CN107225563B - A module component and robot for robot - Google Patents
A module component and robot for robot Download PDFInfo
- Publication number
- CN107225563B CN107225563B CN201710611419.4A CN201710611419A CN107225563B CN 107225563 B CN107225563 B CN 107225563B CN 201710611419 A CN201710611419 A CN 201710611419A CN 107225563 B CN107225563 B CN 107225563B
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- wire
- robot
- groove
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- skin
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a module component for a robot and the robot, and belongs to the technical field of robots. A module component for robot is through setting up wire accommodation structure on the inner wall of skin spare, not only can arrange the wire inside the robot, still can be through wire accommodation structure to the direction reasonable, orderly arrange, not only reduced wire quantity and wiring degree of difficulty, improved the flexibility of robot, still be favorable to the equipment of each part of robot, dismantle and electric connection, the user when assembling the robot, can follow wire accommodation mechanism with the wire earlier and arrange the back, communicate each part each other again, finally with skin spare cladding on joint connection spare and spherical skeleton spare can. The invention also provides a robot comprising the module component, which has the advantages of simple structure, flexible movement, reasonable wiring, less wire usage, high safety performance and convenient disassembly and assembly.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a module component for a robot and the robot.
Background
With the increasing development of science and technology, people have increasingly abundant physical culture life, parents pay more and more attention to teenager education, but due to the limited time for parents to accompany children, how to guide teenagers to learn by oneself is a very annoying problem for parents when the parents cannot accompany children, and under the requirement, a modularized robot is generated. Modular robots are finished robot products, kits or parts that are specifically developed by manufacturers with the goal of improving the user's design and creativity. The robot is assembled, built and operated, so that the learning interest of a user is stimulated, and the comprehensive capacity of the user is cultivated. The modularized robot can carry corresponding control software, teaching textbooks and the like according to the requirements of users besides the robot body.
Modular robots are generally composed mainly of frames, joints, connectors, motors, controllers, sensors, etc. The building of the existing modularized robot generally integrates all components on a frame, and then all components are mutually communicated through wires, so that power is provided for the movement and control of the modularized robot, however, the wires of the existing modularized robot are generally exposed outside joints of the robot or are placed inside the robot in disorder, and as a large number of children and minors exist in a user of the modularized robot, the exposed wires are not attractive, low in safety and easy to generate electric shock hazard, and the movement of the robot is not flexible enough. The wire placed inside the robot in disorder not only causes the connecting wire to use a large amount, but also is unfavorable for the assembly and disassembly of the modularized robot, and seriously affects the reuse of the modularized robot.
Disclosure of Invention
An object of the present invention is to provide a modular component for a robot that has a simple structure, high safety, reasonable wiring, small wire usage, and easy disassembly and assembly.
The invention further aims to provide the robot which is simple in structure, flexible in movement, reasonable in wiring, small in wire usage amount, high in safety performance and convenient to disassemble and assemble.
To achieve the purpose, the invention adopts the following technical scheme:
a modular component for a robot comprising a skin member, a power source, an articulation member and one or more spherical bone members connected to each other, one end of the spherical bone members being in driving connection with the articulation member, the articulation member and the spherical bone members being driven by a motor, the skin member being coated on the connection member and the spherical bone members, a wire receiving structure for arranging wires being provided on an inner wall of the skin member, one end of the wires being in communication with the power source, the other end being provided with an electrical plug, the electrical plug being insertable into a socket provided on the articulation member and the spherical bone members so as to communicate the power source with the motor.
Preferably, the wire accommodating structure includes a wire accommodating groove, a plug accommodating groove and a clamping member, the wire accommodating groove is arranged along the length direction of the skin member, the plug accommodating groove is communicated with the wire accommodating groove, the clamping member is used for clamping the wire, and the plug accommodating groove is used for accommodating the electric plug.
Preferably, the skin members include a first skin member for covering the joint connection member and a second skin member for covering the spherical bone member.
Preferably, the wire receiving groove is a through groove, one end of which is communicated with the top surface of the skin member, and the other end of which is communicated with the bottom surface of the skin member.
Preferably, the wire accommodating groove is a curved groove and comprises a transverse groove and a vertical groove, and the clamping piece is arranged at the joint of the transverse groove and the vertical groove.
Preferably, the number of the clamping pieces is multiple, each clamping piece comprises two L-shaped clamping plates, and the two clamping plates are oppositely arranged in the wire accommodating groove.
Preferably, the spherical bone piece comprises a ball head, a connecting arm and a ball head clamping part, the ball head is the head end of the spherical bone piece, the ball head clamping part is the tail end of the spherical bone piece, one end of the connecting arm is fixedly connected with the ball head, the other end of the connecting arm is fixedly connected with the ball head clamping part, the socket is arranged on the ball head, and the socket is communicated with the motor.
Preferably, the joint connector comprises a socket head part and a motor connecting part which are fixedly connected, wherein an arc-shaped groove allowing the ball head to enter is formed in the socket head part, the socket is arranged on the motor connecting part, and the socket is communicated with the motor.
Preferably, the end of the ball joint part far away from the connecting arm is provided with a groove for hinging with a ball on the other spherical bone piece.
A robot comprising a torso and a modular member for a robot as described above, the end of the articulation joint remote from the spherical bone member being drivingly connected to the torso.
The invention has the beneficial effects that:
the module component for the robot comprises a skin piece, a power supply, an articulation piece and one or more spherical bone pieces which are connected with each other, wherein one end of each spherical bone piece is in transmission connection with a trunk through the articulation piece, each of the articulation piece and the spherical bone pieces is driven by a motor, the skin piece is coated on the articulation piece and the spherical bone piece, a wire containing structure for arranging wires is arranged on the inner wall of the skin piece, one end of each wire is communicated with the power supply, the other end of each wire is provided with an electric plug, and the electric plug can be inserted into a socket arranged on each of the articulation piece and the spherical bone piece so as to communicate the power supply with the motor. According to the invention, the wire accommodating structure is arranged on the inner wall of the skin piece, and the socket is directly arranged on the joint connecting piece and the spherical skeleton piece, so that the wires can be arranged inside the robot, the wires can be reasonably and orderly arranged through the wire accommodating structure, the wire consumption and wiring difficulty are reduced, the assembly, disassembly and electric connection of each part of the robot are facilitated, and the safety performance is improved. When a user assembles the robot, the lead can be arranged along the lead accommodating mechanism, then the lead is used for communicating the parts, and finally the skin piece is coated on the joint connecting piece and the spherical bone piece. The invention also provides a robot comprising the module component, which has the advantages of simple structure, flexible movement, reasonable wiring, less wire usage, high safety performance and convenient disassembly and assembly.
Drawings
Fig. 1 is a schematic structural view of a robot provided by the present invention;
FIG. 2 is a schematic view of the robot provided by the invention after removing skin pieces;
FIG. 3 is a front view of a first skin piece provided by the present invention;
FIG. 4 is a rear view of a first skin piece provided by the present invention;
FIG. 5 is a front view of a second skin piece provided by the present invention;
fig. 6 is a rear view of a second skin member provided by the present invention.
In the figure: 1. a torso; 2. spherical bone pieces; 201. ball head; 202. a connecting arm; 203. a ball joint part; 204. a lightening hole; 205. a groove; 3. a joint connection; 301. a socket head; 302. a motor connecting part; 303. a round hole; 4. a skin member; 401. a first skin member; 402. a second skin member; 5. a motor; 6. a power supply; 7. a wire receiving structure; 701. a wire accommodating groove; 702. a clamping piece; 703. a plug receiving groove.
Detailed Description
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
As shown in fig. 1 to 6, the module member for a robot includes a skin member 4, a power source 5, an articulation member 3 and one or more spherical bone members 2 connected to each other, one end of the spherical bone member 2 is in driving connection with the articulation member 3, both the articulation member 3 and the spherical bone member 2 are driven by a motor 4, the motor 4 is electrically connected with the power source 5 through a wire, the skin member 4 is coated on the articulation member 3 and the spherical bone member 2, a wire receiving structure 7 for arranging the wire is provided on an inner wall of the skin member 4, one end of the wire is in communication with the power source 6, and the other end of the wire is provided with an electric plug, which can be inserted into sockets provided on the articulation member 3 and the spherical bone member 2 to thereby communicate the power source 6 with the motor 5.
In order to improve the flexibility of the movement of the robot, in this embodiment, the robot carries a power supply 6 with it, and the power supply 6 can distribute the electric quantity to each component of the robot so as to provide the required energy for the movement and control of the robot, and in order to distribute the electric quantity of the power supply 6 to each component constituting the robot, a plurality of interfaces need to be provided from the output end of the power supply 6, each interface is connected to a wire, one end of the wire is connected to a certain interface of the power supply 6, and an electrical plug is provided on the other end of the wire, and the power supply 6 is electrically connected to each component through the wire. Through set up wire hold structure 7 on the inner wall of skin spare 4, not only can arrange the wire inside the robot, still can arrange the direction rationally, orderly through wire hold structure 7 to not only reduced wire quantity and wiring degree of difficulty, improved the flexibility of robot motion, still be favorable to the equipment of each part of robot, dismantle and electric connection, the user when assembling the robot, can be earlier with the wire follow wire hold the mechanism and arrange the back, rethread wire communicates each part each other, with skin spare cladding on joint connection spare and globular skeleton spare at last.
Specifically, the wire housing structure 7 includes a wire housing groove 701, a plug housing groove 703 and a clamping member 702, the wire housing groove 701 is provided along the length direction of the skin member 4, the wire housing groove 701 and the plug housing groove 703 are communicated with each other, the clamping member 702 is used for clamping a wire, the plug housing groove 702 is used for housing an electric plug, and the electric plug can be inserted into a socket provided on the joint connector 3 and the spherical bone member 2 to communicate the power supply 6 with the motor 5. In the actual wiring process, all wires required for the module components of the robot are bundled together and then placed in the wire receiving groove 701.
Specifically, the wire accommodating groove 701 is a through groove, one end of which is communicated with the top surface of the skin member 4, and the other end of which is communicated with the bottom surface of the skin member 4, that is, a plurality of wires bundled together can enter the wire accommodating groove 701 from one end of the skin member 4 at the same time, and then enter the wire accommodating groove 701 on the inner wall of the other skin member 4 after passing out from the other end of the skin member 4. The wires in the skin piece 4 are reasonably and orderly arranged by guiding the wires through the wire accommodating groove 701. In the present embodiment, in order to increase the length of the wire accommodated on the inner wall of the skin member 4, the wire accommodating groove 701 is provided as a curved groove including a plurality of transverse grooves and vertical grooves which are alternately provided. Of course, in other embodiments, the curved slot may be formed by splicing a plurality of curved slots, so long as the purpose of increasing the length of the wire accommodating slot 701 can be achieved on the premise of reasonable wiring.
In order to prevent the wire disposed in the wire receiving groove 701 from slipping down during the movement of the robot, a plurality of clamping pieces 702 are disposed at both sides of the wire receiving groove 701, and the clamping pieces 702 are used to clamp the wire. In order to reduce the usage amount of the clamping member 702 on the premise of ensuring the clamping effect, the clamping member 702 is arranged at the joint of the horizontal groove and the vertical groove. In this embodiment, each of the clamping members includes two L-shaped clamping plates, the two clamping plates are disposed in the wire accommodating groove 701 oppositely, and each L-shaped clamping plate is fixedly connected with an inner wall of the wire accommodating groove 701. A gap is formed between the two clamping plates, the width of the gap is smaller than that of the wire, the wire is clamped into the wire accommodating groove 701, the gap between the two opposite clamping plates is enlarged under the extrusion of the wire due to the fact that the clamping plates are arranged in an L shape, so that the wire enters the wire accommodating groove 701, after the wire is clamped into the wire accommodating groove 701, the two clamping plates are restored to the original position, and the gap is reduced, so that the purpose of preventing the wire from falling from the wire accommodating groove 701 is achieved.
When a certain wire needs to be electrically connected with a certain component, the length of the wire is adjusted, and an electric plug of the wire is placed in the plug accommodating groove 703, and when the skin piece 4 is coated on the spherical bone piece 2 or the joint connector 3, the position of the plug accommodating groove 703 corresponds to a socket arranged on the spherical bone piece 2 or the joint connector 3, the electric plug can be directly inserted into the socket, and the socket is communicated with the motor 5 for driving the spherical bone piece 2 or the joint connector 3, so that the circuit between the power supply 6 and the motor 5 can be conducted. Since the plug receiving groove 703 communicates with the wire receiving groove 701, other wires enter the next section of the wire receiving groove 701 through the plug receiving groove 703.
In the present embodiment, as shown in fig. 3 to 6, the skin member 4 includes a first skin member 401 for covering the joint connector 3 and a second skin member 402 for covering the spherical bone member 2. The shapes of the first skin member 401 and the second skin member 402 are designed according to the outer shapes of the joint connector 3 and the spherical bone member 2, and the specific shapes are not limited herein as long as the wrapping effect can be achieved.
The spherical bone piece 2 comprises a ball head 201, a connecting arm 202 and a ball head clamping part 203, wherein the ball head 201 is the head end of the spherical bone piece 2, the ball head clamping part 203 is the tail end of the spherical bone piece 2, one end of the connecting arm 202 is fixedly connected with the ball head 201, and one end of the connecting arm 202, which is far away from the ball head 201, is fixedly connected with the ball head clamping part 203. The socket provided on the spherical bone member 2 is typically provided on the ball head 201, and the ball head 201 is provided with a circular hole 303 for receiving the socket, which communicates with the motor 5 for driving the spherical bone member 2. When an electrical plug is plugged into the socket, the motor 5 and the power supply 6 are connected, so that the power supply 6 can supply power to the motor 5.
The connecting arm 202 is of a sheet-shaped structure, and the plurality of lightening holes 204 are formed in the connecting arm 202, the lightening holes 204 can lighten the quality of the connecting arm 202, and further power required to be provided when the motor 5 is driven is reduced, energy conservation is facilitated, the cruising ability of a robot is improved, and on the premise that the supporting strength of the connecting arm 202 is met, the more lightening holes 204 are, the better the number of the lightening holes 204 is. The ball joint portion 203 is used for hinging with the ball 201 on another spherical bone piece 2, the end portion of the ball joint portion 203, which is far away from the connecting arm 202, is provided with a groove 205, and the ball 201 on another spherical bone piece 2 can be inserted into the groove 205, so that relative rotation between the two spherical bone pieces 2 is realized, in this embodiment, the groove 205 comprises a first circular arc portion, a U-shaped portion and a second circular arc portion, one end of the U-shaped portion is fixedly connected with the first circular arc portion, the other end of the U-shaped portion is fixedly connected with the second circular arc portion, the opening of the groove 205 is in a gradually increasing trend, the width of the U-shaped portion is smaller than the diameter of the ball 201, the radian of the first circular arc portion and the radian of the second circular arc portion are the same as the radian of the ball 201, and the design of the first circular arc portion and the second circular arc portion is one-fourth circle or less than one-fourth circle, and the design of not more than one-fourth circle is beneficial to the insertion of the ball 201. For convenience of processing, the groove 205 may be directly formed as a U-shaped groove, and the opening size of the U-shaped groove is larger than the diameter of the ball head 201.
The joint connector 3 comprises a socket head 301 and a motor connecting part 302 which are fixedly connected, a socket arranged on the joint connector 3 is usually arranged on the motor connecting part 302, a round hole for accommodating the socket is arranged on the motor connecting part 302, and the socket is communicated with a motor 5 for driving the joint connector 3. When an electrical plug is plugged into the socket, the motor 5 and the power supply 6 are connected, so that the power supply 6 can supply power to the motor 5. Thereby realizing the distribution of the amount of power of the power supply 6 to the motors 5.
The socket head 301 is provided with an arc groove allowing the ball head 201 to enter, the radius of the arc groove is the same as that of the ball head 201, the arc groove can be one half arc or less than one half arc, and the arrangement of the arc groove not more than one half arc is beneficial to the ball head 201 to enter and is convenient to connect.
The present embodiment also provides a robot comprising the above-described module member, the robot comprising a head, a trunk 1, a skin member 4, a power source 6, a joint connector 3 and one or more spherical bone members 2 connected to each other, each of the joint connector 3 and the spherical bone members 2 being driven by a motor 4, the motor 4 being electrically connected to the power source 5 via a wire, the skin member 4 being wrapped on the joint connector 3 and the spherical bone members 2, a wire receiving structure 7 for arranging the wire being provided on an inner wall of the skin member 4, one end of the wire being in communication with the power source 6, and the other end being provided with an electrical plug capable of being inserted into a socket provided on the joint connector 3 and the spherical bone members 2 to thereby communicate the power source 6 with the motor 5.
The spherical bone pieces 2 are connected end to end, the spherical bone pieces 2 comprise a ball head 201, a connecting arm 202 and a ball head clamping part 203, the ball head 201 is the head end of the spherical bone pieces 2, the ball head clamping part 203 is the tail end of the spherical bone pieces 2, one end of the connecting arm 202 is fixedly connected with the ball head 201, and one end of the connecting arm 202 far away from the ball head 201 is fixedly connected with the ball head clamping part 203. The connecting arm 202 is of a sheet-shaped structure, and the plurality of lightening holes 204 are formed in the connecting arm 202, the lightening holes 204 can lighten the quality of the connecting arm 202, and further power required to be provided when the motor 5 is driven is reduced, energy conservation is facilitated, the cruising ability of a robot is improved, and on the premise that the supporting strength of the connecting arm 202 is met, the more lightening holes 204 are, the better the number of the lightening holes 204 is. The ball joint portion 203 is used for hinging with the ball 201 on another spherical bone piece 2, the end portion of the ball joint portion 203, which is far away from the connecting arm 202, is provided with a groove 205, and the ball 201 on another spherical bone piece 2 can be inserted into the groove 205, so that relative rotation between the two spherical bone pieces 2 is realized, in this embodiment, the groove 205 comprises a first circular arc portion, a U-shaped portion and a second circular arc portion, one end of the U-shaped portion is fixedly connected with the first circular arc portion, the other end of the U-shaped portion is fixedly connected with the second circular arc portion, the opening of the groove 205 is in a gradually increasing trend, the width of the U-shaped portion is smaller than the diameter of the ball 201, the radian of the first circular arc portion and the radian of the second circular arc portion are the same as the radian of the ball 201, and the design of the first circular arc portion and the second circular arc portion is one-fourth circle or less than one-fourth circle, and the design of not more than one-fourth circle is beneficial to the insertion of the ball 201. For convenience of processing, the groove 205 may be directly formed as a U-shaped groove, and the opening size of the U-shaped groove is larger than the diameter of the ball head 201.
The trunk 1 is in transmission connection with the spherical bone pieces 2 positioned at the end parts through the joint connecting piece 3, the joint connecting piece 3 comprises a socket head part 301 and a motor connecting part 302 which are fixedly connected, an arc-shaped groove allowing the ball head 201 to enter is formed in the socket head part 301, the radius of the arc-shaped groove is identical with that of the ball head 201, the arc-shaped groove can be a half arc or less than a half arc, the arrangement of the arc-shaped groove which is not more than a half arc is beneficial to the ball head 201 to enter, and the joint connecting piece is convenient to connect.
Compared with the traditional robot, the lead is generally exposed outside the robot joint or placed inside the robot in disorder, and the lead containing structure 7 is arranged on the inner wall of the skin piece, so that the flexibility of the movement of the robot is improved, the wiring is reasonable, the use amount of the lead is small, the safety performance is high, and the robot is convenient to detach and assemble.
It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (7)
1. A modular component for robots, characterized in that it comprises a skin member (4), a power supply (6), a joint connecting member (3) and one or more spherical bone members (2) connected with each other, one end of the spherical bone member (2) is in transmission connection with the joint connecting member (3), the joint connecting member (3) and the spherical bone member (2) are driven by a motor (5), the skin member (4) is coated on the joint connecting member (3) and the spherical bone member (2), a wire accommodating structure (7) for arranging wires is arranged on the inner wall of the skin member (4), the wire accommodating structure (7) comprises a wire accommodating groove (701), a plug accommodating groove (703) and a clamping member (702), the wire accommodating groove (701) is arranged along the length direction of the skin member (4), the plug accommodating groove (703) is communicated with the wire accommodating groove (701), the clamping member (702) is used for clamping wires, the plug accommodating groove (703) is used for accommodating wires, the wires are arranged on the joint connecting groove (3) and the wire accommodating groove (2), the wire accommodating groove (703) is arranged on the other end, and the wire accommodating groove (701) is connected with the wire accommodating groove (6) by a transverse groove, the electrical plug can be inserted into a socket arranged on the joint connector (3) and the spherical bone piece (2) so as to communicate the power supply (6) with the motor (5), the skin piece (4) comprises a first skin piece (401) and a second skin piece (402), the first skin piece (401) is used for coating the joint connector (3), and the second skin piece (402) is used for coating the spherical bone piece (2).
2. The modular component for robots according to claim 1 characterized in that the wire receiving groove (701) is a through groove with one end communicating with the top surface of the skin piece (4) and the other end communicating with the bottom surface of the skin piece (4).
3. The module component for a robot according to claim 1, wherein the number of the clamping members (702) is plural, each clamping member (702) includes two L-shaped clamping plates, and two clamping plates are oppositely disposed in the wire receiving groove (701).
4. A modular component for a robot according to any one of claims 1-3, characterized in that the spherical bone member (2) comprises a ball head (201), a connecting arm (202) and a ball head clamping portion (203), the ball head (201) being the head end of the spherical bone member (2), the ball head clamping portion (203) being the tail end of the spherical bone member (2), one end of the connecting arm (202) being fixedly connected with the ball head (201) and the other end being fixedly connected with the ball head clamping portion (203), the socket being provided on the ball head (201), the socket being in communication with the motor (5).
5. The modular component for robots according to claim 4 characterized in that said articulation piece (3) comprises a fixed connection socket (301) and a motor connection (302), said socket (301) being provided with an arc-shaped slot allowing said ball head (201) to enter, said socket being provided on said motor connection (302), said socket communicating with said motor (5).
6. The modular component for robots according to claim 4, characterized in that the end of the ball joint (203) remote from the connecting arm (202) is provided with a groove for hinging with a ball (201) on another spherical bone piece (2).
7. A robot, characterized in that it comprises a trunk (1) and a modular component for a robot according to any one of claims 1-6, the end of the articulation piece (3) remote from the spherical bone pieces (2) being in driving connection with the trunk (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710611419.4A CN107225563B (en) | 2017-07-25 | 2017-07-25 | A module component and robot for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710611419.4A CN107225563B (en) | 2017-07-25 | 2017-07-25 | A module component and robot for robot |
Publications (2)
| Publication Number | Publication Date |
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| CN107225563A CN107225563A (en) | 2017-10-03 |
| CN107225563B true CN107225563B (en) | 2023-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710611419.4A Active CN107225563B (en) | 2017-07-25 | 2017-07-25 | A module component and robot for robot |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110722598A (en) * | 2019-10-23 | 2020-01-24 | 徐州才聚智能科技有限公司 | Robot connecting piece |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05293788A (en) * | 1992-04-17 | 1993-11-09 | Daihen Corp | Rotary joint device for robot wrist |
| JP2000210888A (en) * | 1999-01-21 | 2000-08-02 | Sony Corp | Wiring device for revolute joint mechanism and robot |
| JP5136480B2 (en) * | 2009-03-17 | 2013-02-06 | 株式会社デンソーウェーブ | Wiring device for robot rotary joint |
| CN203172753U (en) * | 2013-04-12 | 2013-09-04 | 深圳市优必选科技有限公司 | Robot with hide wiring |
| CN106737635A (en) * | 2017-02-28 | 2017-05-31 | 上海未来伙伴机器人有限公司 | A kind of modular structure and robot for robot |
| CN207415344U (en) * | 2017-07-25 | 2018-05-29 | 上海未来伙伴机器人有限公司 | A kind of modular structure and robot for robot |
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