CN209999190U - Waist structure of robot and robot - Google Patents
Waist structure of robot and robot Download PDFInfo
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- CN209999190U CN209999190U CN201920863373.XU CN201920863373U CN209999190U CN 209999190 U CN209999190 U CN 209999190U CN 201920863373 U CN201920863373 U CN 201920863373U CN 209999190 U CN209999190 U CN 209999190U
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- 210000001624 Hip Anatomy 0.000 title claims abstract description 39
- 238000007789 sealing Methods 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 abstract description 17
- 230000037250 Clearance Effects 0.000 abstract description 8
- 230000035512 clearance Effects 0.000 abstract description 8
- 238000000034 method Methods 0.000 abstract description 8
- 238000009434 installation Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 6
- 239000003638 reducing agent Substances 0.000 description 4
- 238000003379 elimination reaction Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006011 modification reaction Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 1
- 239000000789 fastener Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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Abstract
The utility model provides a waist structure and kinds of robot of kinds of robot, wherein, the waist structure of robot includes the box, the worm wheel sets up in the box, two worms set up in the box, two worms are the symmetric distribution along the radial of worm wheel, and mesh with the worm wheel respectively, drive arrangement sets up on the box, and be connected with two worms respectively, the worm can drive the worm wheel rotation under drive arrangement's drive, the stand is connected with the worm wheel, can rotate under the drive of worm wheel, the utility model discloses eliminate clearance technique with two motor drive and introduce the waist structure of robot, adopt dual drive device driven structural style in coordination, effectively eliminate the transmission clearance of joint spare, and then promote the work precision of waist structure, can avoid the use of reduction gear simultaneously.
Description
Technical Field
The utility model belongs to the technical field of industrial robot, particularly, relate to waist structure and kinds of robot of kinds of robots.
Background
At present, industrial robots in a serial configuration have wide application, but the serial structure form of the industrial robots enables the overall rigidity of the robots to have definite defects.
In the related art, as the robot waist structure is greatly stressed, RV reducers ( reducers, which use a planetary transmission principle and adopt a novel transmission device with cycloidal pin teeth meshed) are adopted, the transmission ratio I of the common RV reducers is between 30 and 260, and thus, if large transmission is performed by using gears, multi-stage transmission and reducers are required, so that the robot waist structure is complex and heavy in overall structure, large transmission gaps exist at the same time, and the control effect is poor.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at of the technical problem who exists among the solution prior art or the correlation technique.
Therefore, the utility model discloses an aspect proposes kind of waist structure of robot.
The utility model discloses the second aspect provides kinds of robots.
In view of this, according to the utility model discloses an aspect provides a waist structure of kinds of robots, which includes a box, a worm wheel disposed in the box, two worms disposed in the box, symmetrically distributed along the radial direction of the worm wheel and respectively meshed with the worm wheel, a driving device disposed on the box and respectively connected with the two worms, the worms can drive the worm wheel to rotate under the driving of the driving device, and a column connected with the worm wheel and can rotate under the driving of the worm wheel.
The utility model provides a waist structure of robot, be provided with worm wheels in the box and two worms that mesh and use with the worm wheel, two worms are the symmetric distribution along the radial of worm wheel, mesh with the worm wheel simultaneously from two positions, be provided with drive arrangement on the box, drive arrangement meshes with two worms respectively, drive arrangement drives the worm rotation, and then drives the worm wheel and rotate, the end connection of worm wheel has the stand, the stand is as the output of waist structure, can rotate under the drive of worm wheel, and then other structures that the drive is connected with it carry out rotary motion, specifically, the arm structure of drive robot is connected to the stand, and then the arm structure gyration of drive robot, drive arrangement is provided with two equally, every worm rotations are driven respectively to two drive arrangement.
The utility model discloses in introducing the waist structure of robot with bi-motor drive elimination clearance technique, utilize two worms simultaneous drive worm wheel rotations, adopt dual drive arrangement cooperating driven structural style, simultaneously with two worm symmetric distribution in the both sides of worm wheel, can effectively eliminate the transmission clearance of joint spare, and then promote the work precision of waist structure, in addition, can be through the drive ratio of reasonable adjustment worm gear, make the worm gear transmission can slow down and increase the turn round, play the effect with reduction gear appearance, need not extra reduction gear, specifically, the drive ratio is by drive arrangement's performance and robot load parameter decision.
In addition, according to the utility model provides a waist structure of robot among the above-mentioned technical scheme, can also have following additional technical characteristics:
in the above technical solution, preferably, the worm driving device further includes an end cover disposed on the box body, an end of the worm is connected with the driving device, and another end of the worm is connected with the box body through the end cover.
According to the technical scheme, the end covers are arranged on the side wall of the box body, the end covers and the driving device are located on two opposite sides of the box body, the end of the worm is connected with the driving device, and the other end of the worm is installed on the side wall of the box body through the end covers, so that stable installation of the worm is guaranteed, and the worm is prevented from falling off in the process of meshing the worm and the worm wheel.
In the above technical solution, preferably, the method further includes: and the sealing cover is arranged on the box body and used for sealing the position where the driving device is connected with the box body.
In the technical scheme, the side wall of the box body is provided with the sealing cover, and the sealing cover is arranged at the position where the driving device is connected with the box body. The output shaft of the driving device penetrates through the sealing cover, the sealing cover seals the position where the driving device is connected with the box body, and dust, impurities and the like are prevented from entering the box body.
In the above technical solution, preferably, the method further includes: the rotating shaft is arranged on the box body, two ends of the rotating shaft are respectively connected with the worm wheel and the upright post, and the rotating shaft can rotate under the driving of the worm wheel so as to drive the upright post to rotate.
In the technical scheme, a rotating shaft is arranged on the box body, specifically, the rotating shaft penetrates through the box body, the end of the rotating shaft is connected with a worm wheel, the end of the rotating shaft is connected with the upright post through a fastening piece, the requirement of the space structure of the waist structure is met, in the working process of the waist structure, the worm wheel is driven by a worm to rotate to drive the rotating shaft to rotate, and the rotating shaft drives the upright post to rotate so as to realize the rotating motion of the arm structure.
In the above technical solution, the rotating shaft of the power transmission device preferably further comprises an th bearing, wherein the rotating shaft penetrates through the th bearing, a th bearing flange is arranged on the box body, and the th bearing is arranged in the th bearing flange.
According to the technical scheme, the th bearing flange plate is arranged on the box body, the th bearing flange plate is located at the top of the box body, the th bearing is arranged in the th bearing flange plate, the rotary shaft penetrates through the th bearing and extends into the box body to be connected with the worm wheel, and the th bearing flange plate and the th bearing are arranged, so that the installation of the rotary shaft in the box body is effectively guaranteed, and the rotary shaft can be driven by the worm wheel to stably rotate.
In the above technical solution, preferably, the method further includes: the end part of the rotating shaft penetrates through the worm wheel and is in contact with the second bearing; and the second bearing flange plate is arranged on the box body, and the second bearing is arranged in the second bearing flange plate.
According to the technical scheme, the second bearing flange is arranged on the box body and located at the bottom of the box body, the second bearing is arranged in the second bearing flange and sleeved on the end portion of the rotating shaft and located below the worm wheel, the second bearing is matched with the th shaft, the rotating shaft is radially located from two positions, and stable installation of the rotating shaft is guaranteed.
In the above technical solution, preferably, the method further includes: the thrust flange is sleeved on the rotating shaft and positioned between the second bearing and the worm wheel; and the thrust bearing is sleeved on the rotating shaft and is contacted with the thrust flange and the worm wheel.
In the technical scheme, a thrust flange and a thrust bearing are arranged on a box body, wherein the thrust flange and the thrust bearing are both sleeved on a rotating shaft and are positioned below a worm wheel, the thrust flange is positioned between the thrust bearing and a second bearing and used for separating the thrust bearing from the second bearing, the thrust bearing is positioned between the thrust flange and a stop worm wheel, and the thrust flange and the thrust bearing are matched with each other to position axial directions of the rotating shaft so as to ensure the stable installation of the rotating shaft.
In the above technical solution, preferably, the power distribution box further includes a box body flange cover disposed on the box body, the th bearing flange plate disposed on the box body flange cover, and a power distribution box disposed on the box body and connected to the driving device.
In the technical scheme, a box body flange cover is arranged on the box body to cover an opening of the box body so as to ensure the stable installation of the bearing flange plate, and a distribution box is arranged on the box body and connected with a driving device so as to ensure the effective work of the driving device.
In the above technical solution, preferably, the th bearing is a deep groove ball bearing, the second bearing is an angular contact ball bearing, and the driving device is a servo motor.
In the technical scheme, the th bearing is a deep groove ball bearing which is simple in structure, low in manufacturing cost, small in friction coefficient, high in limit rotating speed and capable of bearing enough radial load and quantitative axial load, the second bearing is an angular contact ball bearing which can simultaneously bear the radial load and the axial load, and the driving device is a servo motor and can achieve accurate control over a waist structure.
The second aspect of the present invention provides robots, including a waist structure of a robot as in any of aspects .
The robot provided by the utility model comprises the waist structure of the robot as the item in the aspect of the utility model, therefore, the whole beneficial effects of the waist structure of the robot are achieved, and no statement is provided.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 shows a schematic structural view of a waist structure of a robot in embodiments according to the present invention;
FIG. 2 is a cross-sectional view A-A of the lumbar structure of the robot of the embodiment of FIG. 1;
fig. 3 is a cross-sectional view of the waist structure of the robot of the embodiment of fig. 1 taken along B-B.
Wherein, the correspondence between the reference numbers and the component names in fig. 1 to 3 is:
1 waist structure, 12 boxes, 14 worm wheels, 16 worms, 18 driving devices, 20 upright posts, 22 end covers, 24 sealing covers, 26 rotating shafts, 28 th bearings, 30 st bearing flanges, 32 second bearings, 34 second bearing flanges, 36 thrust flanges, 38 thrust bearings, 40 box flange covers and 42 distribution boxes.
Detailed Description
So that the manner in which the above recited objects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments thereof which are illustrated in the appended drawings, which are not intended to limit the scope of the invention, but which are illustrated in the appended drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
The waist structure 1 and the robot of kinds of robots according to embodiments of the present invention are described below with reference to fig. 1 to 3.
The utility model discloses an aspect provides a waist structure 1 of kinds of robots, as shown in fig. 1 to 3, including a box 12, a worm wheel 14 arranged in the box 12, two worms 16 arranged in the box 12, the two worms 16 are distributed symmetrically along the radial direction of the worm wheel 14 and are respectively meshed with the worm wheel 14, two driving devices 18 arranged on the box 12 and respectively connected with the two worms 16, the worm 16 can drive the worm wheel 14 to rotate under the driving of the driving devices 18, and a column 20 connected with the worm wheel 14 and can rotate under the driving of the worm wheel 14.
The utility model provides a waist structure 1 of robot, as shown in fig. 3, worm wheel 14 and two worms 16 that use with worm wheel 14 mesh are provided with in the box 12, two worms 16 are the symmetric distribution along the radial of worm wheel 14, mesh with worm wheel 14 simultaneously from two positions, as shown in fig. 3, be provided with drive arrangement 18 on the box 12, drive arrangement 18 meshes with two worms 16 respectively, drive arrangement 18 is used for driving worm 16 to rotate, and then drive worm wheel 14 and rotate, as shown in fig. 1 and fig. 2, the end connection of worm wheel 14 has stand 20, stand 20 is the output of waist structure 1, can rotate under worm wheel 14's drive, and then the other structure that is connected with it carries out slewing motion, specifically, stand 20 connects the arm structure of drive robot, and then the arm structure of drive robot gyration, drive arrangement 18 is provided with two equally, two drive arrangement 18 drive every worm 16 rotations respectively.
The utility model discloses in introducing the waist structure 1 of robot with two motor drive elimination clearance techniques, utilize two worms 16 simultaneous drive worm wheel 14 to rotate, adopt the cooperation driven structural style of dual drive device 18, simultaneously with two worm 16 symmetric distribution in the both sides of worm wheel 14, can effectively eliminate the transmission clearance of joint spare, and then promote waist structure 1's work precision, in addition, can be through the drive ratio of the 14 worms of reasonable adjustment worm wheel 16, make the 16 transmission of the 14 worms of worm wheel can slow down and increase the turn round, play the effect with reduction gear appearance, need not extra reduction gear, specifically, the drive ratio is decided by drive arrangement 18's performance and robot load parameter.
In the above embodiment, as shown in fig. 3, it is preferable that the worm 16 further includes an end cover 22 disposed on the case 12, wherein an end of the worm 16 is connected to the driving device 18, and an end of the worm is connected to the case 12 through the end cover 22.
In this embodiment, the side wall of the housing 12 is provided with the end cap 22, and the end cap 22 and the driving device 18 are located at two opposite sides of the housing 12. the end of the worm 16 is connected with the driving device 18, and the other end is mounted on the side wall of the housing 12 through the end cap 22, so that the stable mounting of the worm 16 is ensured, and the worm 16 is prevented from falling off during the meshing process of the worm 16 and the worm wheel 14.
In the above embodiment, preferably, as shown in fig. 3, the method further includes: and a sealing cover 24 provided on the housing 12 for sealing a position where the driving unit 18 is coupled to the housing 12.
In this embodiment, a sealing cover 24 is provided on a side wall of the case 12, and the sealing cover 24 is provided at a position where the driving device 18 is connected to the case 12. The output shaft of the driving device 18 is disposed through a sealing cover 24, and the sealing cover 24 seals a position where the driving device 18 is connected to the case 12, so as to prevent dust, impurities, and the like from entering the case 12.
In the above embodiment, preferably, as shown in fig. 1 and 2, the method further includes: the rotating shaft 26 is disposed on the box 12, two ends of the rotating shaft 26 are respectively connected to the worm wheel 14 and the column 20, and the rotating shaft 26 can be driven by the worm wheel 14 to rotate, thereby driving the column 20 to rotate.
In this embodiment, the pivot shaft 26 is disposed on the case 12. specifically, the pivot shaft 26 is disposed through the case 12, the end of the pivot shaft 26 is connected to the worm wheel 14, and the end is connected to the upright post 20 through a fastener, so as to satisfy the space structure requirement of the lumbar structure 1. during the operation of the lumbar structure 1, the worm wheel 14 is driven by the worm 16 to rotate the pivot shaft 26, and the pivot shaft 26 drives the upright post 20 to rotate, so as to realize the pivoting motion of the arm structure.
In the embodiment shown, the post 20 is attached to the pivot shaft 26 at by eight screws and is positioned by a locating pin.
In the above embodiment, as shown in fig. 2, it is preferable that the second embodiment further includes th bearings 28, the rotation shaft 26 is disposed through the th bearings 28, the th bearing flange 30 is disposed on the housing 12, and the th bearings 28 are disposed in the th bearing flange 30.
In this embodiment, the housing 12 is provided with an th bearing flange 30, the th bearing flange 30 is located at the top of the housing 12, the th bearing flange 30 is provided with a th bearing 28, the rotating shaft 26 passes through the th bearing 28 and extends into the housing 12 to be connected with the worm wheel 14, and the th bearing flange 30 and the th bearing 28 are provided to effectively ensure the installation of the rotating shaft 26 in the housing 12 and ensure that the rotating shaft 26 can stably rotate under the driving of the worm wheel 14.
In the above embodiment, preferably, as shown in fig. 2, the method further includes: a second bearing 32, an end of the rotation shaft 26 passing through the worm wheel 14 and contacting the second bearing 32; a second bearing flange 34 is disposed on the housing 12, and the second bearing 32 is disposed within the second bearing flange 34.
In this embodiment, the housing 12 is provided with a second bearing flange 34, the second bearing flange 34 is located at the bottom of the housing 12, the second bearing 32 is located in the second bearing flange 34, and the second bearing 32 is sleeved on the end of the rotating shaft 26 and located below the worm gear 14. the second bearing 32 and the shaft cooperate to radially position the rotating shaft 26 from two locations to ensure stable installation of the rotating shaft 26.
In the above embodiment, preferably, as shown in fig. 2, the method further includes: the thrust flange 36 is sleeved on the rotating shaft 26 and is positioned between the second bearing 32 and the worm wheel 14; and the thrust bearing 38 is sleeved on the rotating shaft 26 and is contacted with the thrust flange 36 and the worm wheel 14.
In this embodiment, the housing 12 is provided with a thrust flange 36 and a thrust bearing 38, wherein the thrust flange 36 and the thrust bearing 38 are both sleeved on the revolving shaft 26 and are located below the worm wheel 14, the thrust flange 36 is located between the thrust bearing 38 and the second bearing 32 and is used for separating the thrust bearing 38 from the second bearing 32, the thrust bearing 38 is located between the thrust flange 36 and the worm wheel 14, and the thrust flange 36 and the thrust bearing 38 are matched with each other to provide 26 axial positions for the revolving shaft 26 and ensure the stable installation of the revolving shaft 26.
In the above embodiment, as shown in fig. 1 and 2, it is preferable that the power distribution box further includes a box flange 40 disposed on the box 12, an th bearing flange 30 disposed on the box flange 40, and a power distribution box 42 disposed on the box 12 and connected to the driving device 18.
In this embodiment, the housing 12 is provided with a housing flange cover 40 to cover the opening of the housing 12 to ensure the stable mounting of the bearing flange 30, and the housing 12 is provided with a distribution box 42, wherein the distribution box 42 is connected to the driving device 18 to ensure the effective operation of the driving device 18.
In the above embodiment, the th bearing 28 is preferably a deep groove ball bearing, the second bearing 32 is preferably an angular contact ball bearing, and the driving device 18 is preferably a servo motor.
In this embodiment, the th bearing 28 is a deep groove ball bearing, which has simple structure, low manufacturing cost, small friction coefficient, high limit rotation speed, and can bear enough radial load and quantitative axial load, the second bearing 32 is an angular contact ball bearing which can bear both radial load and axial load, and the driving device 18 is a servo motor, which can realize accurate control of the waist structure 1.
In particular embodiment, the utility model discloses in the waist structure 1 with the robot is introduced to two motor drive elimination clearance technique for waist structure 1 provides the slewing motion of degrees of freedom, specifically, as shown in FIG. 3, two servo motor and worm 16 difference symmetrical arrangement are in the both sides of worm wheel 14, drive worm wheel 14 jointly and rotate, accomplish slewing motion with stand 20 that realizes the robot, worm wheel 14 worm 16 has the drive ratio who satisfies the condition, adopt the effect that can play the reduction gear of the mode of directly driving, the whole reduction gear that need not of robot, and reduce the requirement to motor driving force, reduce manufacturing cost and work energy consumption.
Specifically, worm wheel 14 worm 16 compact structure, drive ratio is big, is like in power transmission, and it is between 10 to 80 to get drive ratio I, in indexing mechanism, I can reach 1000 such big transmission for example with gear drive, then need take multistage transmission to go, so worm 16 transmission compact structure, small, light in weight so the utility model discloses a worm wheel 14 worm 16 transmission chooses suitable reduction ratio alright satisfy the power demand, need not extra reduction gear, and the drive ratio is decided by servo motor's performance and robot load parameter, can not influence the control accuracy that dual motor drive eliminated the clearance.
A second aspect of the present invention proposes robots, comprising a waist structure 1 as in any robot of the aspect of the present invention.
The robot provided by the utility model comprises the waist structure 1 of the robot as defined in any item of the of the utility model, therefore, the whole beneficial effects of the waist structure 1 of the robot are achieved, and no statement is given here.
The terms "mounted," "connected," "fixed," and the like are intended to be , e.g., "connected" can be a fixed connection or a removable connection, or physically connected, "connected" can be either directly connected or indirectly connected through intervening media.
In the description herein, the descriptions of the terms " embodiments," " embodiments," "specific embodiments," etc. are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least embodiments or examples of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
- Waist structure (1) of a robot of the kind , characterized in that it comprises:a case (12);a worm wheel (14) disposed in the case (12);the two worms (16) are arranged in the box body (12), and the two worms (16) are symmetrically distributed along the radial direction of the worm wheel (14) and are respectively meshed with the worm wheel (14);the driving device (18) is arranged on the box body (12) and is respectively connected with the two worms (16), and the worms (16) can drive the worm wheel (14) to rotate under the driving of the driving device (18);and the upright post (20) is connected with the worm wheel (14) and can be driven by the worm wheel (14) to rotate.
- 2. The lumbar structure (1) of a robot according to claim 1, characterized by further comprising:and the end cover (22) is arranged on the box body (12), the end of the worm (16) is connected with the driving device (18), and the other end of the worm is connected with the box body (12) through the end cover (22).
- 3. The lumbar structure (1) of a robot according to claim 1, characterized by further comprising:and the sealing cover (24) is arranged on the box body (12) and is used for sealing the position where the driving device (18) is connected with the box body (12).
- 4. The lumbar structure (1) of a robot of any of claims 1-3, further comprising:the rotating shaft (26) is arranged on the box body (12), two ends of the rotating shaft (26) are respectively connected with the worm wheel (14) and the upright post (20), and the rotating shaft (26) can rotate under the driving of the worm wheel (14) so as to drive the upright post (20) to rotate.
- 5. The lumbar structure (1) of a robot according to claim 4, characterized by further comprising:th bearing (28), the revolving shaft (26) is arranged through the th bearing (28);th bearing flange (30) disposed on the housing (12), the th bearing (28) being disposed within the th bearing flange (30).
- 6. The lumbar structure (1) of a robot according to claim 5, characterized by further comprising:a second bearing (32), wherein the end of the revolving shaft (26) passes through the worm gear (14) and is in contact with the second bearing (32);and the second bearing flange plate (34) is arranged on the box body (12), and the second bearing (32) is arranged in the second bearing flange plate (34).
- 7. The lumbar structure (1) of a robot of claim 6, further comprising:the thrust flange (36) is sleeved on the rotating shaft (26) and is positioned between the second bearing (32) and the worm wheel (14);and the thrust bearing (38) is sleeved on the rotating shaft (26) and is in contact with the thrust flange (36) and the worm wheel (14).
- 8. The lumbar structure (1) of a robot according to claim 5, characterized by further comprising:the box body flange cover (40) is arranged on the box body (12), and the th bearing flange plate (30) is arranged on the box body flange cover (40);and a distribution box (42) which is arranged on the box body (12) and is connected with the driving device (18).
- 9. The lumbar structure (1) of a robot according to claim 6,the th bearing (28) is a deep groove ball bearing, the second bearing (32) is an angular contact ball bearing, and the driving device (18) is a servo motor.
- 10, A robot, comprising:waist structure (1) of a robot according to any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920863373.XU CN209999190U (en) | 2019-06-10 | 2019-06-10 | Waist structure of robot and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920863373.XU CN209999190U (en) | 2019-06-10 | 2019-06-10 | Waist structure of robot and robot |
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| Publication Number | Publication Date |
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| CN209999190U true CN209999190U (en) | 2020-01-31 |
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| CN201920863373.XU Active CN209999190U (en) | 2019-06-10 | 2019-06-10 | Waist structure of robot and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114263707A (en) * | 2021-10-12 | 2022-04-01 | 西华大学 | Highly integrated robot joint reducer and joint device |
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2019
- 2019-06-10 CN CN201920863373.XU patent/CN209999190U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114263707A (en) * | 2021-10-12 | 2022-04-01 | 西华大学 | Highly integrated robot joint reducer and joint device |
| CN114263707B (en) * | 2021-10-12 | 2023-04-28 | 西华大学 | Highly integrated robot joint reducer and joint device |
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