40 is equipped with hollow hole, is equipped in the hollow hole of transmission shaft 30
Empty measurement axis 70, measurement 70 one end of axis are fixedly connected after the hollow hole of harmonic speed reducer 40 with torque sensor 400, are surveyed
Amount 70 other end of axis is extend out to outside the hollow hole of transmission shaft 30, and absolute type encoder magnet ring 62 is fixed on by the first mounting base 64
It measures in 70 the other end face of axis, first support 63 is equipped in drive cavity, absolute type encoder reading head 61 is fixed on first
It is on frame 63 and corresponding with the position of absolute type encoder magnet ring 62；In harmonic speed reducer 40, measurement axis 70 and transmission shaft 30
Emptying aperture constitutes interior lines cable hole.Absolute type encoder can directly measure joint output opposite base around harmonic speed reducer and
The deflection angle of transmission shaft, overcoming harmonic speed reducer and torque sensor has certain flexibility bring location error, improves
The position precision of joint module, while for joint of robot position closed-loop feedback providing necessary condition.In addition, measurement axis one
End is fixedly connected in a manner of passing through harmonic speed reducer with torque sensor, greatly reduces the structure size of joint module, simultaneously
Measurement result is not influenced, and the hollow hole of harmonic speed reducer, measurement axis and transmission shaft constitutes interior lines cable hole, using interior cabling
Mode, tailored appearance is beautiful, inherently improves the safety and reliability of robot.On the basis of the above, the transmission
It is equipped with bearing 71 between axis 30 and measurement axis 70, it can be to improve the rotating accuracy for measuring axis.
In the present embodiment, the second encoder is incremental encoder, and incremental encoder includes magnet ring 84 and reads
Several 81, incremental encoder magnet ring 84 is fixed in 30 the other end face of transmission shaft by the second mounting base 82, in drive cavity
Equipped with second support 83, incremental encoder reading head 81 be fixed in second support 83 and with incremental encoder magnet ring 84
Position is corresponding.The incremental encoder is used to measure the angular displacement information of rotor or transmission shaft, to more precisely control
The velocity of rotation of joint module, direction.
On above-mentioned basis, the utility model has also done further improvement, and 30 other end of transmission shaft is equipped with and prevents from passing
The stop mechanism that moving axis 30 arbitrarily rotates, when rotating and swinging joint module is powered, transmission shaft can be freely rotated, and work as rotating and swinging joint module
When power loss, transmission shaft is stopped mechanism and blocks and cannot be freely rotated.When rotating and swinging joint module is not when working, stop mechanism is utilized
Prevent transmission shaft from arbitrarily rotating.Specifically, the stop mechanism includes electromagnet 91, reset spring 96, armature 92 and stop
Ring 93, on 30 other end of transmission shaft, electromagnet 91 and armature 92 are fixed in drive cavity 93 fixing sleeve of stop snap ring, work as rotation
Electromagnet 91 is powered when joint module is powered, and electromagnet 91 and armature 92 are attracted, and armature 92 is in attracted position, transmission shaft 30
It can be freely rotated, 91 power loss of electromagnet when rotating and swinging joint module power loss, armature 92 is replied to end under the effect of reset spring 96
Dynamic position, stop snap ring 93 are blocked by armature 92, and transmission shaft 30 cannot be freely rotated.It is matched, is held in the mouth using electromagnet and armature
Iron is set there are two operating position, and electromagnet is powered, and armature is in attracted position, electromagnet power loss, and armature is in stop position, from
And reach when rotating and swinging joint module is not when working, prevent transmission shaft from arbitrarily rotating using stop mechanism.
On above-mentioned basis, the utility model has also done further improvement, and the bearing 31 on 30 both ends of transmission shaft is logical
It crosses bearing block 32 to be supported in drive cavity, is additionally provided with axle sleeve 33 on 30 other end of transmission shaft, the stop mechanism further includes
Wave washer 94 and limit convex shoulder 95, the limit fixation of convex shoulder 95 are located on 30 other end of transmission shaft, wave washer 94 and stop
93 sets of ring on the transmission shaft other end and be sequentially located at axle sleeve 33 and limit convex shoulder 95 between, stop snap ring 93 is by wave washer 94
It is squeezed with limit convex shoulder 95 and clamps and cover on 30 other end of transmission shaft.Stop snap ring is squeezed using wave washer and limit convex shoulder
Pressure is clamped on the transmission shaft other end, is realized and is maintained relatively fixed connection between stop snap ring and transmission shaft using frictional force, and
When joint output is more than a certain size by moment of face, stop snap ring then skids on the transmission shaft other end, joint
Output can rotate, and guarantee that stop snap ring is not destroyed by force.Further, the limit convex shoulder 95 is c-type positioning
Ring, 30 other end of transmission shaft are equipped with card slot, and c-type positioning ring is buckled on card slot.
In the present embodiment, the torque sensor 400 is wheel spoke type sensor, and wheel spoke type sensor includes inner ring, outer
The steel wheel of ring and strain beam, the outer ring and harmonic speed reducer 40 of the torque sensor 400 is bolted to connection, the power
The inner ring of square sensor 400 is bolted to connection with joint output 200.
In the present embodiment, demarcation plate 12, the driving are equipped between the mounting portion 10 and driving section 20 of the pedestal 100
Controller 300 is fixed on demarcation plate 12 by heat sink 11.Drive control device is connected by heat sink with the demarcation plate of pedestal,
So that heat is passed to increase heat dissipation area on pedestal, accelerated heat is distributed, and guarantees drive control device in the case where working long hours
It is able to maintain in a relatively low temperature levels.
Compared with prior art, the utility model has the advantage that
1, torque sensor is added in the utility model in joint module so that by the module assembled at robot can be with
The force information in environment is perceived, realizes power control, therefore improve the safety of robot, self-protection, this joint module
It can be applied to high-precision assembly, polishing, scouring etc. to need robot end to contact with environment and control the building ring of power output
In border；
2, drive control device obtains the deflection angle of rimless rotor and the deflection angle of joint output by encoder
Degree and deflection angle between rotor and joint output are poor, provide necessary condition for the closed-loop feedback of Torque Control, realization
The Torque Control of joint module and the Shared control of robot, to improve joint transmission precision and torque output accuracy；
3, by using the combination of increment type and absolute type Dual-encoder, and absolute encoder is mounted on joint output
End, so as to realize that joint high precision position controls；
4, the utility model realizes the inside cabling of joint module by reasonable internal structure design and type selecting, thus
It ensure that the simple and beautiful property of joint of robot appearance.
Above-described embodiment is the preferable embodiment of the utility model, but the embodiments of the present invention is not by above-mentioned
The limitation of embodiment, it is made under other any spiritual essence and principles without departing from the utility model to change, modify, replacing
In generation, simplifies combination, should be equivalent substitute mode, is included within the protection scope of the utility model.
Claims (10)
1. one kind controls integrated torque can observing and controlling rotating and swinging joint module of robot, it is characterised in that: exported including pedestal, joint
Part, drive control device, transmission mechanism, torque sensor, the first encoder and second encoder, pedestal include mounting portion and transmission
Portion, driving section are equipped with drive cavity, and transmission mechanism includes rimless motor, transmission shaft and harmonic speed reducer, and rimless motor includes stator
And rotor, the stator of rimless motor are fixed in drive cavity, transmission shaft is connect with the rotor engagement of rimless motor and transmission shaft two
Through bearing support in drive cavity, one end of transmission shaft and the wave producer of harmonic speed reducer are connected at end；Harmonic speed reducer
The connection of one end of steel wheel and torque sensor, the other end of torque sensor are connect with joint output；Drive control device is located at
On mounting portion, the first encoder is used to measure the angular displacement information of joint output or torque sensor, and second encoder is used for
Measure the angular displacement information of rotor or transmission shaft；The control terminal of rimless motor is electrically connected with drive control device, torque sensor,
One encoder and second encoder are electrically connected with drive control device respectively.
2. it is according to claim 1 control integrated torque can observing and controlling rotating and swinging joint module of robot, it is characterised in that: institute
Stating the first encoder is absolute type encoder, and absolute type encoder includes magnet ring and reading head, and the transmission shaft is hollow structure,
Harmonic speed reducer is equipped with hollow hole, and hollow measurement axis is equipped in the hollow hole of transmission shaft, and measurement axis one end passes through harmonic reduction
It is fixedly connected after the hollow hole of device with torque sensor, the measurement axis other end is extend out to outside the hollow hole of transmission shaft, and absolute type is compiled
Code device magnet ring is fixed in measurement axis the other end face by the first mounting base, and first support is equipped in drive cavity, and absolute type is compiled
Code device reading head is fixed in first support and corresponding with the position of absolute type encoder magnet ring；Harmonic speed reducer, measurement axis
Interior lines cable hole is constituted with the hollow hole of transmission shaft.
3. it is according to claim 2 control integrated torque can observing and controlling rotating and swinging joint module of robot, it is characterised in that: institute
It states and is equipped with bearing between transmission shaft and measurement axis.
4. it is according to claim 1 control integrated torque can observing and controlling rotating and swinging joint module of robot, it is characterised in that: institute
Stating second encoder is incremental encoder, and incremental encoder includes magnet ring and reading head, and incremental encoder magnet ring passes through
Second mounting base is fixed in transmission shaft the other end face, and second support is equipped in drive cavity, and incremental encoder reading head is solid
It is fixed on the secondary support bracket and corresponding with the position of incremental encoder magnet ring.
5. it is according to claim 1 control integrated torque can observing and controlling rotating and swinging joint module of robot, it is characterised in that: institute
It states the transmission shaft other end and is equipped with the stop mechanism for preventing transmission shaft from arbitrarily rotating, when rotating and swinging joint module is powered, transmission shaft energy
It is freely rotated, when rotating and swinging joint module power loss, transmission shaft is stopped mechanism and blocks and cannot be freely rotated.
6. it is according to claim 5 control integrated torque can observing and controlling rotating and swinging joint module of robot, it is characterised in that: institute
Stating stop mechanism includes electromagnet, reset spring, armature and stop snap ring, stop snap ring fixing sleeve on the transmission shaft other end,
Electromagnet and armature are fixed in drive cavity, and when rotating and swinging joint module is powered, electromagnet is powered, and electromagnet and armature are attracted,
Armature is in attracted position, and transmission shaft can be freely rotated, the electromagnet power loss when rotating and swinging joint module power loss, and armature is resetting bullet
Lower reply of spring effect moves position to end, and stop snap ring is blocked by armature, and transmission shaft cannot be freely rotated.
7. it is according to claim 6 control integrated torque can observing and controlling rotating and swinging joint module of robot, it is characterised in that: institute
The bearing stated in both ends of the drive shaft is supported in drive cavity by bearing block, is additionally provided with axle sleeve on the transmission shaft other end, institute
State stop mechanism further include wave washer and limit convex shoulder, limit convex shoulder fixation is located on the transmission shaft other end, wave washer and
Stop ring set is on the transmission shaft other end and is sequentially located between axle sleeve and limit convex shoulder, and stop snap ring is by wave washer and limit
Position convex shoulder, which squeezes, to be clamped and covers on the transmission shaft other end.
8. it is according to claim 7 control integrated torque can observing and controlling rotating and swinging joint module of robot, it is characterised in that: institute
Stating limit convex shoulder is c-type positioning ring, and the transmission shaft other end is equipped with card slot, and c-type positioning ring is buckled on card slot.
9. it is according to claim 2 control integrated torque can observing and controlling rotating and swinging joint module of robot, it is characterised in that: institute
Stating torque sensor is wheel spoke type sensor, and wheel spoke type sensor includes inner ring, outer ring and strain beam, the torque sensor
The steel wheel of outer ring and harmonic speed reducer is bolted to connection, and the inner ring and joint output of the torque sensor pass through spiral shell
Bolt is fixedly connected.
10. it is according to claim 1 control integrated torque can observing and controlling rotating and swinging joint module of robot, it is characterised in that:
Demarcation plate is equipped between the mounting portion and driving section of the pedestal, the drive control device is fixed on demarcation plate by heat sink
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822150899.1U CN209551775U (en) | 2018-12-20 | 2018-12-20 | One kind controling integrated torque can observing and controlling rotating and swinging joint module of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822150899.1U CN209551775U (en) | 2018-12-20 | 2018-12-20 | One kind controling integrated torque can observing and controlling rotating and swinging joint module of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209551775U true CN209551775U (en) | 2019-10-29 |
Family
ID=68303224
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822150899.1U Active CN209551775U (en) | 2018-12-20 | 2018-12-20 | One kind controling integrated torque can observing and controlling rotating and swinging joint module of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209551775U (en) |
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2018
- 2018-12-20 CN CN201822150899.1U patent/CN209551775U/en active Active
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