WO2017080447A1 - Mécanisme mobile et tournant ainsi que robot intelligent - Google Patents

Mécanisme mobile et tournant ainsi que robot intelligent Download PDF

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Publication number
WO2017080447A1
WO2017080447A1 PCT/CN2016/105153 CN2016105153W WO2017080447A1 WO 2017080447 A1 WO2017080447 A1 WO 2017080447A1 CN 2016105153 W CN2016105153 W CN 2016105153W WO 2017080447 A1 WO2017080447 A1 WO 2017080447A1
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WO
WIPO (PCT)
Prior art keywords
inner tube
retaining sleeve
motor
lead screw
tube
Prior art date
Application number
PCT/CN2016/105153
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English (en)
Chinese (zh)
Inventor
张国鹏
王野
蒲立
Original Assignee
纳恩博（北京）科技有限公司
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Application filed by 纳恩博（北京）科技有限公司 filed Critical 纳恩博（北京）科技有限公司
Publication of WO2017080447A1 publication Critical patent/WO2017080447A1/fr

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings

Definitions

  • the invention relates to a motion mechanism, in particular to a displacement rotation mechanism and an intelligent robot capable of realizing two movement states of lifting and rotating of a mechanical component.
  • an embodiment of the present invention provides a displacement rotation mechanism and an intelligent robot, which combines two transmission mechanisms of rotation and lifting through a common component, and simultaneously divides two transmission mechanisms into two of the common components.
  • the side way is to realize the two movement states of the robot head device lifting and rotating.
  • a first aspect of the present invention provides a rotating mechanism, including: an outer tube, an inner tube, a retaining sleeve, a first timing belt, a first motor and a motor mounting bracket, and the motor is fixedly mounted at one end of the outer tube a mounting bracket, the motor mounting bracket is formed by joining two bodies, the motor mounting bracket The first motor is mounted thereon, the holding sleeve is mounted on the motor mounting bracket, the retaining sleeve is an annular structure, and at least a portion of the retaining sleeve is in sliding contact with the motor mounting bracket and can be parallel Rotating on an axis of the outer tube axis, the retaining sleeve is nested outside the inner tube, and the retaining sleeve is in sliding contact with the outer wall of the inner tube through at least a portion of the insert hole, the retaining sleeve capable of driving the inner tube Rotating together, the inner tube is slidable relative to the retaining sleeve in a direction of
  • At least one body of the motor mounting bracket is provided with a positioning pin, and one end of the outer tube is provided with a positioning hole at a corresponding position.
  • the radial cross-sectional shape of the inner tube is adapted to the shape of the inlaid hole on the retaining sleeve, and when the retaining sleeve is rotated, the inner tube is rotated.
  • At least one ring of the limiting flange is disposed on the outer ring surface of the retaining sleeve, and a ring gear ring is disposed on the outer ring surface of the retaining sleeve.
  • the motor mounting frame is an annular structure, and each of the two bodies of the motor mounting frame has a part of an inner wall contacting the outer wall of the outer tube and the outer ring surface of the retaining sleeve, one of the A mounting platform is disposed on the body, and the mounting platform is provided with a through hole and a plurality of mounting holes.
  • the inner wall of the motor mounting frame is provided with a ring limiting slot, and the outer wall of the motor mounting frame is provided with a reinforcing rib.
  • a second aspect of the present invention provides a displacement mechanism, including: an inner tube, a lead screw, a nut, a second motor, a second timing belt, and a transmission assembly, and the output end of the second motor passes through the second timing belt.
  • the transmission assembly Connected to the transmission assembly, the transmission assembly is disposed at one end of the lead screw, the lead screw is coaxially disposed in the inner tube, and one end of the inner tube is fixedly connected with the nut
  • the silk mother and the lead screw form a set of spiral pairs.
  • the lead screw is a tubular structure, and one end of the lead screw is initially provided with at least one thread, and one end of the lead screw away from the thread is provided with a transmission component.
  • the transmission component includes a limit key structure on the lead screw, and at least two limit tiles that are engaged with the outer wall of the limit key structure, and a sleeve is disposed on the periphery of the pair of limit tiles.
  • the limit key structure of the transmission assembly has at least one pair of limit key groups circumferentially surrounding the outer surface of the lead screw in parallel, each of the limit key groups comprising two circumferentially arranged a square key, two square keys in each of the limit key groups are not in contact with each other to leave a gap, and the gap left between each of the limit key groups is along the axis of rotation of the screw arrangement.
  • the limiting bush of the transmission component is a semi-annular structure, and the inner wall of the limiting bush is provided with at least two pairs of inner key grooves and the square key on the screw rod is matched with no relative movement in the axial direction.
  • the inner wall of the limiting tile is provided with at least two axially connecting transmission keys;
  • the outer wall of the limiting tile is provided with at least one outer key groove in the axial direction, and the outer key groove extends along one end in the axial direction and penetrates through One end surface of the limiting tile, the other end of the outer key groove is located in the outer wall of the limiting tile without penetrating the other end surface of the limiting tile;
  • the outer wall of the limiting tile is provided with a circumferential surrounding Spring groove.
  • the timing pulley is a hollow annular structure, and the inner wall of the timing pulley is provided with at least one transmission key, and the outer wall of the synchronous pulley is circumferentially arranged with a ring synchronous pulley structure for The second timing belt is coupled to the transmission.
  • a third aspect of the embodiments of the present invention further provides an intelligent robot, including a rotating mechanism, a displacement mechanism, and a first device, wherein the rotating mechanism and the displacement mechanism share an inner tube, and one end of the inner tube is The first device is fixedly connected.
  • the rotating mechanism includes: the inner tube, the outer tube, the retaining sleeve, the first timing belt, the first motor and the motor mounting bracket, and the motor mounting bracket is mounted on one end of the outer tube,
  • the motor mounting bracket is formed by joining two bodies, the first motor is mounted on the motor mounting bracket, the retaining sleeve is mounted on the motor mounting bracket, and the retaining sleeve is an annular structure, At least a portion of the retaining sleeve is in sliding contact with the motor mount and can be parallel to the outer tube axis Rotating the shaft, at least a portion of the inner annular surface of the retaining sleeve is in contact with the outer wall of the inner tube, the retaining sleeve being capable of rotating the inner tube together, the inner tube being capable of being held relative to the axis of rotation
  • the sleeve is slidably, and the first motor is coupled to the retaining sleeve by the first timing belt, and the rotation axes of the retaining
  • the displacement mechanism includes: the inner tube, the lead screw, the nut, the second motor, the second timing belt, and the transmission assembly, and the output end of the second motor passes through the second timing belt and the
  • the transmission assembly is connected, the transmission assembly is disposed at one end of the lead screw, the lead screw is disposed coaxially with a gap in the inner tube, and one end of the inner tube is fixedly connected with the silk mother.
  • the silk mother and the lead screw form a set of spiral pairs.
  • At least a part of the inner tube and the lead screw are disposed in the outer tube, and the second motor, the second timing belt and the transmission component are disposed on the outer tube and are installed away from the motor.
  • One end of the frame extends away from the outer tube and is fixedly connected to the first device.
  • the rotating mechanism and the displacement mechanism are connected through the inner tube, and the rotating mechanism and the displacement mechanism are respectively located at the two ends of the inner tube or the outer tube, thereby greatly reducing the possibility of motion interference of the two sets of mechanisms when respectively driving. Sexuality, reducing the failure rate of the machine.
  • the number of parts of the two sets of transmission mechanisms is greatly reduced, by setting the specific shape of the hole where the inner ring surface of the retaining sleeve is in contact with the inner tube while maintaining the sleeve and the inner tube. In the manner of sliding contact, the rotation and displacement of the inner tube can be performed separately, and the head device of the robot only needs to be made into a simple part and fixedly connected with the inner tube to achieve the desired head lifting and rotating action.
  • FIG. 1 is an overall structural view of a rotating and displacement mechanism according to an embodiment of the present invention
  • FIG. 2 is a perspective view showing the outer shape of a rotating and displacement mechanism according to an embodiment of the present invention
  • Figure 3 is a perspective view of a retaining sleeve of an embodiment of the present invention.
  • FIG. 4 is a perspective view of a motor mounting bracket according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of disassembly and assembly of a transmission assembly according to an embodiment of the present invention.
  • FIG. 1 is an overall structural view of a rotation and displacement mechanism according to an embodiment of the present invention
  • FIG. 2 is an external perspective view of a rotation and displacement mechanism according to an embodiment of the present invention
  • FIG. 3 is a perspective view of a retaining sleeve according to an embodiment of the present invention
  • FIG. 5 is a perspective view of the drive assembly of the embodiment of the present invention.
  • a rotating mechanism including an outer tube 1, an inner tube 2, a retaining sleeve 3, a first timing belt 4, a first motor 5 and a motor a mounting bracket 6,
  • the outer tube 1 is sleeved outside the inner tube 2
  • the inner tube 2 is parallel to the axis of the outer tube 1, but the inner tube 2 and the outer tube 1 are not necessarily coaxially arranged .
  • the motor mounting bracket 6 is fixedly mounted on one end of the outer tube 1, and the motor mounting bracket 6 may be fixed to the outer tube 1 by a fastener or through friction on a contact surface formed with the outer wall of the outer tube 1. Force to fix, or other possible fixing methods.
  • the motor mounting bracket 6 can be installed in a kit.
  • the motor mounting bracket 6 is formed by joining two bodies.
  • the two bodies of the motor mounting bracket 6 are looped around one end of the outer tube 1 and are engaged.
  • Fixing a firmware such as a bolt, a screw, or the like
  • the first motor 5 is mounted on the motor mount 6, and the first motor 5 is a stepping motor
  • the motor mount 6 is further mounted with the retaining a sleeve 3
  • the retaining sleeve 3 is an annular structure, at least a portion of the retaining sleeve 3 is in sliding contact with the motor mounting bracket 6 and is rotatable along an axis parallel to the axis of the outer tube, where the retaining sleeve 3
  • the motor mounting bracket 6 in a manner similar to a rotary sliding bearing Connected to the motor mounting bracket 6 with a circumferentially surrounding sliding contact space in sliding contact with a circumferential boss or flange on the retaining sleeve 3, such that the retaining sleeve 3 can be
  • the retaining sleeve 3 is nested outside the inner tube 2.
  • the retaining sleeve 3 is in sliding contact with the outer wall of the inner tube 2 through at least a portion of the inserting hole 33, which is equivalent to the retaining sleeve 3.
  • the inner tube 2 can be torqued when the retaining sleeve 3 is rotated, and the inner tube 2 is connected to the retaining sleeve 3 in sliding contact, and can be held in the direction of the rotation axis. Set 3 to slide.
  • the first motor 5 is mounted at a corresponding position of the motor mounting bracket 6 by a fastener such as a bolt screw or the like, and is connected to the retaining sleeve 3 through the first timing belt 4, the first timing belt 4
  • the first timing belt 4 For a driving belt, the first timing belt 4 mainly adopts a toothed belt, in particular a double-sided toothed belt, and a multi-ribbed belt, and the retaining sleeve 3 has a structure that cooperates with the teeth on the synchronous belt.
  • the torque is output to the retaining sleeve 3 through the first transmission belt, and the retaining sleeve 3 transmits torque to the inner tube 2 through the contact surface, so that the inner tube 2 generates a rotational motion by changing the torque outputted by the motor.
  • the direction can change the direction of rotation of the inner tube 2 to achieve the desired action.
  • a rotating mechanism including an outer tube 1, an inner tube 2, a retaining sleeve 3, a first timing belt 4, a first motor 5 and a motor mount 6.
  • the outer tube 1 is sleeved outside the inner tube 2, and the inner tube 2 is flush with the axis of the outer tube 1. Row, but the inner tube 2 and the outer tube 1 are not necessarily coaxially arranged.
  • the motor mounting bracket 6 is fixedly mounted on one end of the outer tube 1, and the motor mounting bracket 6 may be fixed to the outer tube 1 by a fastener or through a frictional force on a contact surface formed with an outer wall of the outer tube. Fix it, or other possible fixing methods.
  • the motor mounting bracket 6 can be installed in a kit.
  • the motor mounting bracket 6 is formed by joining two bodies.
  • the two bodies of the motor mounting bracket 6 are looped around one end of the outer tube 1 and are engaged.
  • Fixing a firmware such as a bolt, a screw, or the like
  • the first motor 5 is mounted on the motor mount 6, and the first motor 5 is a stepping motor
  • the motor mount 6 is further mounted with the retaining a sleeve 3
  • the retaining sleeve 3 is an annular structure, at least a portion of the retaining sleeve 3 is in sliding contact with the motor mounting bracket 6 and is rotatable along an axis parallel to the axis of the outer tube 1, where the retaining sleeve 3 is connected to the motor mount 6 in a manner similar to a rotary sliding bearing having a circumferentially surrounding sliding contact space and a circumferential boss or flange on the retaining sleeve 3
  • the sliding contact enables the retaining sleeve 3 to rotate within the motor mount 6 while restrict
  • the retaining sleeve 3 is nested outside the inner tube 2.
  • the retaining sleeve 3 is in sliding contact with the outer wall of the inner tube 2 through at least a portion of the inserting hole 33, which is equivalent to the retaining sleeve 3.
  • the inner tube 2 can be torqued when the retaining sleeve 3 is rotated, and the inner tube 2 is connected to the retaining sleeve 3 in sliding contact, and can be held in the direction of the rotation axis. Set 3 to slide.
  • the first motor 5 is mounted at a corresponding position of the motor mounting bracket 6 by a fastener such as a bolt screw or the like, and is connected to the retaining sleeve 3 through the first timing belt 4, the first timing belt 4
  • the first timing belt 4 For a driving belt, the first timing belt 4 mainly adopts a toothed belt, in particular a double-sided toothed belt, and a multi-ribbed belt, and the retaining sleeve 3 has a structure that cooperates with the teeth on the synchronous belt.
  • the rotation axis of the inner tube 2 is ideally parallel to the central axis of the outer tube or the wall of the outer tube 1.
  • At least one body of the motor mounting bracket 6 is provided with a positioning pin 61, and one end of the outer tube 1 is provided with a positioning hole at one end, and one of the positioning pins 61 is provided.
  • the body is inserted into the positioning hole on the outer tube 1, and the other body is engaged with the body with the positioning pin 61 and fixed by the fastener.
  • the presence of the positioning pin 61 limits the motor mounting frame 6 along the outer tube 1.
  • the axial and circumferential rotation causes the motor mount 6 to be mounted at the end of the outer tube 1 to be more stable.
  • a rotating mechanism including an outer tube 1, an inner tube 2, a retaining sleeve 3, a first timing belt 4, a first motor 5 and a motor mount 6.
  • the outer tube 1 is sleeved outside the inner tube 2, and the inner tube 2 is parallel to the axis of the outer tube 1, but the inner tube 2 and the outer tube 1 are not necessarily coaxially disposed.
  • the motor mounting bracket 6 is fixedly mounted on one end of the outer tube 1, and the motor mounting bracket 6 may be fixed to the outer tube 1 by a fastener or through a frictional force on a contact surface formed with an outer wall of the outer tube. Fix it, or other possible fixing methods.
  • the motor mounting bracket 6 can be installed in a kit.
  • the motor mounting bracket 6 is formed by joining two bodies.
  • the two bodies of the motor mounting bracket 6 are looped around one end of the outer tube 1 and are engaged. Fixing a firmware such as a bolt, a screw, or the like, the first motor 5 is mounted on the motor mount 6, and the first motor 5 is a stepping motor, and the motor mount 6 is further mounted with the retaining a sleeve 3, the retaining sleeve 3 is an annular structure, at least a portion of the retaining sleeve 3 is in sliding contact with the motor mounting bracket 6 and is rotatable along an axis parallel to the axis of the outer tube, where the retaining sleeve 3 Connected to the motor mount 6 in a manner similar to a rotary sliding bearing
  • the motor mounting bracket 6 has a circumferentially surrounding sliding contact space in sliding contact with a circumferential boss or flange on the retaining sleeve 3, so that the retaining sleeve 3 can rotate within the motor mounting bracket 6.
  • the retaining sleeve 3 is restricted from being displaced in the direction of the axis of rotation.
  • the retaining sleeve 3 is nested outside the inner tube 2.
  • the retaining sleeve 3 is in sliding contact with the outer wall of the inner tube 2 through at least a portion of the inserting hole 33, which is equivalent to the retaining sleeve 3.
  • Nested outside the portion of the inner tube 2 by providing a specific shape of the inlaid hole 33, for example, the shape of the inlaid hole 33 is square, trapezoidal or the like, so that the contact surface of the inner tube 2 and the retaining sleeve 3 has at least one plane.
  • the inner tube 2 can be torqued when the retaining sleeve 3 is rotated, and the inner tube 2 is connected to the retaining sleeve 3 in sliding contact, and can be held in the direction of the rotation axis. Set 3 to slide.
  • the first motor 5 is mounted at a corresponding position of the motor mounting bracket 6 by a fastener such as a bolt screw or the like, and is connected to the retaining sleeve 3 through the first timing belt 4, the first timing belt 4
  • the first timing belt 4 For a driving belt, the first timing belt 4 mainly adopts a toothed belt, in particular a double-sided toothed belt, and a multi-ribbed belt, and the retaining sleeve 3 has a structure that cooperates with the teeth on the synchronous belt.
  • the torque is output to the retaining sleeve 3 through the first transmission belt, and the retaining sleeve 3 transmits torque to the inner tube 2 through the contact surface, so that the inner tube 2 generates a rotational motion by changing the torque outputted by the motor.
  • the direction can change the direction of rotation of the inner tube 2 to achieve the desired action. In this embodiment, as shown in FIG.
  • the radial cross-sectional shape of the inner tube 2 is adapted to the shape of the inlaid hole 33 on the retaining sleeve 3, and the shape of the inlaid hole 33 may be In the form of a square, a rectangle, or a polygon, preferably, in the embodiment, a drum-shaped inlaid hole 33 and a radial section are provided in a drum shape.
  • the inner tube 2, that is, the wall of the inner tube 2 is surrounded by two circular arc walls and two flat wall surfaces. Due to the presence of two contact planes, the circumferential movement freedom of the inner tube 2 is The retaining sleeve 3 is constrained so that the inner tube 2 can rotate with the retaining sleeve 3.
  • a rotating mechanism including an outer tube 1, an inner tube 2, a retaining sleeve 3, a first timing belt 4, a first motor 5 and a motor mount 6.
  • the outer tube 1 is sleeved outside the inner tube 2, and the inner tube 2 is parallel to the axis of the outer tube 1, but the inner tube 2 and the outer tube 1 are not necessarily coaxially disposed.
  • the motor mounting bracket 6 is fixedly mounted on one end of the outer tube 1, and the motor mounting bracket 6 may be fixed to the outer tube 1 by a fastener or through a frictional force on a contact surface formed with an outer wall of the outer tube. Fix it, or other possible fixing methods.
  • the motor mounting bracket 6 can be installed in a kit.
  • the motor mounting bracket 6 is formed by joining two bodies.
  • the two bodies of the motor mounting bracket 6 are looped around one end of the outer tube 1 and are engaged.
  • Fixing a firmware such as a bolt, a screw, or the like
  • the first motor 5 is mounted on the motor mount 6, and the first motor 5 is a stepping motor
  • the motor mount 6 is further mounted with the retaining a sleeve 3
  • the retaining sleeve 3 is an annular structure, at least a portion of the retaining sleeve 3 is in sliding contact with the motor mounting bracket 6 and is rotatable along an axis parallel to the axis of the outer tube 1, where the retaining sleeve 3 is connected to the motor mount 6 in a manner similar to a rotary sliding bearing having a circumferentially surrounding sliding contact space and a circumferential boss or flange on the retaining sleeve 3
  • the sliding contact enables the retaining sleeve 3 to rotate within the motor mount 6 while restrict
  • the retaining sleeve 3 is nested outside the inner tube 2.
  • the retaining sleeve 3 is in sliding contact with the outer wall of the inner tube 2 through at least a portion of the inserting hole 33, which is equivalent to the retaining sleeve 3.
  • the inner tube 2 can be torqued when the retaining sleeve 3 is rotated, and the inner tube 2 is connected to the retaining sleeve 3 in sliding contact, and can be held in the direction of the rotation axis. Set 3 to slide.
  • the first motor 5 is mounted at a corresponding position of the motor mounting bracket 6 by a fastener such as a bolt screw or the like, and is connected to the retaining sleeve 3 through the first timing belt 4, the first timing belt 4
  • the first timing belt 4 For a driving belt, the first timing belt 4 mainly adopts a toothed belt, in particular a double-sided toothed belt, and a multi-ribbed belt, and the retaining sleeve 3 has a structure that cooperates with the teeth on the synchronous belt.
  • the torque is output to the retaining sleeve 3 through the first transmission belt, and the retaining sleeve 3 transmits torque to the inner tube 2 through the contact surface, so that the inner tube 2 generates a rotational motion by changing the torque outputted by the motor.
  • the direction can change the direction of rotation of the inner tube 2 to achieve the desired action.
  • the outer ring surface of the retaining sleeve 3 is further provided with at least one ring limiting flange 32, and the limiting flange 32 is the same as described above.
  • the motor mounting bracket 6 has a ring-shaped flange structure slidingly contacting the circumferentially sliding sliding contact space to form a rotary sliding bearing, and due to the space on both ends of the flange and the space on the motor mounting bracket 6, for example, a groove structure Contacting limits the displacement of the retaining sleeve 3 in the direction of the axis of rotation.
  • a ring gear 31 is disposed on the outer ring surface of the retaining sleeve 3 for cooperating with the tooth shape on the first timing belt 4 to receive the rotation of the first motor 5 through the first timing belt 4.
  • a rotating mechanism including an outer tube 1, an inner tube 2, a retaining sleeve 3, a first timing belt 4, a first motor 5 and a motor mount 6.
  • the outer tube 1 is sleeved outside the inner tube 2, and the inner tube 2 is parallel to the axis of the outer tube 1, but the inner tube 2 and the outer tube 1 are not necessarily coaxially disposed.
  • the motor mounting bracket 6 is fixedly mounted on one end of the outer tube 1, and the motor mounting bracket 6 may be fixed to the outer tube 1 by using a fastener, or The fixing is made by friction with the contact surface formed by the outer wall of the outer tube, or other possible fixing means.
  • the motor mounting bracket 6 can be installed in a kit.
  • the motor mounting bracket 6 is formed by joining two bodies.
  • the two bodies of the motor mounting bracket 6 are looped around one end of the outer tube 1 and are engaged. Fixing a firmware such as a bolt, a screw, or the like, the first motor 5 is mounted on the motor mount 6, and the first motor 5 is a stepping motor, and the motor mount 6 is further mounted with the retaining a sleeve 3, the retaining sleeve 3 is an annular structure, at least a portion of the retaining sleeve 3 is in sliding contact with the motor mounting bracket 6 and is rotatable along an axis parallel to the axis of the outer tube, where the retaining sleeve 3
  • the motor mounting bracket 6 is coupled to a rotary sliding bearing having a circumferentially surrounding sliding contact space and a circumferential boss or flange on the retaining sleeve 3 Contacting enables the retaining sleeve 3 to rotate within the motor mount 6 while limiting displacement of the retaining sleeve
  • the retaining sleeve 3 is nested outside the inner tube 2.
  • the retaining sleeve 3 is in sliding contact with the outer wall of the inner tube 2 through at least a portion of the inserting hole 33, which is equivalent to the retaining sleeve 3.
  • the inner tube 2 can be torqued when the retaining sleeve 3 is rotated, and the inner tube 2 is connected to the retaining sleeve 3 in sliding contact, and can be held in the direction of the rotation axis. Set 3 to slide.
  • the first motor 5 is mounted at a corresponding position of the motor mounting bracket 6 by a fastener such as a bolt screw or the like, and is connected to the retaining sleeve 3 through the first timing belt 4, the first timing belt 4
  • the first timing belt 4 For a driving belt, the first timing belt 4 mainly adopts a toothed belt, in particular a double-sided toothed belt, and a multi-ribbed belt, and the retaining sleeve 3 has a structure that cooperates with the teeth on the synchronous belt.
  • the retaining sleeve 3 and the inner tube 2 are mounted at one end of the outer tube 1, it is ensured that the rotation axis of the retaining sleeve 3 and the inner tube 2 is parallel to the central axis of the outer tube 1, or a retaining sleeve is secured.
  • the axis of rotation of the inner tube 2 is parallel to the wall of the outer tube 1, of course, due to the sliding contact between the retaining sleeve 3 and the inner tube 2, there is a gap, and the axis of rotation of the inner tube 2 is When the inner tube 2 rotates, a slight change occurs.
  • the rotation axis of the inner tube 2 is ideally parallel to the central axis of the outer tube or the tube wall of the outer tube 1.
  • the motor mounting bracket 6 is an annular structure, and the two bodies of the motor mounting bracket 6 each have a part of an inner wall and an outer wall of the outer tube 1 and the holding The outer ring surface of the sleeve 3 is in contact with each other, and one of the bodies is provided with a mounting platform 63.
  • the mounting platform 63 is perpendicular to the rotation axis of the retaining sleeve 3.
  • the mounting platform 63 is provided with a through hole 64 and a plurality of mounting holes 65.
  • the inner wall of the motor mounting bracket 6 is provided with a ring limiting groove 62 in sliding contact with a circumferential boss or flange provided on the retaining sleeve 3.
  • a reinforcing rib is provided at an outer wall of the motor mounting bracket 6 at a position in contact with the mounting platform 63 to improve the strength of the motor mounting bracket 6.
  • a displacement mechanism comprising: an inner tube 2, a lead screw 7, a nut 8 , a second motor 11 , a second timing belt 10 , and a transmission assembly 9.
  • the output end of the second motor 11 is connected to the transmission assembly 9 via a second timing belt 10, the transmission assembly 9 is disposed at one end of the lead screw 7, and the transmission assembly 9 is configured to receive the first
  • the torque transmitted by the second timing belt 10 is transmitted to the lead screw 7 so that the lead screw 7 can perform a rotational movement, and the lead screw 7 is disposed coaxially with a gap in the inner tube 2, the lead screw 7 is a tubular structure in which a wire for transmitting an electrical signal can be disposed.
  • One end of the inner tube 2 and the nut 8 are fixedly connected by a fastener or an adhesive, and the nut 8 is an annular structure having a thread inside, and the outer surface of the lead screw 7
  • the threads cooperate to form a set of helical pairs, and the rotational movement of the lead screw 7 can be converted into a linear displacement of the core 8 in the direction of the axis of rotation of the lead screw 7, due to the inner tube 2 and the silk core 8 is fixed in one piece, and the rotation of the lead screw 7 enables the inner tube 2 to be linearly displaced in the direction of the rotation axis of the screw shaft 7.
  • the displacement mechanism comprises: an inner tube 2, a lead screw 7, a nut 8 , a second motor 11 , a second timing belt 10 , a transmission assembly 9 ,
  • the output end of the second motor 11 is connected to the transmission assembly 9 via a second timing belt 10
  • the transmission assembly 9 is disposed at one end of the lead screw 7, and the transmission assembly 9 is for receiving a second timing belt
  • the transmitted torque is transmitted to the lead screw 7 so that the lead screw 7 can perform a rotational movement, and the lead screw 7 is disposed inside the inner tube 2 coaxially with a gap.
  • One end of the inner tube 2 and the nut 8 are fixedly connected by a fastener or an adhesive, and the nut 8 is an annular structure having a thread inside, and the outer surface of the lead screw 7
  • the threads cooperate to form a set of helical pairs, and the rotational movement of the lead screw 7 can be converted into a linear displacement of the core 8 in the direction of the axis of rotation of the lead screw 7, due to the inner tube 2 and the silk core 8 is fixed in one piece, and the rotation of the lead screw 7 enables the inner tube 2 to be linearly displaced in the direction of the rotation axis of the screw shaft 7.
  • the lead screw 7 is a tubular structure, and the inside of the lead screw 7 is provided with a wire capable of transmitting an electrical signal, and the wire passes through the inside of the displacement mechanism to reduce motion interference with the external member. possibility.
  • One end of the lead screw 7 is initially provided with at least one thread, and one end of the lead screw 7 away from the thread is provided with a transmission assembly 9 for receiving the torque transmitted by the second motor 11 to drive the wire.
  • the bar 7 performs a rotary motion.
  • the displacement mechanism comprises: an inner tube 2, a lead screw 7, a nut 8 , a second motor 11 , a second timing belt 10 , a transmission assembly 9 , and an output end of the second motor 11 passes a second timing belt 10 coupled to the transmission assembly 9, the transmission assembly 9 being disposed at one end of the lead screw 7, the transmission assembly 9 for receiving torque transmitted by the second timing belt 10 and It is transmitted to the lead screw 7 so that the lead screw 7 can perform a rotational movement, and the lead screw 7 is disposed inside the inner tube 2 coaxially with a gap.
  • One end of the inner tube 2 and the nut 8 are fixedly connected by a fastener or an adhesive, and the nut 8 is an annular structure having a thread inside, and the outer surface of the lead screw 7 The threads cooperate to form a set of spiral pairs, and the rotational movement of the lead screw 7 can be converted into a linear displacement of the nut 8 along the axis of rotation of the lead screw 7 due to the inner tube 2
  • the wire nut 8 is fixedly integrated, and the rotation of the screw shaft 7 enables the inner tube 2 to linearly displace in the direction of the rotation axis of the screw shaft 7. In this embodiment, as shown in FIG.
  • the transmission assembly 9 includes a limit key structure 91 on the lead screw 7, and at least two limit tiles that are engaged with the outer wall of the limit key structure 91. 92, a timing pulley 93 sleeved around the pair of limit tiles 92, and at least one snap spring 94.
  • the limit key structure 91 of the transmission assembly 9 has at least one pair of limit key groups 911 circumferentially surrounding the outer surface of the lead screw 7, and each of the limit key groups 911 includes two The circumferentially arranged square keys, it should be noted that the two square keys in one of the limit key sets 911 are located in the same plane perpendicular to the axis of the lead screw 7.
  • the shape of the key in the limit key group 911 may also be a semi-circle key, a round key or a key of other shapes, and the key arrangement direction of the limit key group 911 may be along the axis direction of the screw shaft 7, similar to the form of a spline.
  • the two square keys in each of the limit key sets 911 are not in contact with each other to leave a gap 912, and the gap 912 left between each of the limit key groups 911 is along the axis of the lead screw 7 Aligned, the gap 912 is adapted to cooperate with a corresponding structure on the limit tile 92 to transmit torque that causes the lead screw 7 to rotate.
  • the displacement mechanism comprises: an inner tube 2, a lead screw 7, a nut 8 , a second motor 11 , a second timing belt 10 , a transmission assembly 9 ,
  • the output end of the second motor 11 is connected to the transmission assembly 9 via a second timing belt 10
  • the transmission assembly 9 is disposed at one end of the lead screw 7, and the transmission assembly 9 is for receiving a second timing belt
  • the transmitted torque is transmitted to the lead screw 7 so that the lead screw 7 can perform a rotational movement, and the lead screw 7 is disposed inside the inner tube 2 coaxially with a gap.
  • One end of the inner tube 2 and the nut 8 are fixedly connected by a fastener or an adhesive, and the nut 8 is an annular structure having a thread inside, and the outer surface of the lead screw 7
  • the threads cooperate to form a set of helical pairs, and the rotational movement of the lead screw 7 can be converted into a linear displacement of the core 8 in the direction of the axis of rotation of the lead screw 7, due to the inner tube 2 and the silk core 8 is fixed in one piece, and the rotation of the lead screw 7 enables the inner tube 2 to be linearly displaced in the direction of the rotation axis of the screw shaft 7.
  • the transmission assembly 9 includes a limit key structure 91 on the lead screw 7, at least two
  • the limiting wall structure 91 surrounds the outer limiting wall 92, the timing pulley 93 which is sleeved around the pair of limiting tiles 92, and the at least one retaining spring 94.
  • the limiting shoe 92 of the transmission component 9 has a semi-annular structure, and the number of the limiting tiles 92 may be two or more. For example, when the number of the limiting tiles 92 is three, The shape of the limit tile 92 is one-third of the ring structure, and the three limit tiles 92 are surrounded to form a complete ring structure.
  • the inner wall of the limit plate 92 is provided with at least two pairs of inner key grooves 924 and The square key on the lead screw 7 is matched in the axial direction without relative movement, and is used for restricting the displacement of the lead screw 7 along its axial direction.
  • the inner wall of the limiting shoe 92 is provided with at least two axial directions.
  • the communication drive key 923 cooperates with a corresponding structure in the limit key group 911 for transmitting the torque received by the limit plate 92 to the lead screw 7 via the limit key group 911, so that the lead screw 7 rotates.
  • the outer wall of the limiting shoe 92 is provided with at least one outer key groove 921 in the axial direction for receiving the torque transmitted by the timing pulley 93.
  • the outer key groove 921 extends along one end of the axial direction and penetrates one end surface of the limiting pad 92, so that the key on the timing pulley 93 can be inserted into the limiting pad 92 from one direction, thereby limiting
  • the tile 92 is fixed to one end of the lead screw 7.
  • the other end of the outer key groove 921 in the axial direction is located in the outer wall of the limiting plate 92 without penetrating the other end surface of the limiting shoe 92; the outer wall of the limiting pad 92 is provided with a circumferentially surrounding card spring 94 groove.
  • the limiting shoe 92 is fixed together by a snap spring 94, and the retaining ring 94 can be applied to the timing pulley 93.
  • the limit is made at one end so that the timing pulley 93 is fixed to the limit pad 92.
  • the displacement mechanism comprises: an inner tube 2, a lead screw 7, a nut 8 , a second motor 11 , a second timing belt 10 , a transmission assembly 9 ,
  • the output end of the second motor 11 is connected to the transmission assembly 9 via a second timing belt 10
  • the transmission assembly 9 is disposed at one end of the lead screw 7, and the transmission assembly 9 is for receiving a second timing belt
  • the transmitted torque is transmitted to the lead screw 7 so that the lead screw 7 can perform a rotational movement, and the lead screw 7 is disposed inside the inner tube 2 coaxially with a gap.
  • One end of the inner tube 2 and the nut 8 are fixedly connected by a fastener or a glue, and the nut 8 is a ring structure having a screw inside. a pattern that cooperates with a thread on the outer surface of the lead screw 7 to form a set of spiral pairs, and the rotational motion of the lead screw 7 can be converted into a linear displacement of the nut 8 along the axis of rotation of the lead screw 7 Since the inner tube 2 is fixed integrally with the nut 8 , the rotation of the lead screw 7 enables the inner tube 2 to linearly displace in the direction of the rotation axis of the screw shaft 7. In this embodiment, as shown in FIG.
  • the transmission assembly 9 includes a limit key structure 91 on the lead screw 7, and at least two limit tiles that are engaged with the outer wall of the limit key structure 91. 92, a timing pulley 93 sleeved around the pair of limit tiles 92, and at least one snap spring 94. Further, the timing pulley 93 is an annular structure, and the inner wall of the timing pulley 93 is provided with at least one transmission key 932 for cooperating with a corresponding key groove on the outer wall of the limiting shoe 92. The outer wall of the wheel 93 is circumferentially disposed with a ring of timing pulley 931 for cooperating with the second timing belt 10.
  • the embodiment of the invention further discloses an intelligent robot, comprising: a rotating mechanism, a displacement mechanism and a first device, wherein the rotating mechanism and the displacement mechanism have a common inner tube 2 as shown in FIG.
  • One end of the inner tube 2 is fixedly coupled to the first device, and the other end is mated with an element inside the displacement mechanism.
  • the rotating mechanism comprises an outer tube 1, an inner tube 2, a retaining sleeve 3, a first timing belt 4, a first motor 5 and a motor mounting bracket 6, and the outer tube 1 is sleeved in the inner tube 2, the inner tube 2 is parallel to the axis of the outer tube 1, but the inner tube 2 and the outer tube 1 are not necessarily coaxially disposed.
  • the motor mounting bracket 6 is fixedly mounted on one end of the outer tube 1, and the motor mounting bracket 6 may be fixed to the outer tube 1 by a fastener or through a frictional force on a contact surface formed with an outer wall of the outer tube. Fix it, or other possible fixing methods.
  • the motor mounting bracket 6 can be installed in a kit.
  • the motor mounting bracket 6 is formed by joining two bodies. The two bodies of the motor mounting bracket 6 are looped around one end of the outer tube 1 and are engaged.
  • the first motor 5 is mounted on the motor mount 6, and the first motor 5 is a stepping motor, and the motor mount 6 is further mounted with the retaining a sleeve 3, the retaining sleeve 3 is an annular structure, at least a portion of the retaining sleeve 3 is in sliding contact with the motor mounting bracket 6 and is rotatable along an axis parallel to the axis of the outer tube, where The retaining sleeve 3 is coupled to the motor mount 6 in a manner similar to a rotary sliding bearing having a circumferentially surrounding sliding contact space and a circumferential boss or projection on the retaining sleeve 3.
  • the rim is in sliding contact such that the retaining sleeve 3 can rotate within the motor mount 6 while restricting displacement of the retaining sleeve 3 in the direction of the axis of rotation.
  • the retaining sleeve 3 is nested outside the inner tube 2.
  • the retaining sleeve 3 is in sliding contact with the outer wall of the inner tube 2 through at least a portion of the inserting hole 33, which is equivalent to the retaining sleeve 3.
  • the shape of the inlaid hole 33 is square, trapezoidal or the like, so that the contact surface of the inner tube 2 and the retaining sleeve 3 has at least one plane.
  • the inner tube 2 can be torqued when the retaining sleeve 3 is rotated, and the inner tube 2 is connected to the retaining sleeve 3 in sliding contact, and can be held in the direction of the rotation axis. Set 3 to slide.
  • the first motor 5 is mounted at a corresponding position of the motor mounting bracket 6 by a fastener such as a bolt screw or the like, and is connected to the retaining sleeve 3 through the first timing belt 4, the first timing belt 4
  • the first timing belt 4 For a driving belt, the first timing belt 4 mainly adopts a toothed belt, in particular a double-sided toothed belt, and a multi-ribbed belt, and the retaining sleeve 3 has a structure that cooperates with the teeth on the synchronous belt.
  • the intelligent robot includes a rotating mechanism, a displacement mechanism and a first device, and the rotating mechanism and the displacement mechanism have a common inner tube 2, One end of the inner tube 2 is fixedly coupled to the first device, and the other end is mated with an element inside the displacement mechanism.
  • the displacement mechanism comprises: an inner tube 2, a lead screw 7, a nut 8 , a second motor 11 , a second timing belt 10 , a transmission assembly 9 , and an output end of the second motor 11 passes through the second timing belt 10 is coupled to the transmission assembly 9, the transmission assembly 9 is disposed at one end of the lead screw 7, and the transmission assembly 9 is configured to receive the torque transmitted by the second timing belt 10 and transmit it to the lead screw 7, the screw shaft 7 is allowed to perform a rotational movement, and the lead screw 7 is disposed inside the inner tube 2 coaxially with a gap.
  • One end of the inner tube 2 and the nut 8 are fixedly connected by a fastener or an adhesive, and the nut 8 is an annular structure having a thread inside, and the outer surface of the lead screw 7
  • the threads cooperate to form a set of helical pairs, and the rotational movement of the lead screw 7 can be converted into a linear displacement of the core 8 in the direction of the axis of rotation of the lead screw 7, due to the inner tube 2 and the silk core 8 is fixedly integrated, the rotation of the lead screw 7 can cause the inner tube 2 to linearly shift along the axis of rotation of the screw shaft 7. Since one end of the inner tube 2 is mounted with a first member, the inner tube 2 is along a straight line.
  • the displacement causes the first member to be linearly displaced accordingly, for example, when the first member is a head device of a robot, the head device of the robot is controlled by controlling the torque direction of the output of the second motor 11
  • the direction of displacement is visually represented as the lifting action of the "head" of the robot.
  • the intelligent robot includes a rotating mechanism, a displacement mechanism and a first device, and the rotating mechanism and the displacement mechanism have a common inner tube 2, One end of the inner tube 2 is fixedly coupled to the first device, and the other end is mated with an element inside the displacement mechanism.
  • the rotating mechanism includes an outer tube 1, an inner tube 2, a retaining sleeve 3, a first timing belt 4, a first motor 5 and a motor mounting bracket 6, and the outer tube 1 is sleeved outside the inner tube 2 with a gap.
  • the inner tube 2 is parallel to the axis of the outer tube 1, but the inner tube 2 and the outer tube 1 are not necessarily coaxial. Set.
  • the motor mounting bracket 6 is fixedly mounted on one end of the outer tube 1, and the motor mounting bracket 6 may be fixed to the outer tube 1 by a fastener or through a frictional force on a contact surface formed with an outer wall of the outer tube. Fix it, or other possible fixing methods.
  • the motor mounting bracket 6 can be installed in a kit.
  • the motor mounting bracket 6 is formed by joining two bodies. The two bodies of the motor mounting bracket 6 are looped around one end of the outer tube 1 and are engaged.
  • the first motor 5 is mounted on the motor mount 6, and the first motor 5 is a stepping motor, and the motor mount 6 is further mounted with the retaining a sleeve 3, the retaining sleeve 3 is an annular structure, at least a portion of the retaining sleeve 3 is in sliding contact with the motor mounting bracket 6 and is rotatable along an axis parallel to the axis of the outer tube, where the retaining sleeve 3
  • the motor mounting bracket 6 is coupled to a rotary sliding bearing having a circumferentially surrounding sliding contact space and a circumferential boss or flange on the retaining sleeve 3 Contacting enables the retaining sleeve 3 to rotate within the motor mount 6 while limiting displacement of the retaining sleeve 3 in the direction of the axis of rotation.
  • the retaining sleeve 3 is nested outside the inner tube 2.
  • the retaining sleeve 3 is in sliding contact with the outer wall of the inner tube 2 through at least a portion of the inserting hole 33, which is equivalent to the retaining sleeve 3.
  • the inner tube 2 can be torqued when the retaining sleeve 3 is rotated, and the inner tube 2 is connected to the retaining sleeve 3 in sliding contact, and can be held in the direction of the rotation axis. Set 3 to slide.
  • the first motor 5 is mounted at a corresponding position of the motor mounting bracket 6 by a fastener such as a bolt screw or the like, and is connected to the retaining sleeve 3 through the first timing belt 4, the first timing belt 4
  • the first timing belt 4 For a driving belt, the first timing belt 4 mainly adopts a toothed belt, in particular a double-sided toothed belt, and a multi-ribbed belt, and the retaining sleeve 3 has a structure that cooperates with the teeth on the synchronous belt.
  • the rotation axis of the inner tube 2 is ideally parallel to the central axis of the outer tube or the wall of the outer tube 1.
  • the displacement mechanism comprises: an inner tube 2, a lead screw 7, a nut 8 , a second motor 11 , a second timing belt 10 , a transmission assembly 9 , and an output end of the second motor 11 passes through the second timing belt 10
  • the transmission assembly 9 is connected, the transmission assembly 9 is disposed at one end of the lead screw 7, and the transmission assembly 9 is configured to receive the torque transmitted by the second timing belt 10 and transmit it to the lead screw 7, so that The lead screw 7 is capable of rotational movement, and the lead screw 7 is disposed inside the inner tube 2 coaxially with a gap.
  • One end of the inner tube 2 and the nut 8 are fixedly connected by a fastener or an adhesive, and the nut 8 is an annular structure having a thread inside, and the outer surface of the lead screw 7
  • the threads cooperate to form a set of helical pairs, and the rotational movement of the lead screw 7 can be converted into a linear displacement of the core 8 in the direction of the axis of rotation of the lead screw 7, due to the inner tube 2 and the silk core 8 is fixed in one piece, and the rotation of the lead screw 7 enables the inner tube 2 to be linearly displaced in the direction of the rotation axis of the screw shaft 7.
  • the rotational movement of the inner tube 2 causes the first member to perform a rotational movement correspondingly, for example, when the first member is a head device of a robot
  • the direction of rotation of the head device of the robot is controlled by controlling the torque direction of the output of the first motor 5, which is visually represented as an action of swinging or "turning the head” of the robot "head”, while the inner tube 2 is along
  • the displacement of the straight line causes the first member to linearly shift accordingly, and the direction of displacement of the head device of the robot is controlled by controlling the torque direction of the output of the second motor 11, which is visually represented as realizing the "head” of the robot.
  • the inner tube 2 can be displaced relative to the retaining sleeve 3 in the direction of the rotation axis while being rotated by the retaining sleeve 3, thereby ensuring the above-mentioned robot head.
  • Rotating motion and head The lifting movement can be performed simultaneously or relatively independently, so that the robot head can realize a series of combined actions under the combined control of the first motor 5 and the second motor 11.
  • the lead screw 7 has a small lead, generally less than 10 mm, and passes through the retaining sleeve 3 when only the first motor 5 is driven and the second motor 11 is stationary.
  • the limiting block is disposed such that the rotation angle of the inner tube 2 with the retaining sleeve 3 does not exceed 360 degrees, and the rotation of the inner tube 2 causes itself due to the small lead of the lead screw 7.
  • the displacement generated in the axial direction is negligible; when only the second motor 11 is driven and the first motor 5 is stationary, since the lead of the lead screw 7 is small, the lead angle is correspondingly small, The action of the lead screw 7 on the inner tube 2 enables the tangential force of the inner tube 2 to rotate in the axial direction to be small, negligible; in summary, when the first motor 5 and the second motor When there is only one drive, the first device can be considered to produce only rotational motion or linear displacement.
  • the rotating mechanism and the displacement mechanism are connected through the inner tube, and the rotating mechanism and the displacement mechanism are respectively located at the two ends of the inner tube or the outer tube, thereby greatly reducing the possibility of motion interference of the two sets of mechanisms when respectively driving. Sexuality, reducing the failure rate of the machine.
  • the number of parts of the two sets of transmission mechanisms is greatly reduced, by setting the specific shape of the hole where the inner ring surface of the retaining sleeve is in contact with the inner tube while maintaining the sleeve and the inner tube.
  • the rotation and displacement of the inner tube can be performed separately, and the head device of the robot only needs to be made into a simple part and The inner tube is fixedly connected to achieve the desired head lift and rotation.

Abstract

L'invention concerne un mécanisme mobile et tournant pouvant réaliser simultanément un déplacement linéaire et un mouvement de rotation, comprenant : un tube extérieur (1) ; un tube intérieur (2) ; un support (6) de moteurs ; un couvercle de retenue (3) ; une première courroie synchrone (4) ; un premier moteur (5) ; un second moteur (11) ; une seconde courroie synchrone (10) ; une vis (7) ; et un écrou (8) correspondant à la vis (7). Le premier moteur (5) entraîne en rotation le couvercle de retenue (3) installé sur le support (6) de moteurs, par le biais de la première courroie synchrone (4), de façon à entraîner en rotation le tube intérieur (2). Le second moteur (11) entraîne en rotation la vis (7) par le biais de la seconde courroie synchrone (10). L'écrou (8) est relié et fixé au tube intérieur (2) et convertit un mouvement de rotation de la vis (7) en un déplacement du tube intérieur (2) dans une direction axiale. La seconde courroie synchrone (10) et la vis (7) sont en prise par le biais d'un élément de transmission. Le mécanisme peut réaliser simultanément un déplacement linéaire du tube intérieur (2) et une rotation par le biais de la rotation des deux moteurs.
PCT/CN2016/105153 2015-11-12 2016-11-09 Mécanisme mobile et tournant ainsi que robot intelligent WO2017080447A1 (fr)

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CN201520901165.6U CN205155065U (zh) 2015-11-12 2015-11-12 一种旋转机构和智能机器人

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CN113491397A (zh) * 2021-08-06 2021-10-12 浙江乐歌智能驱动科技有限公司 悬挂式置物架的支撑柱
CN113733064A (zh) * 2021-09-17 2021-12-03 廊坊中油朗威工程项目管理有限公司 管道焊接监理机器人

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CN107316835A (zh) * 2017-08-14 2017-11-03 通威太阳能（安徽）有限公司 一种新型扩散炉电池片输送装置
CN108032928A (zh) * 2018-01-11 2018-05-15 西华大学 一种升降转向机构以及农业机器人移动平台
CN114321608A (zh) * 2022-01-04 2022-04-12 上海航天电子通讯设备研究所 一种电动升降杆

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