CN103144102A - Mechanical arm with connecting module with two degrees of freedom - Google Patents
Mechanical arm with connecting module with two degrees of freedom Download PDFInfo
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- CN103144102A CN103144102A CN2013101044110A CN201310104411A CN103144102A CN 103144102 A CN103144102 A CN 103144102A CN 2013101044110 A CN2013101044110 A CN 2013101044110A CN 201310104411 A CN201310104411 A CN 201310104411A CN 103144102 A CN103144102 A CN 103144102A
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Abstract
The invention discloses a mechanical arm with a connecting module with two degrees of freedom, and belongs to a mechanical arm. The mechanical arm comprises a module cylinder which is internally provided with at least two driving devices. The output end of the first driving device is dynamically connected with a first gear which is engaged with a second gear. The second gear is dynamically connected with the input end of a first reducing device. One end of the module cylinder is moveably provided with a first module rotary shaft. The output end of the first reducing device is dynamically connected with the first module rotary shaft. The two driving devices are simultaneously arranged in the module cylinder, so that a plurality of connecting modules are overlapped to be used as a mechanical arm with six degrees of freedom. When one module of any link in the mechanical arm is damaged, the module can be directly replaced, and the replaced module is not conflicted with adjacent modules. Meanwhile, the consistency of the connecting modules is improved through the same structure, so that the mechanical arm is beneficial for design and industrialized production, and easy to popularize.
Description
Technical field
The present invention relates to a kind of mechanical arm, in particular, the present invention relates generally to a kind of mechanical arm with double freedom link module.
Background technology
The six degree of freedom mechanical arm is called again six-joint robot or full rotation multi-joint manipulator arm, is a kind of industrial robot of specific type.The six degree of freedom mechanical arm has pedestal, neck, large swing arm, little swing arm, ancon, wrist major part composition.Pedestal is fixed; Neck, large swing arm, little swing arm, ancon, the wrist major part can be respectively around axis rotation separately.As the industrial machinery arm of extensive use, in general.Certainly wish design pitman arm the least possible when satisfying the mechanical movement free degree, wish that also each pitman arm has similitude widely on form simultaneously.Six-joint robot or the six degree of freedom industrial machinery arm of extensive use at present, except pedestal, the pitman arm that have five kinds of sizes, comes in every shape all has certain difficulty from being designed into manufacturing.When the pitman arm of one of them link of a collection of product damages simultaneously, mechanical arm is lost repertoire by the gross, can't recombinate, and the interchangeability standard that this and industry manufacture field are pursued runs in the opposite direction.Therefore be necessary to do further research and improvement for the aforementioned drawback that this class mechanical arm exists.
Summary of the invention
One of purpose of the present invention is to solve above-mentioned deficiency, a kind of mechanical arm with double freedom link module is provided, because coming in every shape to cause, the composition module manufactures and designs difficulty with mechanical arm in expectation solution prior art, the technical problems such as requiring that between module and module, mutual coupling makes up is high, and replaceability is poor.
For solving above-mentioned technical problem, the present invention by the following technical solutions:
One aspect of the present invention provides a kind of double freedom link module, comprise the module cylinder body, in described module cylinder body, at least two drive units are installed, the output of described the first drive unit is connected with the first gear transmission, described the first gear is meshed with the second gear, and the second gear is connected with the input power of the first deceleration device; A wherein end of described module cylinder body is movably installed with the first module rotating shaft, and the output of described the first deceleration device is connected with the first module rotating shaft power, is used for driving the first module rotating shaft and rotates around the first shaft axis; The output of described the second drive unit is connected with the 3rd gear transmission, and the 3rd gear is meshed with the 4th gear, and the 4th gear is connected with the input power of the second deceleration device; The other end of described module cylinder body also is movably installed with the second module rotating shaft, and the output of described the second deceleration device is connected with the second module rotating shaft power, is used for driving the second module rotating shaft and rotates around the second shaft axis; Described the first shaft axis intersects mutually with the second shaft axis or both straight line extended lines.
As preferably, further technical scheme is: the axis of described the first module rotating shaft and the first shaft axis coincide, and the axis of the second module rotating shaft and the second shaft axis coincide, and the first shaft axis is mutually vertical with the second shaft axis.
Further technical scheme is: described the first gear is the shaft type helical gear, and the second gear is the helical gear of axial hollow, and an axial side of the second gear also is provided with hollow shaft; The helical teeth end of described the first gear is meshed with the second gear, and the other end is fixedly connected with by the output of the first shaft coupling with the first drive unit; Described the second gear shaft is connected with the input power of the first deceleration device to the hollow shaft of a side, and is passed from hollow shaft by the first module rotating shaft; Described the first deceleration device is connected with the first module rotating shaft power by the second shaft coupling; Described the first gear is mutually vertical with the axis of the second gear.
Further technical scheme is: described the first gear is arranged on the inside of module cylinder body by clutch shaft bearing, and the outer ring of described clutch shaft bearing is fixedly connected with the relevant position of module cylinder interior, and inner ring radially is fixedly connected with the first gear; The hollow bulb of described the second gear is equipped with the second bearing, the inner ring of described the second bearing radially is fixedly connected with the first module rotating shaft, the outer ring be fixed on the hollow wall of the second gear, be used for making the second gear and the first module rotating shaft to form differential and rotate and rotate; The two ends of described the first module rotating shaft are by being placed in cylinder ends both sides, and the 3rd symmetrical bearing is arranged on an end of module cylinder body.
Further technical scheme is: the top of described clutch shaft bearing and bottom are respectively equipped with clutch shaft bearing end cap and the first locked spacer; Described clutch shaft bearing end cap is arranged on the relevant position of module cylinder interior; The lower end close contact of the relevant position of the first locked spacer and module cylinder interior, clutch shaft bearing; The outside of described the 3rd bearing also is provided with the 4th bearing (ball) cover, and described the 4th bearing (ball) cover is arranged on the relevant position of module cylinder body one end both sides.
Further technical scheme is: described the 3rd gear is the spur gear of axial hollow, and is sleeved on the output of the second drive unit, and described the 4th gear is the shaft type spur gear; Described the 3rd gear also is arranged on the inside of module cylinder body by the 4th bearing, the inner ring of described the 4th bearing radially is fixedly connected with the 3rd gear, and the outer ring is fixed on the relevant position of module cylinder interior; Described the 4th gear is arranged on the inside of module cylinder body by the 5th bearing, the inner ring of described the 5th bearing radially is fixedly connected with the 4th gear, and the outer ring is fixed on the relevant position of module cylinder interior; It is the other end of module cylinder body that described the second module rotating shaft is arranged on by the 6th bearing, and the inner ring of the 6th bearing radially is fixedly connected with it at the axial near middle of the second module rotating shaft, and the outer ring is fixed on the relevant position on the module cylinder body.
Further technical scheme is: the top of described the 5th bearing and bottom are respectively equipped with the second bearing (ball) cover and the second locked spacer; Described the second bearing (ball) cover is arranged on the relevant position of module cylinder interior; The lower end close contact of the relevant position of the second locked spacer and module cylinder interior, the 5th bearing; The bottom of described the 6th bearing also is provided with the 3rd bearing (ball) cover, and described the 3rd bearing (ball) cover is arranged on the relevant position of module cylinder ends.
Further technical scheme is: described the first drive unit and the second drive unit are motor, and described the first deceleration device and the second deceleration device are the decelerator that is complementary with motor.
The present invention also provides a kind of mechanical arm with double freedom link module on the other hand, described mechanical arm comprises at least two above-mentioned double freedom link modules, and described double freedom link module the first module rotating shaft by separately each other is fixedly connected with the second module rotating shaft.
Further technical scheme is: be rigidly connected by axle key and alignment pin between described the first module rotating shaft and the second module rotating shaft.
Compared with prior art, one of beneficial effect of the present invention is: by two drive units are set in the module cylinder body simultaneously, make link module can support the motion of double freedom in gear-driven mode, a plurality of link modules mechanical arm that namely can be used as six degree of freedom that mutually superposes is used, and because the structure of each link module is all identical, therefore when the module damage of any one link in mechanical arm, can be directly it be replaced, and do not clash between the module that is adjacent of the module after replacing; Simultaneously a kind of mechanical arm with double freedom link module provided by the present invention is simple in structure, and same structure makes the uniformity of link module improve, and is conducive to design and suitability for industrialized production, is easy to promote.
Description of drawings
Fig. 1 is the structural representation of one embodiment of the invention;
Fig. 2 is the A place enlarged drawing of Fig. 1;
Fig. 3 is the B place enlarged drawing of Fig. 1;
Fig. 4 is the structural representation of another embodiment of the present invention;
in figure, 1 is the module cylinder body, 2 is the first drive unit, 3 is the first gear, 4 is the second gear, 41 is hollow shaft, 5 is the first deceleration device, 6 is the first module rotating shaft, 7 is the first shaft axis, 8 is the second drive unit, 9 is the 3rd gear, 10 is the 4th gear, 11 is the second deceleration device, 12 is the second module rotating shaft, 13 is the second shaft axis, 14 is the first shaft coupling, 15 is the second shaft coupling, 16 is clutch shaft bearing, 17 is the second bearing, 18 is the 3rd bearing, 19 is the clutch shaft bearing end cap, 20 is the 4th bearing, 21 is the 5th bearing, 22 is the 6th bearing, 23 is the second bearing (ball) cover, 24 is the 3rd bearing (ball) cover, 25 is the 4th bearing (ball) cover, 26 is the double freedom link module.
The specific embodiment
The present invention is further elaborated below in conjunction with accompanying drawing.
With reference to shown in Figure 1, one embodiment of the present of invention are a kind of double freedom link modules, this link module can be used for building six degree of freedom manipulator of the prior art or mechanical finger, it comprises module cylinder body 1, two or more drive units are installed in module cylinder body 1, those skilled in the art will recognize that for convenience herein will be take two drive unit as example, and they are defined as the first drive unit 2 and the second drive unit 8; In two drive units, the output of the first drive unit 2 is connected with the first gear 3 power, and described the first gear 3 is meshed with the second gear 4, and the second gear 4 is connected with the input power of the first deceleration device 5; A wherein end of described module cylinder body 1 is movably installed with the first module rotating shaft 6, and the output of described the first deceleration device 5 is connected with the first module rotating shaft 6 power, is used for driving the first module rotating shaft 6 and rotates around the first shaft axis 7; And the output of the second drive unit 8 is connected with the 3rd gear 9 power, and the 3rd gear 9 is meshed with the 4th gear 10, and the 4th gear 10 is connected with the input power of the second deceleration device 11; The other end of described module cylinder body 1 also is movably installed with the second module rotating shaft 12, and the output of described the second deceleration device 11 is connected with the second module rotating shaft 12 power, is used for driving the second module rotating shaft 12 and rotates around the second shaft axis 13; Aforesaid the first shaft axis 7 intersects mutually with the second shaft axis 13 or both straight line extended lines, and namely the direction of the power exported of the first drive unit 2 and the second drive unit 8 is also intersected mutually, mutually is certain angle.
In the present embodiment, the first drive unit 2 and the second drive unit 8 drive respectively the first module rotating shaft 6 and the second module rotating shaft 12 rotates, thereby realize the power output of double freedom, go out as shown in Figure 1, the power direction of two drive unit realizations can be and makes the first module rotating shaft 6 myopia in the radial rotating of module cylinder body 1, the second module rotating shaft 12 myopia are in the axial rotation of module cylinder body, after a plurality of link modules are combined into manipulator or mechanical finger, get final product the motion that a plurality of links complement each other to form six degree of freedom.
And the first drive unit 2 that above-described embodiment is mentioned and the second drive unit 8 all can directly adopt motor, and the first deceleration device 5 and the second deceleration device 11 are the decelerator that is complementary with motor simultaneously.
Again with reference to shown in Figure 1, in another embodiment of the present invention, be minimizing the first module rotating shaft 6 and power loss and the stationarity of the second module rotating shaft 12 by the drive unit driven rotary time of trying one's best, axis that can above-mentioned the first module rotating shaft 6 is set to coincide with the first shaft axis 7, the axis of the second module rotating shaft 12 is set to coincide with the second shaft axis 13, and the first shaft axis 7 is mutually vertical with the second shaft axis 13, and namely the angle between two shaft axis is 90 to spend.
In conjunction with shown in Figure 2, be used in the present invention the embodiment that the technical solution problem is more preferably, for making those skilled in the art more easily realize the above-mentioned kind of drive, the first above-mentioned gear 3 is set to the shaft type helical gear, the second gear 4 is set to the helical gear of axial hollow, and an axial side of the second gear 4 also is provided with hollow shaft 41; The helical teeth end of described the first gear 3 is meshed with the second gear 4, and the other end is fixedly connected with the output of the first drive unit 2 by the first shaft coupling 14; The hollow shaft 41 of described the second axial side of gear 4 is connected with the input power of the first deceleration device 5, and is passed from hollow shaft 41 by the first module rotating shaft 6; Described the first deceleration device 5 is connected with the first module rotating shaft 6 power by the second shaft coupling 15; Described the first gear 3 is mutually vertical with the axis of the second gear 4.
Further, go out as shown in Figure 2, above-mentioned the first gear 3 is arranged on the inside of module cylinder body 1 by clutch shaft bearing 16, the outer ring of described clutch shaft bearing 16 is fixedly connected with the relevant position of module cylinder body 1 inside, and inner ring radially is fixedly connected with the first gear 3; The hollow bulb of described the second gear 4 is equipped with the second bearing 17, the inner ring of described the second bearing 17 radially is fixedly connected with the first module rotating shaft 6, the outer ring be fixed on the hollow wall of the second gear 4, be used for making the second gear 4 and the first module rotating shaft 6 to form differential and rotate rotation, thereby increase the revolving force of the first module rotating shaft 6; The two ends of described the first module rotating shaft 6 are by being placed in cylinder ends both sides, and the 3rd symmetrical bearing 18 is arranged on an end of module cylinder body 1, the resistance in the time of can significantly reducing the first module rotating shaft 6 rotation by 18, two the 3rd bearings.
With reference to shown in Figure 2, for preventing that each above-mentioned bearing from axial displacement occuring, be that it keeps stable in the process of running, in another embodiment of the present invention, set up respectively clutch shaft bearing end cap 19 and the first locked spacer in top and the bottom of above-mentioned clutch shaft bearing 16; Wherein clutch shaft bearing end cap 19 is arranged on the relevant position of module cylinder body 1 inside; The relevant position of the first locked spacer and module cylinder body 1 inside, the lower end close contact of clutch shaft bearing 16; The outside of described the 3rd bearing 18 also is provided with the 4th bearing (ball) cover 25, and described the 4th bearing (ball) cover 25 is arranged on the relevant position of module cylinder body 1 one end both sides.
Shown in Figure 3 in conjunction with reference, be used in the present invention another embodiment that the technical solution problem is more preferably, the 3rd above-mentioned gear 9 is set to the spur gear of axial hollow, and is sleeved on the output of the second drive unit 8, described the 4th gear 10 is the shaft type spur gear; Described the 3rd gear 9 also is arranged on the inside of module cylinder body 1 by the 4th bearing 20, the inner ring of described the 4th bearing 20 radially is fixedly connected with the 3rd gear 9, and the outer ring is fixed on the relevant position of module cylinder body 1 inside; Described the 4th gear 10 is arranged on the inside of module cylinder body 1 by the 5th bearing 21, the inner ring of described the 5th bearing 21 radially is fixedly connected with the 4th gear 10, and the outer ring is fixed on the relevant position of module cylinder body 1 inside; It is the other end of module cylinder body 1 that described the second module rotating shaft 12 is arranged on by the 6th bearing 22, and the inner ring of the 6th bearing 22 radially is fixedly connected with it at the axial near middle of the second module rotating shaft 12, and the outer ring is fixed on the relevant position on module cylinder body 1.
Same, axial displacement occurs for preventing each above-mentioned bearing, be that it keeps stable in the process of running, in another embodiment of the present invention, set up respectively the second bearing (ball) cover 23 and the second locked spacer in top and the bottom of above-mentioned the 5th bearing 21; Described the second bearing (ball) cover 23 is arranged on the relevant position of module cylinder body 1 inside; The relevant position of the second locked spacer and module cylinder body 1 inside, the lower end close contact of the 5th bearing 21; The bottom of described the 6th bearing 22 also is provided with the 3rd bearing (ball) cover 24, and described the 3rd bearing (ball) cover 24 is arranged on the relevant position of module cylinder body 1 end.
In actual use, after the first drive unit 6 powered operation, its output shaft rotation drives the first gear 3 through the first shaft coupling 14, engagement drives the second helical gear 4, drive the first deceleration device 5 rotations by the second helical gear 4, the first deceleration device 5 static state are connected with module cylinder body 1, and the output of output dynamic rotary connects driving the first module rotating shafts 6 around the first rotation 7 rotations through the second shaft coupling 15; Be that such transmission component consists of, the first drive unit can independently be controlled the first module rotating shaft 6 around the first rotation 7 rotations, namely realizes the radially free degree motion of link module; And with aforementioned similar, after the second drive unit 8 powered operation, its output shaft drives the 3rd gear 9 through axle key, engagement drives the 4th gear 10, drive the second deceleration device 11 rotations by the 4th gear 10, the second deceleration device 11 static state are connected with module cylinder body 1, and the output of output dynamic rotary drives the second module rotating shaft 12 around the second rotation 13 rotations; Be that such transmission component consists of, the second drive unit 8 independently the second module rotating shaft 12 around the second rotation 13 rotations, is namely realized the axial freedom motion of link module.
With reference to shown in Figure 4, another embodiment of the present invention is a kind of mechanical arm with double freedom link module, this mechanical arm comprises any one double freedom link module 26 that above-described embodiment is mentioned, and double freedom link module 26 the first module rotating shaft 6 by separately each other is fixedly connected with the second module rotating shaft 12.Simultaneously, go out as shown in Figure 4, preferably be rigidly connected by axle key and alignment pin between the first above-mentioned module rotating shaft 6 and the second module rotating shaft 12.
Except above-mentioned, also need to prove " embodiment ", " another embodiment " that speak of in this manual, " embodiment " etc., refer to specific features, structure or the characteristics described in conjunction with this embodiment and be included at least one embodiment that the application's generality describes.A plurality of local appearance statement of the same race is not necessarily to refer to same embodiment in specification.Furthermore, when describing a specific features, structure or characteristics in conjunction with arbitrary embodiment, what advocate is to realize that in conjunction with other embodiment this feature, structure or characteristics also fall within the scope of the invention.
Although invention has been described with reference to a plurality of explanatory embodiment of the present invention here, but, should be appreciated that, those skilled in the art can design a lot of other modification and embodiments, and these are revised and within embodiment will drop on the disclosed principle scope and spirit of the application.More particularly, in the scope of, accompanying drawing open in the application and claim, can carry out multiple modification and improvement to building block and/or the layout of subject combination layout.Except modification that building block and/or layout are carried out with improving, to those skilled in the art, other purposes will be also obvious.
Claims (10)
1. double freedom link module, comprise module cylinder body (1), it is characterized in that: in described module cylinder body (1), at least two drive units are installed, the output of described the first drive unit (2) is connected with the first gear (3) power, described the first gear (3) is meshed with the second gear (4), and the second gear (4) is connected with the input power of the first deceleration device (5); A wherein end of described module cylinder body (1) is movably installed with the first module rotating shaft (6), the output of described the first deceleration device (5) is connected with the first module rotating shaft (6) power, is used for driving the first module rotating shaft (6) and rotates around the first shaft axis (7); The output of described the second drive unit (8) is connected with the 3rd gear (9) power, and the 3rd gear (9) is meshed with the 4th gear (10), and the 4th gear (10) is connected with the input power of the second deceleration device (11); The other end of described module cylinder body (1) also is movably installed with the second module rotating shaft (12), the output of described the second deceleration device (11) is connected with the second module rotating shaft (12) power, is used for driving the second module rotating shaft (12) and rotates around the second shaft axis (13); Described the first shaft axis (7) intersects mutually with the second shaft axis (13) or both straight line extended lines.
2. double freedom link module according to claim 1, it is characterized in that: the axis of described the first module rotating shaft (6) and the first shaft axis (7) coincide, the axis of the second module rotating shaft (12) and the second shaft axis (13) coincide, and the first shaft axis (7) is mutually vertical with the second shaft axis (13).
3. double freedom link module according to claim 1, it is characterized in that: described the first gear (3) is the shaft type helical gear, and the second gear (4) is the helical gear of axial hollow, and an axial side of the second gear (4) also is provided with hollow shaft (41); The helical teeth end of described the first gear (3) is meshed with the second gear (4), and the other end is fixedly connected with by the output of the first shaft coupling (14) with the first drive unit (2); The hollow shaft (41) of the axial side of described the second gear (4) is connected with the input power of the first deceleration device (5), and is passed from hollow shaft (41) by the first module rotating shaft (6); Described the first deceleration device (5) is connected with the first module rotating shaft (6) power by the second shaft coupling (15); Described the first gear (3) is mutually vertical with the axis of the second gear (4).
4. according to claim 1 or 3 described double freedom link modules, it is characterized in that: described the first gear (3) is arranged on the inside of module cylinder body (1) by clutch shaft bearing (16), the outer ring of described clutch shaft bearing (16) is fixedly connected with the relevant position of module cylinder body (1) inside, and inner ring radially is fixedly connected with the first gear (3); The hollow bulb of described the second gear (4) is equipped with the second bearing (17), the inner ring of described the second bearing (17) radially is fixedly connected with the first module rotating shaft (6), the outer ring be fixed on the hollow wall of the second gear (4), be used for making the second gear (4) and the first module rotating shaft (6) to form differential and rotate rotation; The two ends of described the first module rotating shaft (6) are by being placed in cylinder ends both sides, and symmetrical the 3rd bearing (18) is arranged on an end of module cylinder body (1).
5. double freedom link module according to claim 4 is characterized in that: the top of described clutch shaft bearing (16) and bottom are respectively equipped with clutch shaft bearing end cap (19) and the first locked spacer; Described clutch shaft bearing end cap (19) is arranged on the relevant position of module cylinder body (1) inside; The inner relevant position of the first locked spacer and module cylinder body (1), the lower end close contact of clutch shaft bearing (16); The outside of described the 3rd bearing (18) also is provided with the 4th bearing (ball) cover (25), and described the 4th bearing (ball) cover (25) is arranged on the relevant position of module cylinder body (1) one end both sides.
6. according to claim 1 or 3 described double freedom link modules, it is characterized in that: described the 3rd gear (9) is the spur gear of axial hollow, and is sleeved on the output of the second drive unit (8), described the 4th gear (10) is the shaft type spur gear; Described the 3rd gear (9) also is arranged on the inside of module cylinder body (1) by the 4th bearing (20), the inner ring of described the 4th bearing (20) radially is fixedly connected with the 3rd gear (9), and the outer ring is fixed on the relevant position of module cylinder body (1) inside; Described the 4th gear (10) is arranged on the inside of module cylinder body (1) by the 5th bearing (21), the inner ring of described the 5th bearing (21) radially is fixedly connected with the 4th gear (10), and the outer ring is fixed on the relevant position of module cylinder body (1) inside; It is the other end of module cylinder body (1) that described the second module rotating shaft (12) is arranged on by the 6th bearing (22), and the inner ring of the 6th bearing (22) radially is fixedly connected with it at the axial near middle of the second module rotating shaft (12), and the outer ring is fixed on the relevant position on module cylinder body (1).
7. double freedom link module according to claim 6 is characterized in that: the top of described the 5th bearing (21) and bottom are respectively equipped with the second bearing (ball) cover (23) and the second locked spacer; Described the second bearing (ball) cover (23) is arranged on the relevant position of module cylinder body (1) inside; The inner relevant position of the second locked spacer and module cylinder body (1), the lower end close contact of the 5th bearing (21); The bottom of described the 6th bearing (22) also is provided with the 3rd bearing (ball) cover (24), and described the 3rd bearing (ball) cover (24) is arranged on the relevant position of module cylinder body (1) end.
8. double freedom link module according to claim 1 and 2, it is characterized in that: described the first drive unit (2) is motor with the second drive unit (8), and described the first deceleration device (5) is with the second deceleration device (11) decelerator that is complementary with motor.
9. mechanical arm with double freedom link module, it is characterized in that: described mechanical arm comprises at least two described double freedom link modules of claim 1 to 8 any one, and described double freedom link module the first module rotating shaft (6) by separately each other is fixedly connected with the second module rotating shaft (12).
10. the mechanical arm with double freedom link module according to claim 9, is characterized in that: be rigidly connected by axle key and alignment pin between described the first module rotating shaft (6) and the second module rotating shaft (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101044110A CN103144102A (en) | 2013-03-28 | 2013-03-28 | Mechanical arm with connecting module with two degrees of freedom |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101044110A CN103144102A (en) | 2013-03-28 | 2013-03-28 | Mechanical arm with connecting module with two degrees of freedom |
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| CN103144102A true CN103144102A (en) | 2013-06-12 |
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| CN2013101044110A Pending CN103144102A (en) | 2013-03-28 | 2013-03-28 | Mechanical arm with connecting module with two degrees of freedom |
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| CN106826790A (en) * | 2017-03-16 | 2017-06-13 | 广东省智能制造研究所 | A kind of robot double freedom drive module |
| CN107344360A (en) * | 2017-07-31 | 2017-11-14 | 广州大学 | A kind of double-degree-of-freedom robot module |
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| CN106826790A (en) * | 2017-03-16 | 2017-06-13 | 广东省智能制造研究所 | A kind of robot double freedom drive module |
| CN106826790B (en) * | 2017-03-16 | 2023-06-06 | 广东省智能制造研究所 | Robot double-freedom-degree driving module |
| CN107344360A (en) * | 2017-07-31 | 2017-11-14 | 广州大学 | A kind of double-degree-of-freedom robot module |
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Application publication date: 20130612 |