WO2013131459A1 - 一种低负载工业机器人腕部传动机构 - Google Patents
一种低负载工业机器人腕部传动机构 Download PDFInfo
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- WO2013131459A1 WO2013131459A1 PCT/CN2013/072146 CN2013072146W WO2013131459A1 WO 2013131459 A1 WO2013131459 A1 WO 2013131459A1 CN 2013072146 W CN2013072146 W CN 2013072146W WO 2013131459 A1 WO2013131459 A1 WO 2013131459A1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
Definitions
- the invention relates to an industrial robot wrist transmission mechanism, in particular to a low-load industrial robot wrist transmission mechanism, belonging to the field of industrial robots. Background technique
- the transmission structure of the low-load industrial robot wrist with the load in the range of 3-20Kg basically adopts "servo motor + synchronous belt transmission + (bevel gear) + reducer + output "Transmission structure of the end”, the specific scheme of the structure is that the J5 and J6 axis servo motors are placed on the wrist, the J5 axis servo motor drives a synchronous belt drive, the synchronous pulley drives the J5 axis reducer, and the J5 shaft reducer output and The J5 axis output ends are connected together to drive the J5 axis to the specified position according to the specified speed; the J6 axis servo motor drives a synchronous belt drive, and the timing pulley drives a pair of bevel gear transmissions to change the transmission direction.
- the bevel gear drives J6.
- the shaft reducer rotates, and the J6 shaft reducer output is connected with the J6 shaft output, which drives the J6 shaft to move to the specified position according to the specified speed.
- the reducer uses the harmonic reducer because of harmonic deceleration.
- the machine has the advantages of large transmission speed ratio, high transmission precision, small size and light weight.
- Foreign brand harmonic reducer such as Japan HarmonicDrive
- domestic harmonic reducer in materials, production process In other respects, there is a certain gap between the foreign brands and the harmonic reducer. Under the same specifications and precision, the product price is also high, the life is short, and the structure is small.
- the appearance size is larger than that of the foreign standard reducer.
- the technical problem to be solved by the present invention is to overcome the defects of the prior art, and propose a low-load industrial robot wrist transmission mechanism, which adopts a large speed ratio hypoid gear transmission structure instead of the harmonic reducer transmission. It meets the high precision and high efficiency requirements of general low-load robots, and can greatly reduce the manufacturing cost of robots.
- the invention relates to a low load industrial robot wrist transmission mechanism, which comprises a wrist seat, a J5 axis input gear shaft, a J6 axis input gear shaft, a J5 axis output end, a J6 axis output shaft, a J5 axis large speed ratio hypoid gear I, J5 axis large speed ratio hypoid gear II, J6 axis large speed ratio hypoid gear I, J6 axis large speed ratio hypoid gear II ; its characteristics are:
- the J5 axis and the J6 axis are two virtual axes (O 5 -O 5 , 0 6 - 0 6 ) on the wrist seat, and the J6 axis and the J6 axis are perpendicular to each other;
- the J5 axis input gear shaft is a hollow shaft, and the J6 shaft input gear shaft is set in the J5 shaft input gear shaft, and the two are coaxial;
- the J5-axis large-speed ratio hypoid gear II and the J 5-axis output end are coaxially connected by a gear shaft,
- the axis is on the J 5 axis and is a hollow shaft structure;
- J6 axis large speed ratio hypoid gear II is equipped with J6 axis large speed ratio hypoid gear shaft II, J6 axis large speed ratio hypoid gear shaft II axis is located on J 5 axis;
- the axis of the J6 axis output shaft is located on the J6 axis, and the J6 axis large speed ratio quasi-hypoid gear axis II and J6 axis output shaft form power transmission through the bevel gear set;
- J5 axis large speed ratio hypoid gear I through the gear mechanism to take the power from the J5 axis input gear shaft, J5 axis large speed ratio hypoid gear I and J5 axis large speed ratio hypoid gear II mesh;
- J6 shaft large speed ratio hypoid gear I through the gear mechanism to take power from the J6 shaft input gear shaft, J6 shaft large speed ratio hypoid gear I and J6 shaft speed ratio hypoid gear II mesh.
- the low-load industrial robot wrist transmission mechanism replaces the harmonic reducer transmission by using a large-speed ratio hypoid gear (also known as a cone-and-worm) transmission reduction gear, so that the structure is simple, the cost is low, the movement is accurate and reliable, and the robot is lowered. Manufacturing costs.
- FIG. 1 is a schematic structural view of a wrist drive mechanism of a low load industrial robot according to the present invention.
- Figure 2 is a schematic view (cross-sectional view) of the P direction of Figure 1. detailed description
- the low-load industrial robot wrist transmission mechanism of the invention comprises a wrist seat 12, a J5 shaft input gear shaft 1, a J6 shaft input gear shaft 11, a J5 shaft output end 13, a J6 shaft output shaft 7, and a J5 shaft large speed ratio.
- Hypoid gear I 3 J5 axis large speed ratio hypoid gear 116, J6 axis large speed ratio hypoid gear I 4, J6 axis large speed ratio hypoid gear II 5 .
- the J5 axis and the J6 axis are two virtual axes (O 5 - O 5 , 0 - 0, ) on the wrist 12, and the J6 axis and the J6 axis are perpendicular to each other.
- the J5 axis input gear shaft 1 is a hollow shaft, and the J6 shaft input gear shaft 11 is set in the J5 shaft input gear shaft 1, and the two are coaxial.
- J5-axis high-speed ratio hypoid gear ⁇ 6 and J 5-axis output 13 is a coaxial body through a gear shaft, and its axis is on the J 5 axis, which is a hollow shaft structure.
- the axis of the J6-axis output shaft 7 is located on the J6-axis.
- the J6-axis large-speed ratio hypoid gear shaft II and J6 shaft output shaft 7 form power transmission through the bevel gear set.
- the J5 axis large speed ratio hypoid gear I 3 receives the power from the J5 shaft input gear shaft 1 through the gear mechanism, and the J5 shaft large speed ratio hypoid gear I 3 meshes with the J5 shaft large speed ratio hypoid gear ⁇ 6 .
- the J6 axis large speed ratio hypoid gear I 4 receives the power from the J6 shaft input gear shaft 11 through the gear mechanism, and the J6 shaft large speed ratio hypoid gear I 4 meshes with the J6 shaft large speed ratio hypoid gear ⁇ 5 .
- the curved gear 115, the J5 shaft large speed ratio hypoid gear 116, the J6 shaft idler 10, and the J6 shaft input gear shaft 11 are all mounted on the wrist 12 by bearings, and are respectively rotated about respective fixed axes.
- the J5 shaft output 13 is mounted on the wrist mount 12 by means of two deep groove ball bearings which are rotatable about the J5 axis ⁇ 5 - 0 5 and are connected to the J5 shaft overspeed hypoid gear ⁇ 6 .
- J6 shaft large speed ratio hypoid gear shaft II is equipped with J6 shaft bevel gear I 9, J6 shaft bevel gear I 9 and J6 shaft large speed ratio hypoid gear II 5 as one.
- the J6 bevel gear II 8 is connected to the J6 shaft output shaft (7).
- Figure 1 J5 axis large speed ratio hypoid gear ⁇ 6 and J6 axis large speed ratio hypoid gear II 5 are placed on one side of the wrist seat, radial support by deep groove ball bearings , no motion coupling relationship.
- J5 axis large speed ratio hypoid gear I 3 and J5 axis large speed ratio hypoid gear ⁇ 6 composition gear ⁇ ij, J5 axis large speed ratio hypoid gear I 3 is placed under the inner space of the wrist 12 .
- J6 axis large speed ratio hypoid gear I 4 and J6 axis large speed ratio hypoid gear ⁇ 5 component gear ⁇ ij, J6 axis large speed ratio hypoid gear I 4 is placed above the inner space of the wrist 12 .
- the J5 shaft input gear shaft 1 end gear passes through the J5 shaft idler 2 and the J5 shaft large speed ratio hypoid gear I 3 end gear, and the J5 shaft large speed ratio hypoid gear I 3 constitutes a power transmission relationship.
- the J6 shaft input gear shaft 11 passes through the J6 shaft idler 10 and the J6 shaft large speed ratio hypoid gear I 4 end gear, and the J6 shaft large speed ratio hypoid gear I 4 constitutes a power transmission relationship.
- two pairs of large-speed ratio hypoid gear pairs are arranged on the same side of the wrist of the robot, and the J5 axis is faster than the hypoid gear I and the J6 axis is faster than the hypoid gear I, and the J5 axis is arranged.
- the large speed ratio hypoid gear II and J6 axis are faster than the hypoid gear II on the same side.
- the J5 axis input gear shaft and the J6 shaft input gear shaft are coaxially arranged to reduce the outer dimensions of the wrist.
- J5 axis drive route When the J5 axis input gear shaft 1 rotates, the rotation and torque are transmitted to the J5 axis large speed ratio hypoid gear 1 3 through the J5 shaft idler 2, and the J5 axis large speed ratio hypoid gear I 3 and J5 axis large speed ratio hypoid gear ⁇ 6 meshing, J5 axis large speed ratio hypoid gear ⁇ 6 and J5 shaft output end 13 fixed together, so that the rotation and torque are converted according to the corresponding speed ratio relationship To the J5 shaft output 13, the load is rotated around the O 5 - O 5 axis to the specified position at the specified speed.
- J6 shaft drive route When the J6 shaft input gear shaft 11 rotates, the rotation and torque are transmitted to the J6 shaft large speed ratio hypoid gear I 4 through the J6 shaft idler 10, and then the J6 shaft large speed ratio hypoid gear I 4 and J6 axis large speed ratio hypoid gear ⁇ 5 meshing, the rotation and torque are converted according to the corresponding speed ratio relationship and then transmitted to the J6 shaft bevel gear I 9, and finally through the J6 shaft bevel gear I 9 and J6 shaft bevel gear The engagement of II 8 transmits the rotation and torque to the J6 shaft output shaft 7, which drives the load to rotate to the specified position around the 0 6 - 06 axis at the specified speed.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Gear Transmission (AREA)
- Manipulator (AREA)
Abstract
一种低负载工业机器人腕部传动机构，包括腕座（12）、J5轴输入齿轮轴（1）、J6轴输入齿轮轴（11）、J5轴输出端（13）、J6轴输出轴（7）、J5轴大速比准双曲面齿轮I（3）、J5轴大速比准双曲面齿轮II（6）、J6轴大速比准双曲面齿轮I（4）、J6轴大速比准双曲面齿轮II（5）。J5轴输入齿轮轴（1）、J6轴输入齿轮轴（11）分别通过大速比准双曲面齿轮机构将动力分别传递给J5轴输出端（13）、J6轴输出轴（7）。该腕部传动机构通过使用大速比准双曲面齿轮传动减速装置代替谐波减速机传动，从而结构简单、成本低廉、动作准确可靠，降低了机器人的制造成本。
Description
一种低负载工业机器人腕部传动机构
技术领域
本发明涉及一种工业机器人腕部传动机构， 具体是一种低负载工业机器人 腕部传动机构， 属于工业机器人领域。 背景技术
近年来， 国内越来越多的企业和院校开始合作开发研制工业机器人， 掀起 工业机器人研发的热潮。 在机器人本体研发过程中， 腕部传动方案的设计是一 个非常关键的环节， 是整个机器人机械部分研发的技术核心之一。 而且， 腕部 机械传动部件的成本 (主要是减速机)在机械部件总成本中占据较大的比例。
在调研国内自主研发机器人腕部传动方案中发现， 负载在 3— 20Kg范围内 的低负载工业机器人腕部传动结构基本都是采用 "伺服电机 +同步带传动 + (锥 齿轮） +减速机 +输出端" 的传动结构， 该结构的具体方案是 J5、 J6轴伺服电机 均放置在腕部， J5轴伺服电机带动一同步带传动， 同步带轮带动 J5轴减速机， J5轴减速机输出端和 J5轴输出端连接在一起， 从而带动 J5轴按照指定的速度 运动到指定的位置； J6轴伺服电机带动一同步带传动， 同步带轮再带动一对锥 齿轮传动改变传动方向， 锥齿轮带动 J6轴减速机转动， 而 J6轴减速机输出端 和 J6轴输出端连接在一起， 从而带动 J6轴按照指定的速度运动到指定的位置， 该方案中减速机选用谐波减速机， 因为谐波减速机具有传递速比大、 传递精度 高、 体积小、 重量轻等优势。 国外品牌谐波减速机（如日本 HarmonicDrive )外 观尺寸小、 高转矩和高精度、 寿命长， 结构形式多样化， 能够满足各种传动结 构的需要， 但是价格较高， 且供货周期长； 国产谐波减速机在材料、 制作工艺
等方面跟国外品牌谐波减速机有一定差距， 且在同等规格和精度下， 产品价格 本也较高， 寿命短， 而且结构形式少， 外观尺寸相比国外同规格减速机较大。
大速比准双曲面齿轮 （又名锥蜗杆） 传动精度高、 传递速比大 （单级传动 比可达 10〜360)、 传动效率高、 空间结构紧凑、 使用寿命长， 且传动平稳， 但 是该齿轮制造较为困难， 需要专业的生产设备。 随着近几年该种齿轮设备在国 内研发成功以及部分厂家从国外引进该种设备， 大速比准双曲面齿轮传动的应 用得到逐步普及， 且制造成本低廉 （一对国产大速比准双曲面齿轮的价格一般 在国外同规格谐波减速机价格的 10%以内）。 发明内容
本发明所要解决的技术问题， 在于克服现有技术存在的缺陷， 提出了一种低 负载工业机器人腕部传动机构， 采用大速比准双曲面齿轮传动结构来替代谐波 减速机传动， 既可满足一般低负载机器人的高精度和高效率要求， 又可以大大 的降低机器人的制造成本。
本发明一种低负载工业机器人腕部传动机构， 包括腕座、 J5轴输入齿轮轴、 J6轴输入齿轮轴、 J5轴输出端、 J6轴输出轴、 J5轴大速比准双曲面齿轮 I、 J5轴大速比准双曲面齿轮 II、 J6轴大速比准双曲面齿轮 I、 J6轴大速比准双曲 面齿轮 II ; 其特征是：
J5轴和 J6轴是腕座上的两个虚拟轴线 （O5—O5、 06— 06 ) , 且 J6轴和 J6 轴相互垂直；
J5轴输入齿轮轴为空心轴， J6轴输入齿轮轴套装于 J5轴输入齿轮轴内， 两 者同轴；
J5轴大速比准双曲面齿轮 II与 J 5轴输出端通过一齿轮轴联为同轴体， 其
轴线位于 J 5轴上， 为空心轴结构；
J6轴大速比准双曲面齿轮 II设有 J6轴大速比准双曲面齿轮轴 II， J6轴大 速比准双曲面齿轮轴 II的轴线位于 J 5轴上；
J6轴输出轴的轴线位于 J6轴上， J6轴大速比准双曲面齿轮轴 II与 J6轴输 出轴通过锥齿轮组形成动力传递；
J5 轴大速比准双曲面齿轮 I通过齿轮机构承接来自 J5 轴输入齿轮轴的动 力， J5轴大速比准双曲面齿轮 I与 J5轴大速比准双曲面齿轮 II啮合；
J6 轴大速比准双曲面齿轮 I通过齿轮机构承接来自 J6 轴输入齿轮轴的动 力， J6轴大速比准双曲面齿轮 I与 J6轴大速比准双曲面齿轮 II啮合。
本发明低负载工业机器人腕部传动机构， 通过使用大速比准双曲面齿轮 (又 名锥蜗杆)传动减速装置代替谐波减速机传动， 从而结构简单、 成本低廉、 动作 准确可靠， 降低了机器人的制造成本。 附图说明
图 1 是本发明低负载工业机器人腕部传动机构结构示意图。
图 2 是图 1 P向示意图 （剖视图）。 具体实施方式
下面结合附图和实施例， 对本发明做详细说明。
实施例： 本发明低负载工业机器人腕部传动机构， 包括腕座 12、 J5轴输入 齿轮轴 1、 J6轴输入齿轮轴 11、 J5轴输出端 13、 J6轴输出轴 7、 J5轴大速比 准双曲面齿轮 I 3、 J5轴大速比准双曲面齿轮 116、 J6轴大速比准双曲面齿轮 I 4、 J6轴大速比准双曲面齿轮 II 5。
J5轴和 J6轴是腕座 12上的两个虚拟轴线 （ O5—O5、 0—0, )， 且 J6轴和 J6轴相互垂直。
J5轴输入齿轮轴 1为空心轴， J6轴输入齿轮轴 11套装于 J5轴输入齿轮轴 1内， 两者同轴。
J5轴大速比准双曲面齿轮 Π 6与 J 5轴输出端 13通过一齿轮轴联为同轴体， 其轴线位于 J 5轴上， 为空心轴结构。
J6轴大速比准双曲面齿轮 Π 5设有 J6轴大速比准双曲面齿轮轴 II， J6轴 大速比准双曲面齿轮轴 II的轴线位于 J 5轴上。
J6轴输出轴 7的轴线位于 J6轴上， J6轴大速比准双曲面齿轮轴 II与 J6轴 输出轴 7通过锥齿轮组形成动力传递。
J5轴大速比准双曲面齿轮 I 3通过齿轮机构承接来自 J5轴输入齿轮轴 1的 动力， J5轴大速比准双曲面齿轮 I 3与 J5轴大速比准双曲面齿轮 Π 6啮合。
J6轴大速比准双曲面齿轮 I 4通过齿轮机构承接来自 J6轴输入齿轮轴 11 的动力， J6轴大速比准双曲面齿轮 I 4与 J6轴大速比准双曲面齿轮 Π 5啮合。
如图 1所示， J5轴输入齿轮轴 1、 J5轴惰轮 2、 J5轴大速比准双曲面齿轮 1 3、 J6轴大速比准双曲面齿轮 1 4、 J6轴大速比准双曲面齿轮 115、 J5轴大速 比准双曲面齿轮 116、 J6轴惰轮 10、 J6轴输入齿轮轴 11均通过轴承安装在腕座 12上 ， 分别绕各自固定的轴线转动。
J5轴输出端 13通过 2个深沟球轴承安装在腕座 12上，可绕 J5轴轴线 < 5— 05 旋转， 且与 J5轴大速比准双曲面齿轮 Π 6连接在一起。
J6轴大速比准双曲面齿轮轴 II上设有 J6轴锥齿轮 I 9， J6轴锥齿轮 I 9与 J6轴大速比准双曲面齿轮 II 5为一体。
J6轴锥齿轮 II 8与 J6轴输出轴 （7) 连接在一起。
如图 1、 图 2所示： J5轴大速比准双曲面齿轮 Π 6与 J6轴大速比准双曲面 齿轮 II 5均放置在腕座的一侧，径向通过深沟球轴承相互支撑，无运动耦合关系。
J5轴大速比准双曲面齿轮 I 3与 J5轴大速比准双曲面齿轮 Π 6组成齿轮畐 ij， J5轴大速比准双曲面齿轮 I 3放置在腕座 12内部空间的下方。
J6轴大速比准双曲面齿轮 I 4与 J6轴大速比准双曲面齿轮 Π 5组成齿轮畐 ij， J6轴大速比准双曲面齿轮 I 4放置在腕座 12内部空间的上方。
J5轴输入齿轮轴 1端部的齿轮通过 J5轴惰轮 2和 J5轴大速比准双曲面齿 轮 I 3的端部齿轮， 与 J5轴大速比准双曲面齿轮 I 3构成动力传递关系。
J6轴输入齿轮轴 11通过 J6轴惰轮 10和 J6轴大速比准双曲面齿轮 I 4端 部的齿轮， 与 J6轴大速比准双曲面齿轮 I 4构成动力传递关系。
上述结构中， 两对大速比准双曲面齿轮副布置在机器人腕部的同一侧， J5 轴大速比准双曲面齿轮 I和 J6轴大速比准双曲面齿轮 I上下平行布置， J5轴大 速比准双曲面齿轮 II和 J6轴大速比准双曲面齿轮 II同侧同轴前后布置。 以节约 齿轮传动所需空间， 减小腕部外部尺寸和腕部质量。 J5轴输入齿轮轴和 J6轴输 入齿轮轴同轴线布置， 以减小腕部外部尺寸。
具体传动原理：
J5轴传动路线： 当 J5轴输入齿轮轴 1转动时， 通过 J5轴惰轮 2将转动和 扭矩传递给 J5轴大速比准双曲面齿轮 1 3， 而 J5轴大速比准双曲面齿轮 I 3与 J5轴大速比准双曲面齿轮 Π 6啮合， J5轴大速比准双曲面齿轮 Π 6与 J5轴输 出端 13 固定在一起， 从而将转动和扭矩按照相应的速比关系转换后传递给 J5 轴输出端 13， 带动负载绕 O5—O5轴线以指定的速度转动到指定的位置。
J6轴传动路线： 当 J6轴输入齿轮轴 11转动时， 通过 J6轴惰轮 10将转动 和扭矩传递给 J6轴大速比准双曲面齿轮 I 4， 再通过 J6轴大速比准双曲面齿轮
I 4与 J6轴大速比准双曲面齿轮 Π 5啮合将转动和扭矩按照相应的速比关系转 换后传递给 J6轴锥齿轮 I 9， 最终再通过 J6轴锥齿轮 I 9和 J6轴锥齿轮 II 8 的啮合将转动和扭矩传递给 J6轴输出轴 7， 带动负载绕 06—06轴线以指定的速 度转动到指定的位置。
Claims
1.一种低负载工业机器人腕部传动机构， 包括腕座 （12)、 J5轴输入齿轮轴 (1)、 J6轴输入齿轮轴 （11)、 J5轴输出端 （13)、 J6轴输出轴 （7)、 J5轴大 速比准双曲面齿轮 I (3)、 J5轴大速比准双曲面齿轮 II (6)、 J6轴大速比准双 曲面齿轮 I (4)、 J6轴大速比准双曲面齿轮 II (5)； 其特征是：
J5轴和 J6轴是腕座上的两个虚拟轴线 （05— 05、 06— 06)， 且 J5轴和 J6轴相 互垂直；
J5轴输入齿轮轴 (1) 为空心轴， J6轴输入齿轮轴 (11) 套装于 J5轴输入 齿轮轴内， 两者同轴；
J5轴大速比准双曲面齿轮 II (6) 与 J 5轴输出端 （13) 通过一齿轮轴联为 同轴体， 其轴线位于 J 5轴上， J5轴大速比准双曲面齿轮 II (6)为空心轴结构；
J6轴大速比准双曲面齿轮 II (5) 带有 J6轴大速比准双曲面齿轮轴 II， J6 轴大速比准双曲面齿轮轴 II的轴线位于 J 5轴上；
J6轴输出轴 （7) 的轴线位于 J6轴上， J6轴大速比准双曲面齿轮轴 II与 J6 轴输出轴通过锥齿轮组形成动力传递；
J5轴大速比准双曲面齿轮 I (3) 通过齿轮机构承接来自 J5轴输入齿轮轴 (1) 的动力， J5轴大速比准双曲面齿轮 I (3)与 J5轴大速比准双曲面齿轮 II (6) 啮合；
J6轴大速比准双曲面齿轮 I (4)通过齿轮机构承接来自 J6轴输入齿轮轴（11) 的动力， J6轴大速比准双曲面齿轮 I (4) 与 J6轴大速比准双曲面齿轮 II (5) 啮合。
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| CN102966701A (zh) * | 2012-11-21 | 2013-03-13 | 中国船舶重工集团公司第七一六研究所 | 一种准双曲面锥齿轮传动装置 |
| JP6438193B2 (ja) * | 2013-12-16 | 2018-12-12 | 川崎重工業株式会社 | 多関節ロボットの手首構造 |
| CN103753602B (zh) * | 2014-01-26 | 2017-01-11 | 南京埃斯顿机器人工程有限公司 | 一种低负载工业机器人中空小臂和腕部结构 |
| US11612504B2 (en) * | 2019-12-13 | 2023-03-28 | Rehabilitation Institute Of Chicago | Compact wrist rotator and flexor |
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