CN217967079U - Robot joint and robot - Google Patents
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- CN217967079U CN217967079U CN202222051589.0U CN202222051589U CN217967079U CN 217967079 U CN217967079 U CN 217967079U CN 202222051589 U CN202222051589 U CN 202222051589U CN 217967079 U CN217967079 U CN 217967079U
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Abstract
The utility model discloses a robot joint and robot belongs to the robotechnology field. Wherein, the robot joint includes: a joint body; the driving module is arranged in the joint body and used for driving the joint body to move; the driving module comprises a motor mechanism and a speed reducing mechanism connected with the motor mechanism; the detection mechanism is connected with the driving module; the detection mechanism comprises an absolute encoder arranged on the output side of the motor mechanism and a semi-absolute encoder arranged on the output side of the speed reducing mechanism, the semi-absolute encoder has a plurality of zero points when rotating in a whole circle, the speed ratio m of the speed reducing mechanism and the period n of the semi-absolute encoder have one difference or are relatively prime, and m and n are positive integers; the absolute encoder is adapted to detect first position information on an output side of the motor mechanism, and the semi-absolute encoder is adapted to detect second position information on an output side of the reduction mechanism. Through the arrangement, the absolute angle measuring precision of the rotor at the low-speed end of the speed reducing mechanism is ensured, and meanwhile, the production and manufacturing cost is reduced.
Description
Technical Field
The utility model belongs to the technical field of the robot, concretely relates to robot joint and robot.
Background
The robot has strong environment adaptability and extremely high motion flexibility, and has wide application prospect in industries such as service, medical treatment, education, entertainment and the like and special operation occasions. The large-scale machine has larger volume and weight, and has higher requirements on the stability and driving capability during walking.
The joint of the robot is generally provided with a driving module, and the driving module drives the joint to move so as to realize the motion action of the robot. The driving module comprises a driving mechanism and a speed reducing mechanism, wherein the speed reducing mechanism amplifies the moment of the driving force of the driving mechanism, and outputs the amplified moment after the rotating speed is reduced. At this time, it is generally necessary to determine the absolute angle of the rotor at the low speed end of the reduction mechanism.
In the prior art, the method for determining the absolute angle of the rotor at the low-speed end of the speed reducing mechanism includes: 1) An absolute encoder is arranged at the low-speed end; 2) The high-speed encoder is used and a battery is added, so that the encoder is not powered down; 3) And a band-type brake mechanism is added into the integrated joint, so that the joint is kept static under the condition of power failure. However, the first solution has high requirement on the accuracy of the absolute encoder, and the cost is difficult to reduce; the second scheme requires additional batteries and is replaced periodically; the third solution requires additional mechanisms, adds complexity to the structure, and increases weight and cost.
SUMMERY OF THE UTILITY MODEL
Therefore, the utility model aims to solve the technical problem that how to guarantee the absolute angle measurement accuracy of the low-speed end rotor of reduction gears, reduction in production manufacturing cost.
In order to solve the technical problem, the utility model provides a robot joint, include:
a joint body;
the driving module is arranged in the joint body and used for driving the joint body to move; the driving module comprises a motor mechanism and a speed reducing mechanism connected with the motor mechanism, and the speed reducing mechanism is suitable for reducing the speed of the driving force of the motor mechanism and then outputting the driving force; and
the detection mechanism is connected with the driving module and is suitable for detecting the position information of at least part of moving parts of the driving module; the detection mechanism comprises an absolute encoder arranged on the output side of the motor mechanism and a semi-absolute encoder arranged on the output side of the speed reducing mechanism, the semi-absolute encoder has a plurality of zero points when rotating in a whole circle, the difference between the speed ratio m of the speed reducing mechanism and the period n of the semi-absolute encoder is one or relatively prime, and m and n are both positive integers;
the absolute encoder is adapted to detect first position information of an output side of the motor mechanism, and the semi-absolute encoder is adapted to detect second position information of the output side of the speed reduction mechanism.
Optionally, in the robot joint, the motor mechanism includes a motor body and an output end connected to the motor body;
the absolute encoder is arranged in the motor body or connected with the output end.
Optionally, in the robot joint, the absolute encoder is disposed in the motor body;
the motor body comprises a motor shell, a motor stator, a motor rotor and a motor drive plate, wherein the motor stator, the motor rotor and the motor drive plate are arranged in the motor shell; the motor rotor is used as the moving part, and the absolute encoder is arranged between the motor rotor and the motor stator;
the motor driving plates are connected with the absolute encoders and the semi-absolute encoders, are suitable for receiving detection information of the absolute encoders and the semi-absolute encoders, and decode according to the detection information to obtain absolute angles of the output sides of the speed reducing mechanisms.
Optionally, in the above robot joint, the decelerating mechanism includes a first decelerating member and a second decelerating member connected to the first decelerating member, and a rotation speed of the first decelerating member is greater than a rotation speed of the second decelerating member;
the second speed reducer is used as the moving part, and the semi-absolute encoder is connected with the second speed reducer and is positioned on one side of the second speed reducer, which is far away from the first speed reducer.
Optionally, in the robot joint, the first decelerating part is a wave generator, and the second decelerating part is a flexible gear connected to the wave generator;
or
The first reduction gear is a first reduction gear, the second reduction gear is a second reduction gear, and the first reduction gear is meshed with the second reduction gear.
Optionally, in the robot joint described above, the robot joint further includes an output mechanism, and the output mechanism is fixedly connected to the second decelerating member.
Optionally, in the robot joint described above, the output mechanism includes an output flange.
Optionally, in the robot joint, the output end is fixedly connected to the first speed reducer, and is adapted to transmit the driving force of the motor body to the first speed reducer.
Optionally, in the robot joint, the absolute encoder and the semi-absolute encoder may be any one of a magnetic encoder, an optical encoder and a capacitive encoder.
The utility model also provides a robot, include:
a body;
a robot joint connected to the body;
wherein the robot joint is the robot joint described above.
The technical scheme provided by the utility model, following advantage has: the detection mechanism is arranged in the robot joint and is suitable for detecting the position information of at least part of moving parts in the driving module, so that the driving plate of the driving module calculates the absolute position information of at least part of moving parts of the driving module based on the position information, additional devices are not required to be added, the compactness of the whole structure of the robot joint is ensured, and the weight of the robot joint is not increased; and the detection mechanism comprises an absolute encoder arranged on the output side of the motor mechanism and a semi-absolute encoder arranged on the output side of the speed reduction mechanism, the absolute encoder is suitable for detecting first information on the output side of the motor mechanism, the semi-absolute encoder is suitable for detecting second information on the output side of the speed reduction mechanism, so that the absolute position information of at least part of moving parts can be acquired through the cooperation of the absolute encoder and the semi-absolute encoder, the semi-absolute encoder and the absolute encoder are all universal, and a specific encoder is not required to be adopted to increase the cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a block diagram of a robot joint according to the present invention;
fig. 2 is a block diagram of the connection module of the driving module and the detecting mechanism of the present invention.
Description of reference numerals:
10-a joint body; 20-a driving module; 30-a detection mechanism; 301-absolute encoder; 302-a semi-absolute encoder;
1-a motor body; 11-a motor stator; 12-a motor rotor; 2-an output terminal; 3-a speed reduction mechanism; 31-a first reduction; 32-a second reduction; 4-an output mechanism.
Detailed Description
The technical solutions of the present invention will be described more clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present invention, not all embodiments. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
In the present application, where the contrary is not intended, the use of directional words such as "upper, lower, top and bottom" is generally with respect to the orientation shown in the drawings, or with respect to the component itself in the vertical, perpendicular or gravitational direction; similarly, "inner and outer" refer to the inner and outer relative to the contours of the components themselves for ease of understanding and description, but the above directional terms are not intended to limit the invention.
Example 1
Referring to fig. 1 and fig. 2, the present embodiment provides a robot joint, which may be: when the robot is a humanoid robot, the joint is a power structure for driving the legs and the arms; when the robot is a four-footed robot, the joint is a power structure for driving the legs. Taking the driving leg as an example, the driving module 20 is disposed at the power structure, and the driving module 20 can enable the driving leg to realize actions such as opening, rotating, bending knees, and the like.
Specifically, the robot joint includes a joint body 10 and a driving module 20 disposed in the joint body 10, and the driving module 20 drives the joint body 10 to move. The driving module 20 includes a motor mechanism and a speed reducing mechanism 3 connected to the motor mechanism, and the speed reducing mechanism 3 is adapted to reduce the speed of the driving force of the motor mechanism and increase the torque for output.
The motor mechanism comprises a motor body 1 and an output end 2 connected with the motor body 1, wherein the output end 2 is connected with a speed reducing mechanism 3 so as to transmit the driving force of the motor body 1 to the speed reducing mechanism 3. Specifically, the motor body 1 includes a motor housing, a motor stator 11, a motor rotor 12 and a motor drive plate which are arranged in the motor housing, and the motor drive plate is electrically connected with the motor stator 11 and the motor rotor 12 respectively. Wherein, motor stator 11 is fixed to be set up in the motor housing and with motor housing fixed connection, and electric motor rotor 12 sets up in the motor housing and can rotate for motor housing, and electric motor rotor 12 is connected with output 2, thereby is suitable for to drive output 2 and rotates output torque.
The reduction mechanism 3 includes a first reduction gear 31 and a second reduction gear 32 connected to the first reduction gear 31, and the rotational speed of the first reduction gear 31 is greater than the rotational speed of the second reduction gear 32. The first speed reducer 31 and the second speed reducer 32 are provided, and the rotation speed of the first speed reducer 31 and the rotation speed of the second speed reducer 32 are made to be a rotation difference, so that the driving speed of the motor mechanism is reduced.
As can be seen from the foregoing, the motor body 1 is connected to the speed reducing mechanism 3 through the output end 2 to transmit the driving force of the motor body 1 to the speed reducing mechanism 3, so that the output end 2 is fixedly connected to the first speed reducing member 31 and is suitable for transmitting the driving force of the motor body 1 to the first speed reducing member 31.
In one embodiment, the first reduction 31 is a wave generator and the second reduction 32 is a flexspline connected to the wave generator. In this case, the speed reduction mechanism 3 further includes a rigid gear meshing with the flexible gear, and the speed reduction mechanism 3 is a harmonic speed reducer. The rigid wheel is fixedly connected with the joint body 10.
Specifically, the wave generator is installed in the flexible gear, and a first tooth is arranged on the outer surface of the flexible gear. The rigid gear is sleeved on the flexible gear, and second teeth meshed with the first teeth are arranged on the inner surface of the rigid gear, which faces the outer surface of the flexible gear.
The wave generator radially deforms the flexspline. When the wave generator is installed into the flexible gear, the cross section of the flexible gear is forced to be changed from the original circular shape to the elliptical shape, the first teeth near the two ends of the long shaft of the flexible gear are completely meshed with the second teeth of the rigid gear, and the first teeth near the two ends of the short shaft of the flexible gear are completely separated from the second teeth of the rigid gear. The first teeth of other sections on the circumference of the flexible gear are in a transition state of engagement and disengagement. When the wave generator rotates continuously, the deformation of the flexible gear changes continuously, so that the meshing state of the flexible gear and the rigid gear changes continuously, namely 8230, the flexible gear rotates slowly relative to the rigid gear by meshing, disengaging and re-meshing.
In another embodiment, the first reduction member 31 is a first reduction gear, the second reduction member 32 is a second reduction gear, and the first reduction gear and the second reduction gear mesh. That is, in this embodiment, the reduction mechanism 3 is a gear reduction box. The first reduction gear and the second reduction gear may be gear sets or integrated gears, for example, two gears with different diameters are fixedly connected up and down or integrally formed up and down. The gear reduction box is of a conventional structure and is not described in detail herein.
The robot joint further comprises an output mechanism 4, the output mechanism 4 is fixedly connected with a second speed reducer 32, and the second speed reducer 32 is suitable for transmitting the driving force after speed reduction to the output mechanism 4 so as to drive the joint body 10 to move. In the present embodiment, the output mechanism 4 includes an output flange.
Wherein, the motor mechanism in the robot joint is output after the moment amplification and the rotating speed reduction of the speed reducing mechanism 3, and the absolute angle of the rotor at the low-speed end is usually required to be determined. As is clear from the above, since the motor mechanism is decelerated after passing through the speed reduction mechanism 3, the low-speed end rotor is the output side of the speed reduction mechanism 3.
In the prior art, in order to measure the absolute angle of the rotor at the low-speed end, an absolute encoder 301 is generally installed at the low-speed end. However, the absolute encoder 301 to be mounted has a high accuracy requirement, and it is difficult to reduce the cost. Alternatively, a high speed encoder and a power supply battery are used, the power supply battery supplying power to the high speed encoder so that the high speed encoder does not power down. However, such an arrangement requires an additional battery and requires periodic replacement of the battery. Or, a band-type brake mechanism is added into the robot joint so that the robot joint can keep still under the condition of power failure. However, this requires additional structure, which increases the complexity of the overall structure of the robot joint and also increases the weight and cost of the robot joint as a whole.
In order to solve the above technical problem, while ensuring the accuracy of the absolute angle measurement result of the low-speed end rotor, the robot joint in this embodiment may also reduce the cost, and the detection mechanism 30 is connected to the driving module 20 and adapted to detect the position information of at least part of the moving components of the driving module 20.
Specifically, the detection mechanism 30 includes an absolute encoder 301 provided on the output side of the motor mechanism, and a semi-absolute encoder 302 provided on the output side of the reduction mechanism 3. Where, semi-absolute encoder 302 is: it has N periodic signals, evenly distributed over a 360 ° revolution, with a plurality of null points as the semi-absolute encoder 302 rotates one revolution (360 °); the absolute encoder 301 is: in the same period, the output signals correspond to the angle information one by one, and the absolute encoder 301 has only one zero point during one rotation (360 °). In the present embodiment, the absolute encoder 301 is adapted to detect first position information on the output side of the motor mechanism, and the semi-absolute encoder 302 is adapted to detect second position information on the output side of the reduction mechanism 3.
In the present embodiment, the absolute encoder 301 and the semi-absolute encoder 302 are any of a magnetic encoder, an optical encoder, and a capacitive encoder. It can be seen that, in the present embodiment, by providing the conventional absolute encoder 301 on the output side of the motor mechanism and providing the conventional semi-absolute encoder 302 on the output side of the reduction mechanism 3, the accuracy of the absolute angle of the rotor at the low speed end to be detected can be ensured, and the production cost can also be reduced.
As can be seen from the foregoing, the absolute encoder 301 is disposed on the output side of the motor mechanism to detect the first position information on the output side of the motor mechanism, and therefore, the absolute encoder 301 is disposed in the motor body 1 or connected to the output terminal 2. In the present embodiment, the absolute encoder 301 is provided inside the motor body 1. The output side of the motor body 1 is a motor rotor 12, and at this time, the motor rotor 12 is used as a moving part, and an absolute encoder 301 is arranged between the motor rotor 12 and the motor stator 11.
Accordingly, the semi-absolute encoder 302 is provided on the output side of the reduction mechanism 3 to detect the second position information of the semi-absolute encoder 302. In the present embodiment, in which the second decelerating element 32 serves as a moving element, the semi-absolute encoder 302 is connected to the second decelerating element 32 and is located on a side of the second decelerating element 32 away from the first decelerating element 31. The reduction mechanism 3 further includes a reduction case connected to the joint body 10, the first reduction gear 31 and the second reduction gear 32 are both disposed in the reduction case, and the semi-absolute encoder 302 is disposed between the second reduction gear 32 and the reduction case.
In the present embodiment, the speed reduction mechanism 3 has a speed ratio of m, so that when the second speed reducer 32 rotates for one cycle, the absolute encoder 301 disposed in the motor body 1 generates m periodic signals. And a semi-absolute encoder 302 of period n is provided at the second reduction 32. Wherein m and n differ by one, or m and n are relatively prime.
As can be seen from the foregoing, the motor mechanism includes a motor drive board, wherein the motor drive board is connected with the absolute encoder 301 and the semi-absolute encoder 302, and is adapted to receive the first position information detected by the absolute encoder 301 and the second position information detected by the semi-absolute encoder 302, and decode to obtain the absolute angle of the output side of the speed reduction mechanism 3 according to the first position information and the second position information. Therefore, the absolute encoder 301 is arranged on the output side of the motor mechanism, the semi-absolute encoder 302 is arranged on the output side of the speed reducing mechanism 3, the motor driving plate simultaneously receives the detection information of the absolute encoder 301 and the semi-absolute encoder 302, the absolute encoder 301 and the semi-absolute encoder 302 jointly form the vernier caliper type absolute encoder 301, and the absolute angle of the low-speed end rotor can be obtained through simple decoding calculation.
Wherein, the decoding calculation specifically includes:
the first position information detected by the absolute encoder 301 is:
θm＝2πk 1 +α
the second position information detected by the semi-absolute encoder 302 is:
θn＝2πk 2 +β
where m is the speed ratio of the reduction mechanism 3, n is the period of the semi-absolute encoder 302, a and β are degrees (0 to 2 pi) of the absolute encoder 301 and the semi-absolute encoder 302, respectively, and k 1 And k 2 The number of completion cycles, θ, that absolute encoder 301 and semi-absolute encoder 302, respectively, have traveled relative to the zero position pointIs the absolute angle of the rotor at the low speed end. To simplify the proving process, the zero position of θ is set at a position where the absolute encoder 301 and the semi-absolute encoder 302 are at zero positions at the same time.
Since m and n are mutually prime numbers, according to the Peltier's theorem, two positive integers a and b can be found, such that:
|am-bn|＝1
accordingly, the absolute angle of the low-speed end rotor is:
θ＝(am-bn)θ＝2aπk 1 +aα-2bπk 2 -bβ＝2π(ak 1 -bk 2 )+(aα-bβ)
due to a, b, k 1 And k 2 Are all positive integers, 2 pi (ak) in the above formula 1 -bk 2 ) The absolute angle of the low-speed end rotor is not influenced and can be ignored, so that the absolute angle of the final low-speed end rotor is as follows:
θ＝aα-bβ
as can be seen from the foregoing, m and n may be different by one, and in order to simplify the calculation process, a = b =1 or a = b = -1 is selected, where the absolute angle of the final low-speed end rotor is:
θ＝α-β
as can be seen from the decoding calculation, the absolute encoder 301 is provided on the output side of the motor mechanism, and the semi-absolute encoder 302 is provided on the output side of the reduction mechanism 3, so that the calculation process of the absolute angle of the low-speed rotor can be simplified, and the calculation accuracy of the absolute angle of the low-speed rotor can be ensured.
In summary, the following steps: by arranging the detection mechanism 30 in the robot joint, the detection mechanism 30 is adapted to detect the position information of at least part of the moving parts in the driving module 20, so that the driving plate of the driving module 20 calculates the absolute position information of at least part of the moving parts of the driving module 20 based on the position information, and no additional device is required to be added, thereby ensuring the compactness of the overall structure of the robot joint and not increasing the weight of the robot joint; and, the detection mechanism 30 includes the absolute encoder 301 disposed on the output side of the motor mechanism, and the semi-absolute encoder 302 disposed on the output side of the speed reducing mechanism 3, the absolute encoder 301 is suitable for detecting the first information on the output side of the motor mechanism, the semi-absolute encoder 302 is suitable for detecting the second information on the output side of the speed reducing mechanism 3, so as to obtain the absolute position information of at least part of the moving parts by the cooperation of the two, the semi-absolute encoder 302 and the absolute encoder 301 are all of a general type, and there is no need to adopt a specific encoder to increase the cost.
Example 2
The present embodiment provides a robot including: the robot joint can be driven by the driving module 20 to open, rotate, bend knees and the like, so that different requirements of the robot are met. The robot joint is the robot joint according to embodiment 1.
It is to be understood that the above-described embodiments are only some of the embodiments of the present invention, and not all of the embodiments. Based on the embodiment of the utility model, ordinary technical personnel in this field can make other different forms of change or change under the prerequisite of not making creative work, all should belong to the scope of protection of the utility model.
Claims (10)
1. A robotic joint, comprising:
a joint body;
the driving module is arranged in the joint body and used for driving the joint body to move; the driving module comprises a motor mechanism and a speed reducing mechanism connected with the motor mechanism, and the speed reducing mechanism is suitable for reducing the speed of the driving force of the motor mechanism and then outputting the driving force; and
the detection mechanism is connected with the driving module and is suitable for detecting the position information of at least part of moving parts of the driving module; the detection mechanism comprises an absolute encoder arranged on the output side of the motor mechanism and a semi-absolute encoder arranged on the output side of the speed reducing mechanism, the semi-absolute encoder has a plurality of zero points when rotating in a whole circle, the difference between the speed ratio m of the speed reducing mechanism and the period n of the semi-absolute encoder is one or relatively prime, and m and n are positive integers;
the absolute encoder is adapted to detect first position information on an output side of the motor mechanism, and the semi-absolute encoder is adapted to detect second position information on an output side of the speed reducing mechanism.
2. The robot joint according to claim 1, wherein the motor mechanism includes a motor body and an output terminal connected to the motor body;
the absolute encoder is arranged in the motor body or connected with the output end.
3. A robotic joint as claimed in claim 2, wherein the absolute encoder is disposed within the motor body;
the motor body comprises a motor shell, a motor stator, a motor rotor and a motor drive plate, wherein the motor stator, the motor rotor and the motor drive plate are arranged in the motor shell; the motor rotor is used as the moving part, and the absolute encoder is arranged between the motor rotor and the motor stator;
the motor driving plates are connected with the absolute encoders and the semi-absolute encoders, are suitable for receiving detection information of the absolute encoders and the semi-absolute encoders, and decode according to the detection information to obtain absolute angles of the output sides of the speed reducing mechanisms.
4. The robot joint according to claim 3, wherein the speed reducing mechanism includes a first speed reducing member and a second speed reducing member connected to the first speed reducing member, and a rotational speed of the first speed reducing member is greater than a rotational speed of the second speed reducing member;
the second speed reducer is used as the moving part, and the semi-absolute encoder is connected with the second speed reducer and is positioned on one side of the second speed reducer, which is far away from the first speed reducer.
5. A robot joint according to claim 4, wherein the first reduction gear is a wave generator and the second reduction gear is a flexspline connected to the wave generator;
or
The first reduction gear is a first reduction gear, the second reduction gear is a second reduction gear, and the first reduction gear is meshed with the second reduction gear.
6. A robotic joint according to claim 4, further comprising an output mechanism, the output mechanism being fixedly connected to the second reduction.
7. A robotic joint according to claim 6, wherein the output mechanism comprises an output flange.
8. A robot joint according to claim 4, wherein the output end is fixedly connected to the first decelerating member and adapted to transmit the driving force of the motor body to the first decelerating member.
9. A robotic joint according to any of claims 1 to 8, wherein the absolute encoder and the semi-absolute encoder are any one of a magnetic encoder, an optical encoder and a capacitive encoder.
10. A robot, comprising:
a body;
a robot joint connected to the body;
wherein the robot joint is a robot joint according to any one of claims 1 to 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222051589.0U CN217967079U (en) | 2022-08-04 | 2022-08-04 | Robot joint and robot |
| PCT/CN2023/083959 WO2024027172A1 (en) | 2022-08-04 | 2023-03-27 | Robot joint, encoding method, and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202222051589.0U CN217967079U (en) | 2022-08-04 | 2022-08-04 | Robot joint and robot |
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| CN217967079U true CN217967079U (en) | 2022-12-06 |
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| CN202222051589.0U Active CN217967079U (en) | 2022-08-04 | 2022-08-04 | Robot joint and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024027172A1 (en) * | 2022-08-04 | 2024-02-08 | 追觅创新科技(苏州)有限公司 | Robot joint, encoding method, and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024027172A1 (en) * | 2022-08-04 | 2024-02-08 | 追觅创新科技(苏州)有限公司 | Robot joint, encoding method, and robot |
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Effective date of registration: 20240523 Address after: 215000 no.1688, Songwei Road, Guoxiang street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province Patentee after: Pursuit technology (Suzhou) Co.,Ltd. Country or region after: China Address before: 215104 E3, building 16, No. 2288, Wuzhong Avenue, Yuexi, Wuzhong District, Suzhou City, Jiangsu Province Patentee before: Dreame technology (Suzhou) Co.,Ltd. Country or region before: China |