CN107718036A - A kind of pair is fed back compact hollow integral joint in high precision - Google Patents
A kind of pair is fed back compact hollow integral joint in high precision Download PDFInfo
- Publication number
- CN107718036A CN107718036A CN201710719299.XA CN201710719299A CN107718036A CN 107718036 A CN107718036 A CN 107718036A CN 201710719299 A CN201710719299 A CN 201710719299A CN 107718036 A CN107718036 A CN 107718036A
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- CN
- China
- Prior art keywords
- axle
- brake
- electric expreess
- expreess locomotive
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/102—Structural association with clutches, brakes, gears, pulleys or mechanical starters with friction brakes
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
A kind of pair is fed back compact hollow integral joint in high precision, including harmonic speed reducer (1), rimless motor (2), brake (3), incremental encoder (4), absolute encoder (5), high-speed electric expreess locomotive axle (6), low speed quill shaft (7), output flange (8), motor axle bearing (9, 10), hollow axle bearing (11), driver (12), housing (13), first axle bolster (14), second bearing frame (15), 3rd bearing frame (17), connection cables (16) between joint, transition axis (18)；Rotor (22), incremental encoder (4) and brake (3) are arranged on high-speed electric expreess locomotive axle (6), and absolute encoder (5) is arranged on low speed quill shaft (7).Control accuracy of the present invention is high, and the hollow cabling in joint is compact-sized, and integrated level is high, and in light weight, power density is big, and has reliable brake, and overall structure curve is round and smooth, without corner angle, and securely and reliably, man-machine collaboration is good.
Description
Technical field
The present invention relates to a kind of joint of robot.
Background technology
Traditional robot architecture is big and heavy, and load deadweight is than low, the degree of danger height of man-machine interaction, traditional machine
Person joint's integrated level is low, and joint is sturdy, cabling outside control line pipeline, more and miscellaneous, it is impossible to meet as space, battlefield, family and
The demand of the working environments such as service trade.
Lightweight joint of robot uses hollow cabling, body construction weight saving, and load deadweight can answer than high very well
Used in fields such as modern service, family, spaces, above mentioned problem is can solve the problem that, the application of mechanical arm is greatly reduced in cost
Cost.But existing integral joint on the market does not possess the SERVO CONTROL of the double feedbacks of velocity location, and joint is sufficiently oily, there is corner angle
Or have screw leakage, it may hurt sb.'s feelings, and without reliable joint brake, people and collaborative are poor, and simple joint weight is larger, machine
Tool arm is still had much room for improvement for the use of adaptability.
The content of the invention
The technical problem to be solved in the present invention is：Overcome the deficiencies in the prior art, the invention provides a kind of double feedbacks are tight
Gather type hollow integral joint in high precision, the quill shaft in joint is separated using high speed shaft and slow-speed shaft, avoids high speed rotating shaft to electricity
Cable causes wear-out failure.The structural members such as the motor in joint, reductor, brake, motor shaft use light-weighted structure design,
At utmost reduce the weight of joint body construction.
The technical solution adopted in the present invention is：A kind of double feedback compact hollow integral joints, including humorous in high precision
Ripple decelerator, rimless motor, brake, incremental encoder, absolute encoder, high-speed electric expreess locomotive axle, low speed quill shaft, output method
Between orchid, motor axle bearing, hollow axle bearing, driver, housing, first axle bolster, second bearing frame, 3rd bearing frame, joint
Connection cables；Rimless motor includes motor stator, rotor, and motor stator is fixedly mounted in inner walls, rotor
On high-speed electric expreess locomotive axle；Incremental encoder is arranged on high-speed electric expreess locomotive axle, reads the rotating speed of high-speed electric expreess locomotive axle；High-speed electric expreess locomotive
Axle is separately mounted to first axle bolster, on 3rd bearing frame by the motor axle bearing of both sides, first axle bolster, 3rd bearing frame
It is fixed in housing, high-speed electric expreess locomotive axle one end is connected with harmonic speed reducer input, and the other end is connected with brake, passes through braking
Device realizes that dead electricity is braked；Brake, harmonics device are fixed in housing；Low speed quill shaft one end in high-speed electric expreess locomotive axle leads to
Cross output flange to be connected with harmonic speed reducer output end, opposite side is arranged on housing by hollow axle bearing and second bearing frame
Interior, end is connected with absolute encoder；Driver is arranged in housing by support, drives rimless motor to rotate；Connect between joint
Wiring cable is connected through low speed quill shaft with driver.
The brake includes brake stator, brake rotor, rotor hub；Brake stator is fixed on 3rd bearing frame
On, rotor hub is arranged on high-speed electric expreess locomotive axle, and brake rotor is enclosed in rotor hub；During braking, brake stator passes through magnetic force
So that brake rotor, rotor hub are stopped the rotation.
Also include transition axis；The absolute encoder includes absolute encoder magnet ring, absolute encoder read head；Absolute coding
Device magnet ring is arranged on the hollow shaft end of low speed by transition axis, and absolute encoder read head is arranged on second bearing frame, is read low
The turned position of fast quill shaft；Transition axis is loop configuration, and inner ring is enclosed on low speed quill shaft, outer ring and absolute encoder magnet ring
It is connected.
The incremental encoder includes incremental encoder magnet ring, incremental encoder read head, and incremental encoder magnet ring fixes peace
On high-speed electric expreess locomotive axle, incremental encoder read head is arranged on housing, and incremental encoder read head reads turning for high-speed electric expreess locomotive axle
Speed.
The incremental encoder magnet ring is interference fit H7/s6 with high-speed electric expreess locomotive axle.
The motor axle bearing or hollow axle bearing are deep groove ball bearing.
The rotor hub is the square structure that corner is scabbled, and through hole is provided with center, and rotor hub passes through screw and electricity at a high speed
Arbor is fixed in side, square structure the length of side is 25mm, is highly 13.5mm, internal diameter 20mm, material is stainless steel
2Cr13。
The groove for determining joint mechanical zero is provided with the output flange, the zero-bit groove pair with housing port
Together.
The present invention compared with prior art the advantages of be：
(1) present invention is farthest compiled from the big harmonic speed reducer in hollow aperture, rimless motor, brake, increment
Code device and absolute encoder, and optimization design of the rotor hub in limit stop aperture by adaptation structure of the present invention, make pass
The cable of section is passed through from centre and is possibly realized.The quill shaft in joint is separated using high speed shaft and slow-speed shaft, avoids high speed rotating shaft pair
Cable causes wear-out failure.In order to avoid quill shaft may rub because of cantilever deflection with high speed shaft, slow-speed shaft of the present invention
Bearing is mounted between housing.The part such as the motor in joint, reductor, brake use light-weighted structure design, maximum
Degree reduces the weight of joint body construction；
(2) present invention, can be with using double feedback controling modes of motor side incremental encoder and output end absolute encoder
Realize inner loop velocity control and the control of outer ring position, control accuracy height；
(3) present invention brakes due to using non-excitation actuating brake, during dead electricity, it is possible to achieve the holding work(of mechanical arm
Can, when happening suddenly unexpected power down, it can farthest protect operating personnel and the mechanical arm body beside mechanical arm；
(4) outer curve of the present invention is round and smooth, no sharp corners, and all screws do not leak outside, at utmost avoids man-machine
In cooperating process, injury of the mechanical arm to operating personnel；
(5) the circle screw circle key corresponding with the output flange in another joint that the present invention passes through housing side
Interarticular connection is realized in hole, and connected mode is simple, compact-sized, and hidden screw.
(6) present invention is each respectively provided with mechanical zero between joint and different joints, the rotational angle in joint is symmetrically divided
Cloth is avoided cable from excessively winding, is damaged in mechanical zero both sides.
Brief description of the drawings
The structure that Fig. 1 is the present invention shows profile；
Fig. 2 is the oblique view of the present invention；
Fig. 3 is the part drawing of rotor hub；
Fig. 4 is the part drawing of transition axis.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 2, a kind of double feedback compact hollow integral joints, including harmonic speed reducer 1, nothing in high precision
Frame motor 2, brake 3, incremental encoder 4, absolute encoder 5, high-speed electric expreess locomotive axle 6, low speed quill shaft 7, output flange 8, electricity
Arbor bearing 9,10, hollow axle bearing 11, driver 12, housing 13, first axle bolster 14, second bearing frame 15,3rd bearing
Connection cables 16, transition axis 18 between frame 17, joint；；Rimless motor 2 includes motor stator 21, rotor 22, motor stator 21
With being adhesive on the inwall of housing 13, rotor 22 is with being adhesive on high-speed electric expreess locomotive axle 6；Incremental encoder 4 is arranged on electricity at a high speed
On arbor 6, the rotating speed of high-speed electric expreess locomotive axle 6 is read；High-speed electric expreess locomotive axle 6 is separately mounted to by the motor axle bearing 9,10 of both sides
On one bearing bracket stand 14,3rd bearing frame 17, first axle bolster 14,3rd bearing frame 17 are fixed in housing 13, high-speed electric expreess locomotive axle 6
One end is connected with the input of harmonic speed reducer 1, and the other end is connected with brake 3, realizes that dead electricity is braked by brake 3；Braking
Device 3 is fixed in housing 13；One end of low speed quill shaft 7 in high-speed electric expreess locomotive axle 6 passes through flange and the output end of harmonic speed reducer 1
Connection, opposite side are arranged in housing 13 by hollow axle bearing 11 and second bearing frame 15, and end connects with absolute encoder 5
Connect；Driver 12 is arranged in housing 13 by support, drives rimless motor 2 to rotate；Connection cables 16 pass through low speed between joint
Quill shaft 7 is connected with driver 12.
The brake 3 includes brake stator 31, brake rotor 32, rotor hub 33；Brake stator 31 is fixed on
On 3rd bearing frame 17, rotor hub 33 is arranged on high-speed electric expreess locomotive axle 6, and brake rotor 32 is enclosed in rotor hub 33；During braking,
Brake stator 31 is stopped the rotation by magnetic force brake rotor 32, rotor hub 33.
As shown in figure 4, the absolute encoder 5 includes absolute encoder magnet ring 51, absolute encoder read head 52；Definitely compile
Code device magnet ring 51 is arranged on the end of low speed quill shaft 7 by transition axis 18, and absolute encoder read head 52 is arranged on second bearing frame
On 16, the turned position of low speed quill shaft 7 is read；Transition axis 18 is loop configuration, and inner ring is enclosed on low speed quill shaft 7, outer ring
It is connected with absolute encoder magnet ring 51.
The incremental encoder 4 includes incremental encoder magnet ring 41, incremental encoder read head 42, incremental encoder magnet ring 41
Interference is arranged on high-speed electric expreess locomotive axle 6, and incremental encoder read head 42 is installed on housing 12, and incremental encoder read head 42 reads height
The rotating speed of speed motor axle 6.
The incremental encoder magnet ring 41 is interference fit H7/s6 with high-speed electric expreess locomotive axle 6.
The housing 13 is columnar structured, passes through the outwardly directed cylinder arm vertical with axis in side wall and other passes
Section or the connection of mechanical arm armed lever.The surface of housing 13 is smooth, cylindrical peripheral surface, and do not leak outside screw.
The axle bearing 11 of motor axle bearing 9,10 or hollow is deep groove ball bearing.
As shown in figure 3, the rotor hub 33 is square structure, through hole is provided with center, rotor hub 33 passes through screw and height
Speed motor axle 6 is fixed in side.
The groove for determining joint mechanical zero is provided with the output flange 8, the zero-bit groove with the port of housing 12
Alignment so that joint rotates in the range of each 360 ° of zero-bit both sides, avoids the joint one direction anglec of rotation excessive, twines cable
Around tension, infringement component, connector and cable.
The integral joint overall length of the present invention is 190mm, external diameter 85mm, weight 2.2kg, and output torque maximum is reachable
To 15Nm, maximum (top) speed 40r/min, 0.01 ° of joint precision.General structure is compact, in light weight.
Operation principle：
Control instruction is sent out to driver 12 by host computer, drives rimless motor 2 to rotate, so that the institute of rotor 22
High-speed electric expreess locomotive axle 6 rotate, by the deceleration of harmonic speed reducer 1, output flange 8 drives the low speed rotation of low speed quill shaft 7, increases
Amount encoder 4 is used for the rotating speed for measuring high-speed electric expreess locomotive axle 6, and absolute encoder 5 is used for the position for detecting low speed quill shaft 7, that is, closed
The output angle of section.Brake 3 is non-excitation actuating brake, during joint operation, gives brake power supply, work schedule does not move device
Dead electricity is braked.
Embodiment 1：
Rotor hub 33 is square structure, is provided with through hole at center, is fixed by screw and high-speed electric expreess locomotive axle 6 in side, is turned
The sub- length of side a of hub 33 is 25mm, height b is 12.5mm, and internal diameter c is 20mm, and corner is scabbled, and two of which angle has two to be used for screw
The counter sink of connection, material are stainless steel 2Cr13.Rimless motor 2 is using Killmorgen TBMS-6013-A, motor stator
Gap between 21 and rotor 22 is that 0.5mm, motor stator 21 and rotor 22 are bonded at respectively with screw thread glue pleasure Thailand 640
On housing 13 and high-speed electric expreess locomotive axle 6, harmonic speed reducer is SHD-17-100-2SH, motor axle bearing 9,10, hollow axle bearing 11
It is deep groove ball bearing.Brake stator 31, brake rotor 32 are using three wooden BXR-050-10LE.
Control accuracy of the present invention is high, the hollow cabling in joint, and integrated level is high, in light weight, and has reliable non-excitation actuating
Brake, can ensure the safety of operating personnel around mechanical arm in unexpected power down, and joint outer curve is round and smooth, without corner angle,
All screws do not leak outside, are easy to man-machine collaboration.Installation between joint is fallen using screw injects keyhole, reversely twists the side of nail
Formula, can be farthest compact-sized and hiding all screws.
What motor was selected is rimless torque motor, light weight compact suitable for small volume, the demand of low inertia, power
Density is high, and motor stator is adhered directly on the housing in joint.
The reductor of the present invention uses harmonic wave speed reducing machine, and speed reducing ratio is big, and volume and weight is greatly lowered.Stable drive,
It is small without impact, noise.Transmission efficiency, long lifespan.
Unspecified part of the present invention belongs to technology as well known to those skilled in the art.
Claims (8)
1. a kind of pair is fed back compact hollow integral joint in high precision, it is characterised in that：Including harmonic speed reducer (1), rimless
It is motor (2), brake (3), incremental encoder (4), absolute encoder (5), high-speed electric expreess locomotive axle (6), low speed quill shaft (7), defeated
Go out flange (8), motor axle bearing (9,10), hollow axle bearing (11), driver (12), housing (13), first axle bolster (14),
Connection cables (16) between second bearing frame (15), 3rd bearing frame (17), joint；Rimless motor (2) include motor stator (21),
Rotor (22), motor stator (21) are fixedly mounted on housing (13) inwall, and rotor (22) is arranged on high-speed electric expreess locomotive
On axle (6)；Incremental encoder (4) is arranged on high-speed electric expreess locomotive axle (6), reads the rotating speed of high-speed electric expreess locomotive axle (6)；High-speed electric expreess locomotive axle
(6) first axle bolster (14) is separately mounted to, on 3rd bearing frame (17) by the motor axle bearing (9,10) of both sides, first axle
Bolster (14), 3rd bearing frame (17) are fixed in housing (13), and high-speed electric expreess locomotive axle (6) one end inputs with harmonic speed reducer (1)
End connection, the other end are connected with brake (3), realize that dead electricity is braked by brake (3)；Brake (3), harmonics device
(1) it is fixed in housing (13)；Low speed quill shaft (7) one end in high-speed electric expreess locomotive axle (6) passes through output flange (8) and harmonic wave
Decelerator (1) output end is connected, and opposite side is arranged in housing (13) by hollow axle bearing (11) and second bearing frame (15),
End is connected with absolute encoder (5)；Driver (12) is arranged in housing (13) by support, drives rimless motor (2) to revolve
Turn；Connection cables (16) are connected through low speed quill shaft (7) with driver (12) between joint.
2. a kind of pair according to claim 1 is fed back compacts hollow integral joint in high precision, it is characterised in that：It is described
Brake (3) includes brake stator (31), brake rotor (32), rotor hub (33)；Brake stator (31) is fixed on
On three bearing bracket stands (17), rotor hub (33) is arranged on high-speed electric expreess locomotive axle (6), and brake rotor (32) is enclosed on rotor hub (33)
On；During braking, brake stator (31) is stopped the rotation by magnetic force brake rotor (32), rotor hub (33).
3. a kind of pair according to claim 1 or 2 is fed back compacts hollow integral joint in high precision, it is characterised in that：
Also include transition axis (18)；The absolute encoder (5) includes absolute encoder magnet ring (51), absolute encoder read head (52)；
Absolute encoder magnet ring (51) is arranged on low speed quill shaft (7) end, absolute encoder read head (52) peace by transition axis (18)
On second bearing frame (16), the turned position of low speed quill shaft (7) is read；Transition axis (18) is loop configuration, interior snare
On low speed quill shaft (7), outer ring is connected with absolute encoder magnet ring (51).
4. a kind of pair according to claim 3 is fed back compacts hollow integral joint in high precision, it is characterised in that：It is described
Incremental encoder (4) includes incremental encoder magnet ring (41), incremental encoder read head (42), and incremental encoder magnet ring (41) is fixed
On high-speed electric expreess locomotive axle (6), incremental encoder read head (42) is arranged on housing (12), and incremental encoder read head (42) is read
Take the rotating speed of high-speed electric expreess locomotive axle (6).
5. a kind of pair according to claim 4 is fed back compacts hollow integral joint in high precision, it is characterised in that：It is described
Incremental encoder magnet ring (41) is interference fit H7/s6 with high-speed electric expreess locomotive axle (6).
6. a kind of pair according to claim 1 or 2 is fed back compacts hollow integral joint in high precision, it is characterised in that：
The motor axle bearing (9,10) or hollow axle bearing (11) are deep groove ball bearing.
7. a kind of pair according to claim 2 is fed back compacts hollow integral joint in high precision, it is characterised in that：It is described
Rotor hub (33) is the square structure that corner is scabbled, and is provided with through hole at center, rotor hub (33) passes through screw and high-speed electric expreess locomotive axle
(6) fixed in side, the length of side of square structure is 25mm, is highly 13.5mm, internal diameter 20mm, and material is stainless steel 2Cr13.
8. a kind of pair according to claim 1 or 2 is fed back compacts hollow integral joint in high precision, it is characterised in that：
The groove for determining joint mechanical zero is provided with the output flange (8), is alignd with the zero-bit groove of housing (12) port.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710719299.XA CN107718036A (en) | 2017-08-21 | 2017-08-21 | A kind of pair is fed back compact hollow integral joint in high precision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710719299.XA CN107718036A (en) | 2017-08-21 | 2017-08-21 | A kind of pair is fed back compact hollow integral joint in high precision |
Publications (1)
| Publication Number | Publication Date |
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| CN107718036A true CN107718036A (en) | 2018-02-23 |
Family
ID=61205220
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710719299.XA Pending CN107718036A (en) | 2017-08-21 | 2017-08-21 | A kind of pair is fed back compact hollow integral joint in high precision |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108214544A (en) * | 2018-02-28 | 2018-06-29 | 北京精密机电控制设备研究所 | A kind of integrated form joint of robot device |
| CN109531617A (en) * | 2018-12-11 | 2019-03-29 | 广州启帆工业机器人有限公司 | A kind of integrated robot joint module |
| CN109551482A (en) * | 2018-12-20 | 2019-04-02 | 广东工业大学 | One kind controling integrated torque can observing and controlling rotating and swinging joint module of robot |
| CN109966112A (en) * | 2018-12-28 | 2019-07-05 | 北京航天测控技术有限公司 | A kind of precisely adjustable reciprocal rehabilitation joint |
| CN110666836A (en) * | 2019-11-05 | 2020-01-10 | 济南大学 | Arm integrated joint for bidirectional output humanoid robot |
| CN110936403A (en) * | 2019-11-30 | 2020-03-31 | 北京思灵机器人科技有限责任公司 | Modular robot joint, encoder reading head position adjusting mechanism and reading head position adjusting method |
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| CN108214544B (en) * | 2018-02-28 | 2021-04-13 | 北京精密机电控制设备研究所 | Integrated form robot joint device |
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| CN109551482A (en) * | 2018-12-20 | 2019-04-02 | 广东工业大学 | One kind controling integrated torque can observing and controlling rotating and swinging joint module of robot |
| CN109551482B (en) * | 2018-12-20 | 2023-10-03 | 广东工业大学 | Driving and control integrated moment-measurable robot swing joint module |
| CN109966112A (en) * | 2018-12-28 | 2019-07-05 | 北京航天测控技术有限公司 | A kind of precisely adjustable reciprocal rehabilitation joint |
| CN110666836A (en) * | 2019-11-05 | 2020-01-10 | 济南大学 | Arm integrated joint for bidirectional output humanoid robot |
| WO2021104950A1 (en) * | 2019-11-30 | 2021-06-03 | Beijing Siling Robot Technology Co., Ltd. | Modular robot joint, encoder reading head position adjustment mechanism and method for adjusting the position of an encoder reading head |
| CN110936403B (en) * | 2019-11-30 | 2021-07-06 | 北京思灵机器人科技有限责任公司 | Modular robot joint, encoder reading head position adjusting mechanism and reading head position adjusting method |
| CN110936403A (en) * | 2019-11-30 | 2020-03-31 | 北京思灵机器人科技有限责任公司 | Modular robot joint, encoder reading head position adjusting mechanism and reading head position adjusting method |
| CN111037547A (en) * | 2019-12-16 | 2020-04-21 | 深圳市佳士科技股份有限公司 | Cooperation robot transmission structure and cooperation robot |
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| CN113364218A (en) * | 2021-04-22 | 2021-09-07 | 中科新松有限公司 | Joint torque motor module and self-detection method |
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| CN113414785B (en) * | 2021-07-02 | 2023-02-17 | 浙江环动机器人关节科技有限公司 | Electromechanical integrated intelligent robot joint module |
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| WO2024073951A1 (en) * | 2022-10-08 | 2024-04-11 | 深圳市越疆科技有限公司 | Industrial mechanical arm and integrated joint module thereof |
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Application publication date: 20180223 |