CN219705166U - Power module assembly of exoskeleton robot - Google Patents
Power module assembly of exoskeleton robot Download PDFInfo
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- CN219705166U CN219705166U CN202320470119.XU CN202320470119U CN219705166U CN 219705166 U CN219705166 U CN 219705166U CN 202320470119 U CN202320470119 U CN 202320470119U CN 219705166 U CN219705166 U CN 219705166U
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Abstract
The utility model discloses a power module assembly of an exoskeleton robot, which comprises a mounting part, a motor stator and a motor rotor, wherein the motor stator and the motor rotor are matched and arranged on the mounting part, and the motor rotor is provided with a central shaft; the planetary gear mechanism also comprises a primary planetary gear mechanism and a secondary planetary gear mechanism; the primary planetary gear mechanism is provided with a primary sun gear and a primary planet carrier, wherein the primary sun gear and the central shaft are connected together and drive the primary sun gear to rotate through the central shaft, and the primary sun gear drives the primary planet carrier to rotate; the secondary planetary gear mechanism is provided with a secondary sun gear and a secondary planet carrier, wherein the secondary sun gear and the primary planet carrier are connected together and drive the secondary sun gear to rotate through the primary planet carrier, the secondary sun gear drives the secondary planet carrier to rotate, and power is output through the rotation of the secondary planet carrier. It has the following advantages: compact structure, flexibility, portability and high power density.
Description
Technical Field
The utility model relates to the technical field of power modules, in particular to a power module assembly of an exoskeleton robot.
Background
The existing power module assembly, such as CN208845648U, comprises a motor base, a motor unit and a speed reducer unit, wherein the motor unit and the speed reducer unit are respectively arranged in the motor base; the motor unit comprises a motor rotor; the speed reducer unit comprises a sun gear, a planet gear, a gear ring and a planet carrier; the planet gears are respectively meshed with the sun gear and the gear ring, and the planet carrier is used for outputting the power of the rotary power unit; the motor rotor and the sun gear are coaxially arranged and fixedly connected, the output power density is low, and further improvement is required.
Disclosure of Invention
The utility model provides a power module assembly of an exoskeleton robot, which overcomes the defects of the power module assembly in the background technology.
The technical scheme adopted for solving the technical problems is as follows: the power module assembly of the exoskeleton robot comprises a mounting part, a motor stator and a motor rotor, wherein the motor stator and the motor rotor are matched and arranged on the mounting part, and the motor rotor is provided with a central shaft; the planetary gear mechanism also comprises a primary planetary gear mechanism and a secondary planetary gear mechanism; the primary planetary gear mechanism is provided with a primary sun gear and a primary planet carrier, wherein the primary sun gear and the central shaft are connected together and drive the primary sun gear to rotate through the central shaft, and the primary sun gear drives the primary planet carrier to rotate; the secondary planetary gear mechanism is provided with a secondary sun gear and a secondary planet carrier, wherein the secondary sun gear and the primary planet carrier are connected together and drive the secondary sun gear to rotate through the primary planet carrier, the secondary sun gear drives the secondary planet carrier to rotate, and power is output through the rotation of the secondary planet carrier.
In one embodiment: the device also comprises an encoder stator and an encoder rotor which are matched; the mounting component comprises a stator fastener and a stator fixing piece, wherein the stator fastener and the stator fixing piece are fixedly arranged together, the motor stator is fixedly arranged between the stator fastener and the stator fixing piece, a convex shaft positioned at the center and a ring wall surrounding the convex shaft are convexly arranged on the inner wall of the stator fastener, and a mounting ring cavity is formed between the convex shaft and the ring wall; the encoder stator is fixedly arranged on the end face of the annular wall, and the encoder rotor can be rotatably arranged in the installation annular cavity and matched with the motor rotor.
In one embodiment: the mounting component comprises a stator fastener, a stator fixing piece and a rotor supporting piece which can rotate relative to the stator fastener; the stator fastener and the stator fixing piece are fixedly arranged together, the motor stator is fixedly arranged between the stator fastener and the stator fixing piece, and the center of the inner wall of the stator fastener is convexly provided with a convex shaft; the motor rotor and the rotor support piece are fixedly arranged together, the central shaft and the rotor support piece are connected together, and the motor rotor, the rotor support piece and the central shaft synchronously rotate; the center of the rotor support piece is convexly provided with a convex ring, the convex ring is sleeved outside the convex shaft, a rotor support bearing is arranged between the convex ring and the convex shaft, and a first axial positioning piece is additionally arranged to connect the convex shaft and the convex ring.
In one embodiment: the device also comprises an encoder stator and an encoder rotor which are matched; the inner wall of the stator fastener is also convexly provided with an annular wall surrounding the convex shaft, and a mounting annular cavity is formed between the convex shaft and the annular wall; the encoder stator is fixedly arranged on the end face of the annular wall, the encoder rotor is matched with the motor rotor, and the encoder rotor can be rotatably arranged in the installation annular cavity and is positioned between the convex ring and the annular wall.
In one embodiment: the inner peripheral surface of the motor rotor is provided with a matched wedge block, and a pressing mechanism sleeved outside the central shaft is additionally arranged, the pressing mechanism comprises a pressing block and a tensioning wedge block fixedly arranged on the pressing block, the pressing mechanism and the rotor support piece can be closely connected together, the tensioning wedge block is matched with the matched wedge block, and the motor rotor is fixedly arranged between the rotor support piece and the pressing mechanism through the pressing of the pressing mechanism and the rotor support piece by closely driving the pressing block.
In one embodiment: the mounting part comprises a rotor support, the motor rotor and the rotor support are fixedly mounted together, the central shaft and the rotor support are mounted together, and the motor rotor, the rotor support and the central shaft synchronously rotate; one end of the central shaft is abutted against the rotor supporting piece, the central shaft is provided with an annular supporting surface and a second axial positioning piece, a supporting bearing is additionally arranged to connect the central shaft and the first-stage planet carrier, and the first-stage sun wheel and the supporting bearing are sequentially abutted between the annular supporting surface and the second axial positioning piece.
In one embodiment: the mounting component comprises a stator fastener and a stator fixing piece, wherein the stator fastener and the stator fixing piece are fixedly arranged together, and the motor stator is fixedly arranged between the stator fastener and the stator fixing piece; the primary planetary gear mechanism also comprises a primary planetary gear and a primary gear ring, wherein the primary gear ring is arranged on the stator fixing piece, the primary planetary carrier is arranged in the primary gear ring, and the primary planetary gear is arranged on the primary planetary carrier and is connected with the primary sun gear and the primary gear ring; the first-stage planet carrier realizes axial positioning through the cooperation of the second axial positioning piece and the stator fixing piece.
In one embodiment: the mounting component comprises a stator fastener and a stator fixing piece, wherein the stator fastener and the stator fixing piece are fixedly arranged together, and the motor stator is fixedly arranged between the stator fastener and the stator fixing piece; the primary planetary gear mechanism also comprises a primary planetary gear and a primary gear ring, wherein the primary gear ring is arranged on the stator fixing piece, the primary planetary carrier is arranged in the primary gear ring, and the primary planetary gear is arranged on the primary planetary carrier and is connected with the primary sun gear and the primary gear ring; the stator fixing piece is provided with a through hole, the primary planet carrier is provided with an output ring which is arranged in a protruding and extending way, the output ring extends into the through hole, and a primary planet carrier bearing is arranged between the output ring and the inner wall of the through hole of the stator fixing piece.
In one embodiment: the first-stage planet carrier is provided with an output ring which is arranged in a protruding mode; the secondary planetary gear mechanism also comprises a secondary gear ring and a secondary planet wheel, the secondary planet carrier is arranged in the secondary gear ring, and the secondary planet wheel is arranged on the secondary planet carrier and is connected with the secondary sun wheel and the secondary gear ring; the secondary sun gear is synchronously and rotatably connected in an output ring of the primary planet carrier.
In one embodiment: the device also comprises an output end connecting piece; the mounting component further comprises a stator fastener, a stator fixing piece, a bearing fastener and a gasket, wherein the stator fastener and the stator fixing piece are fixedly arranged together, the motor stator is fixedly arranged between the stator fastener and the stator fixing piece, the secondary gear ring, the gasket and the bearing fastener are sequentially fixed together, a secondary planet carrier bearing is additionally arranged to be connected with the bearing fastener and the secondary planet carrier, the outer ring of the secondary planet carrier bearing is positioned and connected between the gasket and the bearing fastener, and the inner ring of the secondary planet carrier bearing is positioned and connected between the secondary planet carrier and the output end connecting piece.
In one embodiment: the secondary planet carrier comprises a connecting plate and an annular boss convexly arranged on the connecting plate, the annular boss is provided with a connecting shaft, the secondary planet wheel is connected with the connecting shaft, and an output end connecting piece and the annular boss are fixedly connected together through screws.
Compared with the background technology, the technical proposal has the following advantages:
the solar energy power generation device is compact in structure, flexible and portable, and high in power density.
The integrated design is realized through the stator, the rotor, the encoder and the speed reducer.
Drawings
The utility model is further described below with reference to the drawings and the detailed description.
FIG. 1 is a schematic cross-sectional view of a power module assembly of an exoskeleton robot of an embodiment.
Fig. 2 is a schematic cross-sectional view of a primary planetary gear mechanism, etc. of a power module assembly of an exoskeleton robot of an embodiment.
Fig. 3 is a schematic cross-sectional view of a secondary planetary gear mechanism, etc. of a power module assembly of an exoskeleton robot of an embodiment.
Description of the reference numerals: stator fastener 1, motor stator 2, motor rotor 3, rotor support 4, tension wedge 5, encoder stator 6, encoder rotor 7, central shaft 8, rotor support bearing 9, compression block 10, secondary planet wheel 12, secondary planet carrier 13, primary ring gear 14, primary planet carrier 15, primary planet bearing 16, primary planet wheel 17, primary sun wheel 18, secondary sun wheel 19, support bearing 20, primary planet carrier bearing 21, output connector 23, secondary planet carrier bearing 24, secondary ring gear 25, bearing fastener 26, stator fastener 27, first axial positioning member 28, second axial positioning member 29, shim 30.
Detailed Description
Referring to fig. 1 to 3, a power module assembly of an exoskeleton robot includes a mounting part, a motor stator 2, a motor rotor 3, an encoder, a primary planetary gear mechanism, a secondary planetary gear mechanism and an output end connector 23; the motor stator 2 and the motor rotor 3 are matched and mounted on a mounting part, and the encoder comprises a matched encoder stator 6 and an encoder rotor 7.
The mounting part comprises a stator fastener 1, a stator mount 27 and a rotor support 4 rotatable relative to the stator fastener 1. The stator fastener 1 and the stator fixing member 27 are arranged side by side and form an assembly space, and the motor stator 2 is fixed in the assembly space, for example, by fixing the motor stator 2 in the assembly space formed by the stator fastener 1 and the stator fixing member 27 by screws. The motor rotor 3, the rotor support 4 and the fixed parts are fixed together, if the rotor support 4 is positioned at the left side of the motor rotor 3, the outer peripheral wall of the rotor support 4 is provided with a step, and the motor rotor 3 is fit-connected with the step of the rotor support 4 and is fixed together in an adhesive manner; the motor rotor 3 is provided with a central shaft 8, which central shaft 8 is fixed to the rotor support 4. The inner wall of the stator fastener 1 is convexly provided with a convex shaft positioned at the center and a ring wall surrounding the convex shaft, and a mounting ring cavity is formed between the convex shaft and the ring wall; the center of the rotor support 4 is convexly provided with a convex ring, the convex ring is sleeved outside the convex shaft and in the annular wall, a rotor support bearing 9 is arranged between the convex ring and the convex shaft, a first axial positioning piece 28 is additionally arranged to connect the convex shaft and the convex ring so as to realize axial positioning, and the first axial positioning piece 28 is used as a key, and realizes axial positioning through a shaft shoulder and a key arranged on the convex shaft. The encoder stator 6 is fixedly arranged on the end face of the annular wall, the encoder rotor 7 is matched with the motor rotor 3, and the encoder rotor 7 can be rotatably arranged in the installation annular cavity and is positioned between the annular wall and the convex ring. The stator fastener 1 has the functions of fastening the motor stator 2, installing the encoder stator 6, supporting the motor rotor 3, radiating the stator and the like, and realizes the structural function integration, thereby effectively simplifying the weight and the cost of the power assembly.
The fixation of the motor rotor 3 and the rotor support 4 further comprises the following mechanism: the inner peripheral surface of the motor rotor 3 is provided with a matching wedge block, and the matching wedge block is fixed on the inner wall of the motor rotor 3 or supported on the inner wall of the motor rotor 3 and the right wall of the rotor supporting piece 4; the pressing mechanism is further arranged outside the central shaft 8, and comprises a pressing block 10 and a tensioning wedge block 5 fixedly arranged on the left side of the pressing block 10, wherein the pressing block 10 and the rotor support 4 can be closely connected together, if the pressing block 10 and the rotor support 4 are connected through a screw, the screw can drive the pressing block 10 to move towards the rotor support 4 closely, the tensioning wedge block 5 is matched with the matching wedge block, and the motor rotor 3 is fixedly arranged between the rotor support 4 and the pressing mechanism through the close driving of the pressing block 10 and the rotor support 4. The rotor support 4 integrates the functions of support, positioning, sensing and power transmission, realizes the structural function integration, and meets the requirements of the power assembly on weight reduction and cost reduction.
The primary planetary gear mechanism is provided with a primary sun gear 18, a primary planet carrier 15, a primary planet gear 17 and a primary gear ring 14; the primary sun gear 18 is connected with the central shaft 8 and drives the primary sun gear 18 to rotate through the central shaft 8; the primary gear ring 14 is fixedly arranged on the stator fixing piece 1, the primary planet carrier 15 is arranged in the primary gear ring 14, the primary planet wheel 17 is arranged on the primary planet carrier 15 through the primary planet bearing 16 and is connected with the primary sun wheel 18 and the primary gear ring 4, and then the primary sun wheel 18 drives the primary planet carrier 15 to rotate. Wherein: one end of the central shaft 8 is fixedly connected with a rotor supporting piece 4, the central shaft 8 is provided with an annular supporting surface and a second axial positioning piece 29, a first supporting bearing 20 is additionally arranged to connect the central shaft 8 with the first-stage planet carrier 15, and the first-stage sun wheel 18 and the first supporting bearing are sequentially abutted between the annular supporting surface and the second axial positioning piece 29; the primary planet carrier 15 realizes axial positioning through the cooperation of a second axial positioning piece and a stator fixing piece 27; the stator fixing part 27 is provided with a through hole, the primary planet carrier 15 is provided with an output ring which is arranged in a protruding mode, the output ring extends into the through hole, and a primary planet carrier bearing 21 is arranged between the output ring and the inner wall of the through hole of the stator fixing part; the supporting and positioning of the motor rotor 3 are realized, the rotation angle output of the motor is realized through the encoder rotor 7, the motor control is facilitated, and the power output is realized through the central shaft 8 and the primary sun gear 18; the first-stage planet carrier 15 serves as an output part of the first-stage planetary gear mechanism, the right side of the first-stage planet carrier is supported by a first-stage planet carrier bearing 21 and is connected with the second-stage sun gear 19 through jackscrews, and power transmission is achieved. The primary planetary gear mechanism has the advantages of being accurate in positioning, convenient to assemble and compact in structure.
The secondary planetary gear mechanism comprises a secondary sun gear 19, a secondary planet carrier 13, a secondary gear ring 25 and a secondary planet gear 12; the output rings of the secondary sun gear 12 and the primary planet carrier 15 are connected together and drive the secondary sun gear 12 to rotate through the primary planet carrier 15; the secondary planet carrier 13 is arranged in the secondary gear ring 25, and the secondary planet gears 12 are arranged on the secondary planet carrier 13 and are connected with the secondary sun gear 19 and the secondary gear ring 25; the secondary sun gear 19 drives the secondary planet carrier 13 to rotate and outputs power through the rotation of the secondary planet carrier 13. The secondary planetary gear mechanism has the advantages of being accurate in positioning, convenient to assemble and compact in structure.
The mounting part further comprises a bearing fastener 26 and a gasket 30, the stator fixing piece 27, the secondary gear ring 25, the gasket 30 and the bearing fastener 26 are sequentially fixed together, a secondary planet carrier bearing 24 is additionally arranged to be connected with the bearing fastener 26 and the secondary planet carrier 13, the outer ring of the secondary planet carrier bearing 24 is positioned and connected between the gasket 30 and the bearing fastener 26, the inner ring of the secondary planet carrier bearing 24 is positioned and connected between the secondary planet carrier 13 and the output end connecting piece 23, so that the support of the secondary planet carrier is realized, the external axial or radial load transmitted by the output end connecting piece 23 is offset, and the stability of planetary gear power transmission is ensured. The concrete structure is as follows: the secondary planet carrier 13 comprises a connecting plate and an annular boss convexly arranged on the connecting plate, a connecting shaft is arranged on the annular boss, the secondary planet wheel 12 is connected to the connecting shaft, an output end connecting piece 23 and the annular boss are fixedly connected through screws, and the secondary planet carrier 12 and the output end connecting piece 23 are fixedly connected together.
The power module assembly of the exoskeleton robot has the following technical effects: firstly, the whole assembly is coordinated with the human body carrying action, the adaptation degree is high, the power assisting is remarkable, the human body stress is greatly reduced, the human body energy consumption is reduced, and the working intensity of workers is remarkably reduced; secondly, the portable structure has improved helping hand ectoskeleton robot wearer's comfort level, has improved man-machine integration degree and the flexibility ratio of operation.
The foregoing description is only illustrative of the preferred embodiments of the present utility model, and therefore should not be taken as limiting the scope of the utility model, for all changes and modifications that come within the meaning and range of equivalency of the claims and specification are therefore intended to be embraced therein.
Claims (10)
1. The power module assembly of the exoskeleton robot comprises a mounting part, a motor stator and a motor rotor, wherein the motor stator and the motor rotor are matched and arranged on the mounting part, and the motor rotor is provided with a central shaft; the method is characterized in that: the planetary gear mechanism also comprises a primary planetary gear mechanism and a secondary planetary gear mechanism; the primary planetary gear mechanism is provided with a primary sun gear and a primary planet carrier, wherein the primary sun gear and the central shaft are connected together and drive the primary sun gear to rotate through the central shaft, and the primary sun gear drives the primary planet carrier to rotate; the secondary planetary gear mechanism is provided with a secondary sun gear and a secondary planet carrier, wherein the secondary sun gear and the primary planet carrier are connected together and drive the secondary sun gear to rotate through the primary planet carrier, the secondary sun gear drives the secondary planet carrier to rotate, and power is output through the rotation of the secondary planet carrier.
2. The power module assembly of an exoskeleton robot of claim 1, wherein: the device also comprises an encoder stator and an encoder rotor which are matched; the mounting component comprises a stator fastener and a stator fixing piece, wherein the stator fastener and the stator fixing piece are fixedly arranged together, the motor stator is fixedly arranged between the stator fastener and the stator fixing piece, a convex shaft positioned at the center and a ring wall surrounding the convex shaft are convexly arranged on the inner wall of the stator fastener, and a mounting ring cavity is formed between the convex shaft and the ring wall; the encoder stator is fixedly arranged on the end face of the annular wall, and the encoder rotor can be rotatably arranged in the installation annular cavity and matched with the motor rotor.
3. The power module assembly of an exoskeleton robot of claim 1, wherein: the mounting component comprises a stator fastener, a stator fixing piece and a rotor supporting piece which can rotate relative to the stator fastener; the stator fastener and the stator fixing piece are fixedly arranged together, the motor stator is fixedly arranged between the stator fastener and the stator fixing piece, and the center of the inner wall of the stator fastener is convexly provided with a convex shaft; the motor rotor and the rotor support piece are fixedly arranged together, the central shaft and the rotor support piece are connected together, and the motor rotor, the rotor support piece and the central shaft synchronously rotate; the center of the rotor support piece is convexly provided with a convex ring, the convex ring is sleeved outside the convex shaft, a rotor support bearing is arranged between the convex ring and the convex shaft, and a first axial positioning piece is additionally arranged to connect the convex shaft and the convex ring.
4. A power module assembly for an exoskeleton robot as claimed in claim 3, wherein: the device also comprises an encoder stator and an encoder rotor which are matched; the inner wall of the stator fastener is also convexly provided with an annular wall surrounding the convex shaft, and a mounting annular cavity is formed between the convex shaft and the annular wall; the encoder stator is fixedly arranged on the end face of the annular wall, the encoder rotor is matched with the motor rotor, and the encoder rotor can be rotatably arranged in the installation annular cavity and is positioned between the convex ring and the annular wall.
5. A power module assembly for an exoskeleton robot as claimed in claim 3, wherein: the inner peripheral surface of the motor rotor is provided with a matched wedge block, and a pressing mechanism sleeved outside the central shaft is additionally arranged, the pressing mechanism comprises a pressing block and a tensioning wedge block fixedly arranged on the pressing block, the pressing mechanism and the rotor support piece can be closely connected together, the tensioning wedge block is matched with the matched wedge block, and the motor rotor is fixedly arranged between the rotor support piece and the pressing mechanism through the pressing of the pressing mechanism and the rotor support piece by closely driving the pressing block.
6. The power module assembly of an exoskeleton robot of claim 1, wherein: the mounting part comprises a rotor support, the motor rotor and the rotor support are fixedly mounted together, the central shaft and the rotor support are mounted together, and the motor rotor, the rotor support and the central shaft synchronously rotate; one end of the central shaft is abutted against the rotor supporting piece, the central shaft is provided with an annular supporting surface and a second axial positioning piece, a supporting bearing is additionally arranged to connect the central shaft and the first-stage planet carrier, and the first-stage sun wheel and the supporting bearing are sequentially abutted between the annular supporting surface and the second axial positioning piece.
7. The power module assembly of an exoskeleton robot of claim 6, wherein: the mounting component comprises a stator fastener and a stator fixing piece, wherein the stator fastener and the stator fixing piece are fixedly arranged together, and the motor stator is fixedly arranged between the stator fastener and the stator fixing piece; the primary planetary gear mechanism also comprises a primary planetary gear and a primary gear ring, wherein the primary gear ring is arranged on the stator fixing piece, the primary planetary carrier is arranged in the primary gear ring, and the primary planetary gear is arranged on the primary planetary carrier and is connected with the primary sun gear and the primary gear ring; the first-stage planet carrier realizes axial positioning through the cooperation of the second axial positioning piece and the stator fixing piece.
8. The power module assembly of an exoskeleton robot of claim 1, wherein: the mounting component comprises a stator fastener and a stator fixing piece, wherein the stator fastener and the stator fixing piece are fixedly arranged together, and the motor stator is fixedly arranged between the stator fastener and the stator fixing piece; the primary planetary gear mechanism also comprises a primary planetary gear and a primary gear ring, wherein the primary gear ring is arranged on the stator fixing piece, the primary planetary carrier is arranged in the primary gear ring, and the primary planetary gear is arranged on the primary planetary carrier and is connected with the primary sun gear and the primary gear ring; the stator fixing piece is provided with a through hole, the primary planet carrier is provided with an output ring which is arranged in a protruding and extending way, the output ring extends into the through hole, and a primary planet carrier bearing is arranged between the output ring and the inner wall of the through hole of the stator fixing piece.
9. The power module assembly of an exoskeleton robot of claim 1, wherein: the first-stage planet carrier is provided with an output ring which is arranged in a protruding mode; the secondary planetary gear mechanism also comprises a secondary gear ring and a secondary planet wheel, the secondary planet carrier is arranged in the secondary gear ring, and the secondary planet wheel is arranged on the secondary planet carrier and is connected with the secondary sun wheel and the secondary gear ring; the secondary sun gear is synchronously and rotatably connected in an output ring of the primary planet carrier.
10. The power module assembly of an exoskeleton robot of claim 9, wherein: the device also comprises an output end connecting piece; the mounting component further comprises a stator fastener, a stator fixing piece, a bearing fastener and a gasket, wherein the stator fastener and the stator fixing piece are fixedly arranged together, the motor stator is fixedly arranged between the stator fastener and the stator fixing piece, the secondary gear ring, the gasket and the bearing fastener are sequentially fixed together, a secondary planet carrier bearing is additionally arranged to be connected with the bearing fastener and the secondary planet carrier, the outer ring of the secondary planet carrier bearing is positioned and connected between the gasket and the bearing fastener, and the inner ring of the secondary planet carrier bearing is positioned and connected between the secondary planet carrier and the output end connecting piece;
the secondary planet carrier comprises a connecting plate and an annular boss convexly arranged on the connecting plate, the annular boss is provided with a connecting shaft, the secondary planet wheel is connected with the connecting shaft, and an output end connecting piece and the annular boss are fixedly connected together through screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320470119.XU CN219705166U (en) | 2023-03-06 | 2023-03-06 | Power module assembly of exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320470119.XU CN219705166U (en) | 2023-03-06 | 2023-03-06 | Power module assembly of exoskeleton robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219705166U true CN219705166U (en) | 2023-09-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320470119.XU Active CN219705166U (en) | 2023-03-06 | 2023-03-06 | Power module assembly of exoskeleton robot |
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| Country | Link |
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| CN (1) | CN219705166U (en) |
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2023
- 2023-03-06 CN CN202320470119.XU patent/CN219705166U/en active Active
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