CN213918288U - Executor and robot comprising same - Google Patents
Executor and robot comprising same Download PDFInfo
- Publication number
- CN213918288U CN213918288U CN202022780363.5U CN202022780363U CN213918288U CN 213918288 U CN213918288 U CN 213918288U CN 202022780363 U CN202022780363 U CN 202022780363U CN 213918288 U CN213918288 U CN 213918288U
- Authority
- CN
- China
- Prior art keywords
- rotor
- output mechanism
- bearing
- shell
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The utility model relates to a robot field discloses an executor and contain its robot. The actuator includes: the motor is connected with the first shell, the second shell, the motor, the first speed reduction output mechanism and the second speed reduction output mechanism; the first shell and the second shell are coaxially and fixedly connected, the first shell forms a motor installation cavity, and the motor is arranged in the motor installation cavity; the motor comprises a stator and a rotor coaxially arranged on the inner side of the stator, wherein the rotor is provided with a rotor shaft; the first speed reduction output mechanism and the second speed reduction output mechanism are both in driving connection with the rotor shaft, the first speed reduction output mechanism is arranged on the first shell, the second speed reduction output mechanism is arranged on the second shell, and the first speed reduction output mechanism and the second speed reduction output mechanism are symmetrically arranged on two sides of the motor. The embodiment of the utility model provides a make good, the rigidity of executor symmetry just can bear great overturning moment to be favorable to promoting robot performance.
Description
Technical Field
The utility model relates to a robotechnology field, in particular to executor and contain its robot.
Background
In recent years, the field of robots has developed rapidly. The development of robots places higher demands on actuators. The application scenario of the robot requires that the joint actuator can bear large load, has high rigidity, and has the smallest volume and weight. The existing actuator generally adopts a single reduction gearbox mechanism and outputs in one direction. When the actuator is subjected to overturning moment, the single side stress is unbalanced, and the rigidity of the actuator and the design of a robot are not facilitated; the scheme generally ensures rigidity and load bearing performance by increasing the thickness of the shell, the strength of structural parts and the number of fasteners, and is not favorable for reducing weight and volume; in addition, this solution makes the mass distribution inside the actuator asymmetric, which is not conducive to dynamic control and robot design.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing an executor and contain its robot for the executor symmetry is good, the rigidity is high, can bear great overturning moment and be favorable to subtracting the weight, thereby is favorable to promoting robot performance.
In order to solve the above technical problem, an embodiment of the present invention provides an actuator, including: the motor is connected with the first shell, the second shell, the motor, the first speed reduction output mechanism and the second speed reduction output mechanism;
the first shell and the second shell are coaxially and fixedly connected, the first shell forms a motor installation cavity, and the motor is arranged in the motor installation cavity; the motor comprises a stator and a rotor coaxially arranged on the inner side of the stator, wherein the rotor is provided with a rotor shaft;
the first speed reduction output mechanism and the second speed reduction output mechanism are in driving connection with the rotor shaft, the first speed reduction output mechanism is arranged on the first shell, the second speed reduction output mechanism is arranged on the second shell, and the first speed reduction output mechanism and the second speed reduction output mechanism are symmetrically arranged on two sides of the motor.
The utility model discloses an embodiment still provides a robot, include: an actuator as hereinbefore described.
Adopt the executor of above-mentioned structure, the coaxial fixed connection of first casing and second casing, the motor setting is in the motor installation intracavity of first casing, and first speed reduction output mechanism and second speed reduction output mechanism set up respectively on first casing and second casing, and the symmetry sets up in the motor both sides, consequently the utility model discloses an executor changes current single speed reduction output design, adopts the good two speed reduction output structure of symmetry to make the executor have the symmetry of preferred, and can improve the rigidity of executor and the bearing capacity to the moment that topples, and then be favorable to improving the performance of robot.
In one embodiment, a first rotor cavity and a second rotor cavity are formed on two axial sides of the rotor, at least part of the first speed reduction output mechanism is located in the first rotor cavity, and at least part of the second speed reduction output mechanism is located in the second rotor cavity.
As an embodiment, a first mounting frame is formed at one end of the first shell, and the first speed reduction output mechanism is arranged in an annular mounting cavity formed by the first mounting frame;
the second casing forms a second mounting frame, and the second speed reduction output mechanism is arranged in an annular mounting cavity formed by the second mounting frame.
As an embodiment, the actuator further comprises: set up in first mounting bracket with first rotor bearing between the rotor, and set up in the second mounting bracket with second rotor bearing between the rotor, first rotor bearing with second rotor bearing symmetry set up in motor axial both sides.
As an embodiment, a first bearing installation cavity is formed between the first installation frame and the rotor, and the first rotor bearing is arranged in the first bearing installation cavity; the second mounting bracket with form the second bearing installation cavity between the rotor, second rotor bearing set up in the second bearing installation cavity.
As an embodiment, the first reduction output mechanism includes: a first speed reducer, a first output mechanism, and a first output side bearing;
the first speed reducer is fixedly arranged on the first mounting frame and is in driving connection with the rotor shaft;
the input end of the first output mechanism is connected with the output end of the first speed reducer, and the first output mechanism is arranged on the first shell through the first output side bearing;
the second reduction output mechanism includes: a second reduction gear, a second output mechanism, and a second output side bearing;
the second speed reducer is fixedly arranged on the second mounting frame and is in driving connection with the rotor shaft;
the input end of the second output mechanism is connected with the output end of the second speed reducer, and the second output mechanism is arranged on the second shell through the second output side bearing;
the reduction ratio of the first speed reducer is the same as the reduction ratio of the second speed reducer.
As an embodiment, the first output side bearing and/or the second output side bearing is a bearing having a contact angle greater than 0 °.
As an embodiment, the actuator further includes a third rotor bearing disposed on the first output mechanism and a fourth rotor bearing disposed on the second output mechanism.
In one embodiment, the stator inner diameter is greater than or equal to 75% of the stator outer diameter.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly introduced below, it should be understood that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic cross-sectional view of an actuator according to an embodiment of the present invention;
fig. 2 is an exploded view of an actuator according to an embodiment of the present invention;
fig. 3 is a schematic structural view of an output side bearing of an actuator according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a stator tooth of an actuator according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a robot according to an embodiment of the present invention.
Wherein: 1-actuator, 10 a-first housing, 10 b-second housing, 100 a-first housing, 100 b-second housing, 11 a-first mounting, 11 b-second mounting, 13-first step, 12-second step, 20-stator, 21-rotor, 22-rotor shaft, 23-third step, 30 a-first reducer, 30 b-second reducer, 31 a-first output mechanism, 31 b-second output mechanism, 32 a-first output side bearing, 32 b-second output side bearing, 14 a-first rotor bearing, 14 b-second rotor bearing, 15 a-third rotor bearing, 15 b-fourth rotor bearing.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the present disclosure, the use of directional terms such as "inner" and "outer" means "inner" and "outer" with respect to the profile of the corresponding component itself, unless otherwise specified. In addition, the terms "first," "second," "third," "fourth," and the like as used herein are intended to distinguish one element from another, and are not necessarily sequential or significant. Furthermore, in the following description, when referring to the figures, the same reference numbers in different figures denote the same or similar elements, unless otherwise explained. The foregoing definitions are provided to illustrate and describe the present disclosure only and should not be construed to limit the present disclosure.
As shown in fig. 1 to 2, an embodiment of the present invention provides an actuator, which can be applied to a robot joint. The actuator 1 includes: the device comprises a first shell 10a, a second shell 10b, a motor, a first speed reduction output mechanism and a second speed reduction output mechanism. The first shell 10a and the second shell 10b are coaxially and fixedly connected, the first shell 10a forms a motor installation cavity, and the motor is arranged in the motor installation cavity. The motor includes a stator 20 and a rotor 21 coaxially disposed inside the stator 20, the rotor 21 having a rotor shaft 22. The rotor shaft 22 may penetrate the first and second housings 10a and 10b, or may not penetrate the first and second housings 10a and 10b, which is not particularly limited herein. The first speed reduction output mechanism and the second speed reduction output mechanism are both in driving connection with the rotor shaft 22, the first speed reduction output mechanism is arranged on the first shell 10a, and the second speed reduction output mechanism is arranged on the second shell 10b and symmetrically arranged on two sides of the motor. The structure of each component, and the positional relationship, connection relationship, and function between them will be described one by one.
Alternatively, in the present embodiment, the first casing 10a includes a first casing body 100a, and the first casing body 100a is cylindrical and is formed with a cylindrical motor mounting cavity. The motor is an inner rotor motor, and the stator 20 may be fixed to an inner wall of the motor mounting cavity by glue, but is not limited thereto, and in other embodiments, the stator may also be fixed to the first shell body by a pin joint manner or mounted on the first shell body by an interference fit manner, which is not specifically limited in this embodiment. In this embodiment, the second casing 10b includes a second casing body 100b, the second casing body 100b is cylindrical, the diameter of the second casing body 100b is smaller than the diameter of the first casing body 100a, the second casing body 100b is nested in the first casing body 100a, the outer end of the second casing body 100b further has an annular blocking eave extending radially, and the annular blocking eave is matched with the end surface of the first casing body, so that the connected first casing body and second casing body form an actuator casing. The first shell body and the second shell body can be fixed through glue, and the shape and the connection mode of the first shell body and the second shell body are not particularly limited in the embodiment. In this embodiment, first shell body and second shell body link to each other the back and form the stator mounting groove at the shell body inner wall, and the stator is installed in the stator mounting groove to it is spacing to carry out the axial to the stator.
In this embodiment, a first mounting frame 11a is formed at one end of the first casing body 100a, the first mounting frame 11a has an inwardly recessed annular mounting cavity, and the first speed reduction output mechanism is disposed in the annular mounting cavity of the first mounting frame. The second casing body 100b also forms a second mounting bracket 11b, and the second reduction output mechanism is disposed in an inwardly recessed annular mounting cavity formed in the second mounting bracket 11 b. Alternatively, in the present embodiment, the first reduction output mechanism includes: a first reduction gear 30a, a first output mechanism 31a, and a first output side bearing 32 a. The first speed reducer 30a is fixedly arranged on the first mounting frame 11a, and the first speed reducer 30a is in driving connection with the rotor shaft 22. An input end of the first output mechanism 31a is connected to an output end of the first reduction gear 30a, and the first output mechanism 31a is provided in the first casing 10a via a first output side bearing 32 a. Alternatively, in the present embodiment, the second reduction output mechanism is identical in structure to the first reduction output mechanism. Specifically, the second reduction output mechanism includes: a second reduction gear 30b, a second output mechanism 31b, and a second output side bearing 32 b. The second speed reducer 30b is fixedly arranged on the first mounting frame 11b, and the second speed reducer 30b is in driving connection with the rotor shaft 22. The input end of the first output mechanism 31b is connected to the output end of the second reduction gear 30b, and the second output mechanism 31b is provided in the second housing 10b via a first output side bearing 32 b.
Optionally, in this embodiment, a first rotor cavity and a second rotor cavity are formed on two axial sides of the rotor 21, at least a part of the first speed reduction output mechanism is located in the first rotor cavity, and at least a part of the second speed reduction output mechanism is located in the second rotor cavity. Specifically, the first speed reducer 30a is partially or completely located within the first rotor cavity, and the second speed reducer 30b is partially or completely located within the second rotor cavity. Therefore, the first speed reduction output mechanism and the second speed reduction output mechanism are overlapped with the motor in the axial direction, and the axial size of the actuator is favorably reduced.
By way of example and not limitation, in the present embodiment, the first and second reducers 30a and 30b may be single-stage planetary reducers. The reduction ratios of the first reduction gear 30a and the second reduction gear 30b are the same. The first output mechanism 31a and the second output mechanism 31b may be flange carriers. Alternatively, the first output mechanism 31a is interference-fitted with the first output side bearing 32a, and the second output mechanism 31b is interference-fitted with the second output side bearing 32 b. Alternatively, in the present embodiment, the first housing 10a is interference-fitted with the first output side bearing 32a, and the second housing 10b is interference-fitted with the second output side bearing 32 b. Alternatively, in another embodiment, the first housing 10a is engaged with the first output side bearing 32a by a snap spring to axially retain and retain play in the first output side bearing 32a, and the second housing 10b is engaged with the second output side bearing 32b by a snap spring to axially retain and retain play in the second output side bearing 32 b.
Alternatively, in this embodiment, the single-stage planetary reducer may include an inner gear ring, sun gears, planet gears, and a planet carrier, the transmission mode is that the sun gears are actively input, the inner gear ring is fixed, and the planet carrier is driven to output. In other embodiments, the related components of the planetary reducer can be replaced by double-connection planetary gears, double-connection sun gears, various double-connection planetary gears and the like, and the transmission mode is not limited to the mode that the sun gears are input actively, the inner gear ring is fixed, and the planet carrier is output in a driven mode; in other embodiments, the single stage planetary reducer may be a helical planetary reducer, and the helix angles of the first reducer gear and the second reducer gear are symmetrical with respect to a plane p orthogonal to the motor axis z. In this embodiment, as shown in fig. 3, the first output side bearing 32a and the second output side bearing 32b may be bearings having a contact angle α greater than 0 °, so as to facilitate the actuator to bear a large axial load. In the present embodiment, tapered roller bearings may be used as the first output side bearing 32a and the second output side bearing 32 b. In other embodiments, the first output side bearing 32a and the second output side bearing 32b may also be angular contact bearings or cross roller bearings. In the present embodiment, the first output side bearing 32a and the second output side bearing 32b are arranged mirror-symmetrically with respect to the plane p orthogonal to the motor axis z, so that the first reduction output mechanism and the second reduction output mechanism are arranged symmetrically with respect to the motor. Because the first speed reduction output mechanism and the second speed reduction output mechanism are highly symmetrical in the axial direction of the motor, the actuator can bear larger overturning moment. The embodiment of the first and second reduction output mechanisms is not particularly limited in this embodiment.
Optionally, in this embodiment, as shown in fig. 1, the actuator 1 further includes a first rotor bearing 14a disposed between the first mounting frame 11a and the rotor 21, and a second rotor bearing 14b disposed between the second mounting frame 11b and the rotor 21, where the first rotor bearing 14a and the second rotor bearing 14b are symmetrically disposed on two sides of the motor in the axial direction. Optionally, a first bearing mounting cavity is formed between the first mounting frame 11a and the rotor 21, and the first rotor bearing 14a is disposed in the first bearing mounting cavity. A second bearing installation cavity is formed between the second installation frame 11b and the rotor 21, and the second rotor bearing 14b is arranged in the second bearing installation cavity. Specifically, the first mounting bracket 11a has a first step 13 extending axially and a second step 12 extending radially, the rotor 21 has a third step 23 extending axially, and the first step 13, the second step 12 and the third step 23 form a first bearing mounting cavity. Similarly, the second mounting bracket 11b and the rotor 21 also have a second bearing installation cavity symmetrical to the first bearing installation cavity, and the description thereof is omitted. It is understood that the present embodiment is not particularly limited to the mounting and limiting manner of the first rotor bearing and the second rotor bearing.
Optionally, in this embodiment, as shown in fig. 1, the actuator 1 further includes a third rotor bearing 15a disposed on the first output mechanism 31a and a fourth rotor bearing 15b disposed on the second output mechanism 31b, so as to better support the rotor shaft.
In one embodiment, the first and second deceleration outputs may further comprise elastic energy storage mechanisms, such as springs disposed at outer ends of the first and second outputs.
In one embodiment, as shown in FIG. 4, the inner diameter d1 of the stator 20 is greater than or equal to 75% of the outer diameter d2 of the stator, allowing more room in the rotor 21 to accommodate the mounting bracket and better torque performance of the actuator.
In one embodiment, as shown in fig. 1 and 2, a circuit board 4 is disposed inside the first housing 10a, and the circuit board may include a motor control circuit, a power element, a rotary encoder, and the like. The present embodiment does not limit the components and corresponding functions carried on the circuit board.
In one embodiment, the output side of the first reduction output mechanism or the output side of the second reduction output mechanism is provided with an encoder. The encoder can be divided according to the principle, and can be a magnetic encoder, an inductive encoder, a capacitive encoder and an optical encoder; according to the functional division, the encoder can be an absolute position encoder and an incremental encoder; according to the structural division, the encoder structure can be a non-contact shaft encoder and a non-contact hollow encoder, and is not particularly limited herein.
Compared with the prior art, the actuator of the embodiment is characterized in that the actuator shell is formed by coaxially and fixedly connecting the first shell and the second shell which are separated, the motor is arranged in the motor installation cavity of the first shell, and the first speed reduction output mechanism and the second speed reduction output mechanism are arranged on the first shell and the second shell in a highly symmetrical mode relative to the motor, so that the actuator has a double speed reduction output structure with good symmetry, and the actuator is favorable for improving the rigidity of the actuator and the bearing capacity of overturning moment.
The embodiment of the utility model provides a still provide a robot, include as aforesaid executor. As shown in fig. 5, the robot includes a first arm and a second arm, and the actuator 1 in the foregoing embodiment serves as a joint actuator between the first arm and the second arm. The housing of the actuator 1 is fixedly connected to the first arm or the second arm, and the first output side and/or the second output side of the actuator is connected to the second arm. The connection mode of the actuator and the robot limb is not particularly limited in this embodiment.
Compared with the prior art, the robot of the embodiment has better rigidity and bearing capacity for overturning moment, and is further beneficial to reducing the weight and the volume of an actuator and improving the service performance and the service life of the robot.
It will be understood by those skilled in the art that the foregoing embodiments are specific examples of the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in its practical application.
Claims (10)
1. An actuator, comprising: the motor is connected with the first shell, the second shell, the motor, the first speed reduction output mechanism and the second speed reduction output mechanism;
the first shell and the second shell are coaxially and fixedly connected, the first shell forms a motor installation cavity, and the motor is arranged in the motor installation cavity; the motor comprises a stator and a rotor coaxially arranged on the inner side of the stator, wherein the rotor is provided with a rotor shaft;
the first speed reduction output mechanism and the second speed reduction output mechanism are in driving connection with the rotor shaft, the first speed reduction output mechanism is arranged on the first shell, the second speed reduction output mechanism is arranged on the second shell, and the first speed reduction output mechanism and the second speed reduction output mechanism are symmetrically arranged on two sides of the motor.
2. The actuator of claim 1, wherein the rotor defines a first rotor cavity and a second rotor cavity on axially opposite sides of the rotor, at least a portion of the first reduction output mechanism being located in the first rotor cavity and at least a portion of the second reduction output mechanism being located in the second rotor cavity.
3. The actuator of claim 1, wherein the first housing forms a first mounting bracket at one end, the first reduction output mechanism being disposed within an annular mounting cavity formed by the first mounting bracket;
the second casing forms a second mounting frame, and the second speed reduction output mechanism is arranged in an annular mounting cavity formed by the second mounting frame.
4. The actuator of claim 3, further comprising: set up in first mounting bracket with first rotor bearing between the rotor, and set up in the second mounting bracket with second rotor bearing between the rotor, first rotor bearing with second rotor bearing symmetry set up in motor axial both sides.
5. The actuator of claim 4, wherein the first mounting bracket and the rotor define a first bearing mounting cavity therebetween, the first rotor bearing being disposed within the first bearing mounting cavity; the second mounting bracket with form the second bearing installation cavity between the rotor, second rotor bearing set up in the second bearing installation cavity.
6. The actuator of claim 3, wherein the first reduction output mechanism comprises: a first speed reducer, a first output mechanism, and a first output side bearing;
the first speed reducer is fixedly arranged on the first mounting frame and is in driving connection with the rotor shaft;
the input end of the first output mechanism is connected with the output end of the first speed reducer, and the first output mechanism is arranged on the first shell through the first output side bearing;
the second reduction output mechanism includes: a second reduction gear, a second output mechanism, and a second output side bearing;
the second speed reducer is fixedly arranged on the second mounting frame and is in driving connection with the rotor shaft;
the input end of the second output mechanism is connected with the output end of the second speed reducer, and the second output mechanism is arranged on the second shell through the second output side bearing;
the reduction ratio of the first speed reducer is the same as the reduction ratio of the second speed reducer.
7. The actuator of claim 6, wherein the first output side bearing and/or the second output side bearing are bearings having a contact angle greater than 0 °.
8. The actuator of claim 6, further comprising a third rotor bearing disposed on the first output mechanism and a fourth rotor bearing disposed on the second output mechanism.
9. The actuator of claim 1, wherein the stator inner diameter is greater than or equal to 75% of the stator outer diameter.
10. A robot comprising an actuator according to any of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022780363.5U CN213918288U (en) | 2020-11-26 | 2020-11-26 | Executor and robot comprising same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022780363.5U CN213918288U (en) | 2020-11-26 | 2020-11-26 | Executor and robot comprising same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213918288U true CN213918288U (en) | 2021-08-10 |
Family
ID=77145473
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022780363.5U Active CN213918288U (en) | 2020-11-26 | 2020-11-26 | Executor and robot comprising same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213918288U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113977625A (en) * | 2021-11-16 | 2022-01-28 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Electric joint module integrating double speed reducers |
| CN114227665A (en) * | 2021-12-24 | 2022-03-25 | 达闼机器人有限公司 | Double-coupling actuator, mechanical limb and robot |
| CN121154292A (en) * | 2024-06-18 | 2025-12-19 | 深圳康诺思腾科技有限公司 | Rotary joint, mechanical arm and surgical robot |
-
2020
- 2020-11-26 CN CN202022780363.5U patent/CN213918288U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113977625A (en) * | 2021-11-16 | 2022-01-28 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Electric joint module integrating double speed reducers |
| CN114227665A (en) * | 2021-12-24 | 2022-03-25 | 达闼机器人有限公司 | Double-coupling actuator, mechanical limb and robot |
| CN114227665B (en) * | 2021-12-24 | 2024-03-26 | 达闼机器人股份有限公司 | A dual-coupled actuator, mechanical limb and robot |
| CN121154292A (en) * | 2024-06-18 | 2025-12-19 | 深圳康诺思腾科技有限公司 | Rotary joint, mechanical arm and surgical robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN215318786U (en) | A robot joint module based on cycloid reducer | |
| CN107116575B (en) | An integrated rotary drive actuator | |
| WO2021189675A1 (en) | Parallel-drive joint used for super-dynamic bionic robot, and robot | |
| CN109372952B (en) | Compact cycloid planetary harmonic speed change device and speed change method thereof | |
| CN107366716A (en) | A kind of three-level reduction planetary decelerator, industrial robot | |
| CN207750454U (en) | Combined type cycloid planetary speed reducer | |
| CN112178134B (en) | Large-scale high-rigidity impact-resistant precise speed reducer | |
| CN102242795B (en) | Precision cycloid decelerator | |
| CN117869543A (en) | Compound small tooth difference planetary reducer | |
| CN117182960B (en) | An integrated joint and robotic arm | |
| CN118004408A (en) | A spiral bevel gear electric servo | |
| CN112460212A (en) | Speed reducing mechanism with variable speed reducing ratio | |
| CN111216117A (en) | Integrative joint of robot of nested type two-stage planet speed reduction structure | |
| CN120946784A (en) | Joint modules and robots | |
| CN213332271U (en) | A harmonic reducer and robot | |
| CN222526836U (en) | Integrated robot joint speed reducer | |
| CN220687938U (en) | Composite speed reduction structure, joint power mechanism and robot | |
| CN114110096B (en) | RV reducer and robot | |
| CN108880091A (en) | A kind of Two axle drive harmonic wave reducing motor | |
| EP4455513A1 (en) | Transmission mechanism for revolute joint, robot joint, and robot | |
| CN212584198U (en) | Planet speed reducer with small tooth difference | |
| CN212572245U (en) | Motor with speed reduction torque | |
| CN107461460A (en) | Modified reference circle subtractive speed variator | |
| CN207261581U (en) | Improved Indexing Circular Difference Reducer | |
| CN223708438U (en) | Reducers, drive units, and dexterous hands based on double planetary gears |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Contract record no.: X2026980006734 Denomination of utility model: Executor and robot containing it Granted publication date: 20210810 License type: Exclusive License Record date: 20260507 |