CN109397327A - A kind of two degree-of-freedom joint device based on multi-stage speed-reducing transmission - Google Patents
A kind of two degree-of-freedom joint device based on multi-stage speed-reducing transmission Download PDFInfo
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- CN109397327A CN109397327A CN201811516504.3A CN201811516504A CN109397327A CN 109397327 A CN109397327 A CN 109397327A CN 201811516504 A CN201811516504 A CN 201811516504A CN 109397327 A CN109397327 A CN 109397327A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- 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
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Abstract
The present invention provides a kind of two degree-of-freedom joint devices based on multi-stage speed-reducing transmission, including vertically disposed first cylinder base and the second cylinder base；First direction output revolving shaft and second direction output revolving shaft are equipped in first cylinder base；First output flange, the centre of gyration of the first output flange are parallel to the direction setting of first direction shaft；The centre of gyration of second output flange, the second output flange is arranged perpendicular to the direction of second direction shaft；Spur Gear Driving group is equipped in first cylinder base, including mutually matched active spur gear and driven spur gear, active spur gear are located on first direction output revolving shaft, the first output flange is connected to driven spur gear by harmonic reduction device assembly；Bevel Gear Transmission group is equipped in second cylinder base, including mutually matched drive bevel gear and driven wheel of differential, drive bevel gear are located on second direction output revolving shaft, the second output flange is connected to driven wheel of differential by harmonic reduction device assembly.The present invention is compact to design, has biggish output torque.
Description
Technical field
The invention belongs to multi-freedom joint technical fields, more particularly, to a kind of based on the double of multi-stage speed-reducing transmission
Degree-of-freedom joint device.
Background technique
With the exacerbation of aging of population, medical staff is more and more in short supply.In nursing process, need often to shift disease
People, such as it is transferred to wheelchair from the bed after bedfast patient is taken in one's arms, this process needs medical staff to have biggish power
Gas, or even multi agent cooperation is needed, it services these elderly patients and needs huge time and efforts, this process not only seriously affects
To the working condition of nursing staff, the service quality to patient is also directly influenced, in terms of hospital care, human resources are more next
It is more nervous, it especially faces to have seemed unable to do what one wishes when more and more patients.Therefore, being developed into for nursing robot must
So.
Requirement of the nursing robot to the flexibility of joint part, controllability and load capacity is higher and higher, especially example
Such as elbow joint, shoulder joint position can be realized using the action simulation of two degree-of-freedom joint；Currently, the shape of joint of robot
Formula, which mainly has, realizes two freedom degree rotations, such as the RIMAN nursing of Japan Chemical research institute research and development using differential mechanism principle
Robot, but its output end is directly connected on gear, not can guarantee control precision；It is negative there are also being realized using Worm Wheel System
The joint of output is carried, the transmission efficiency of this form is low, and precision is poor.
For example Chinese patent literature 201610945641.3 discloses a kind of two-freedom degree joint structure again comprising U-shaped
Fixed plate, the U-shaped connecting plate being relatively rotatable to each other with U-shaped fixed plate, the first freedom degree mechanism and setting are on U-shaped connecting plate
Two-Degree-of-Freedom mechanism；The bottom plate of U-shaped fixed plate and the bottom plate of U-shaped connecting plate are oppositely arranged, the first side plate of U-shaped connecting plate
The inside of the first side plate of U-shaped fixed plate, the second side plate rotation connection of U-shaped connecting plate are connected to by the first freedom degree mechanism
In the inside of the second side plate of U-shaped fixed plate.This mode differs biggish spur gear using the number of teeth and is directly driven, and obtains
Biggish transmission ratio is obtained, whole huge structure is caused, is not applied for each joint of nursing robot.
Such as 2017101299156 disclose a kind of modularization Two dimension of freedom robot joint again comprising inside is sky
The external shell of cavity configuration and front opening, rolling motor and the pitching for being respectively used to control pitch freedom and roll freedom
Motor, rolling train and pitching train for changing outbound course and increase output torque, two groups of joint angles detection sensings
Device；Be equipped in external shell be arranged successively from the front to the back for the Dual-motors Driving device of driving motor operating, rolling motor cabinet,
Rolling train seat, pitching motor seat, pitching train cabinet is equipped at the front opening of external shell, and the rear end of external shell is to use
In the interconnecting piece for connecting a upper joint module.There are the lower defects of output loading for the technical solution.
Based on this, this application provides a kind of two degree-of-freedom joint devices based on multi-stage speed-reducing transmission.
Summary of the invention
In view of the drawbacks of the prior art, the present invention provides a kind of two degree-of-freedom joint dresses based on multi-stage speed-reducing transmission
It sets, all has biggish output torque in two freedom degree directions in joint, compact to design, integrated level is high.
To achieve the goals above, the present invention provides it is a kind of based on multi-stage speed-reducing transmission two degree-of-freedom joint device,
Including vertically disposed first cylinder base and the second cylinder base；
It is equipped with first direction output revolving shaft and second direction output revolving shaft in first cylinder base, first direction output revolving shaft and the
Two direction output revolving shafts are each provided on the length direction of the first cylinder base, are parallel to each other therebetween and are respectively facing opposite direction
Setting；
First output flange, the centre of gyration of the first output flange are parallel to the direction setting of first direction shaft；
The centre of gyration of second output flange, the second output flange is arranged perpendicular to the direction of second direction shaft；
It is equipped with Spur Gear Driving group in first cylinder base, Spur Gear Driving group includes mutually matched active spur gear and driven
Spur gear, active spur gear are located on first direction output revolving shaft, and the first output flange is connected to by harmonic reduction device assembly
Driven spur gear；
It is equipped with Bevel Gear Transmission group in second cylinder base, Bevel Gear Transmission group includes mutually matched drive bevel gear and driven
Bevel gear, drive bevel gear are located on second direction output revolving shaft, and the second output flange is connected to by harmonic reduction device assembly
Driven wheel of differential.
There are two freedom degree direction, the transmittance process of first direction freedom degree for tool in the present invention are as follows: first direction output turns
The rotation of axis, drives the rotation of driving gear and the driven gear engaged with driving gear, and driven gear passes through harmonic speed reducer
By rotation output to the first output flange；Wherein, the drive member of driving first direction output revolving shaft is equipped in the first cylinder base,
Preferably, it is driven by the way of brushless motor, further preferably, there is planetary reduction box in the output end of motor, realize
To the primary speed-down of motor speed.
Further, the number of teeth of the active spur gear in Spur Gear Driving group is less than the number of teeth of driven spur gear, in order to make
It is compact-sized, make overall structure that modularized design be more readily formed, it is preferred that the number of teeth of active spur gear is slightly less than driven straight-tooth
The number of teeth of wheel, such as the transmission ratio of Spur Gear Driving group is 1:1.5, then such as 1:1.25.
The transmittance process of second direction freedom degree in the present invention are as follows: the rotation of second direction output revolving shaft drives initiative taper
The rotation of gear and the driven wheel of differential engaged with drive bevel gear, driven wheel of differential will be rotated defeated by harmonic reduction device assembly
Out to the second output flange；Wherein, the drive member of driving second direction shaft rotation is equipped in the first cylinder base, it is preferred that
Using drive member identical with first direction shaft, specifically also driven by the way of brushless motor, further preferably,
The output end of motor has planetary reduction box, realizes the primary speed-down to motor speed.
On the one hand Bevel Gear Transmission group in the present invention is transmitted the power of rotation, on the other hand, change the side of rotation
To；So that orthogonal between first direction freedom degree and second direction freedom degree.Wherein, drive bevel gear and driven wheel of differential
It can be straight bevel gear, the number of teeth of the two can be identical, can not also be identical, for the stabilization of transmittance process, it is preferred that main
The number of teeth of dynamic bevel gear and the number of teeth of driven wheel of differential are identical.
In order to preferably install driven wheel of differential, it is preferred that the second cylinder base is equipped in the side far from the second output flange
Fixed cover board, driven wheel of differential are located on fixed cover board by bearing block rotation, and driven wheel of differential is equipped with and harmonic speed reducer group
Power is transferred in harmonic reduction device assembly by the transmission shaft that part is connected by rotation axis.
It is according to the present invention another kind specific embodiment, harmonic reduction device assembly include reducer shell, connecting flange,
It is located at the harmonic speed reducer main body within reducer shell, the adapter flange of retarder output end is located at and is connect with adapter flange
Crossed roller bearing, wherein connecting flange fixation is located on reducer shell, driven spur gear and driven wheel of differential are set respectively
It is connect on connecting flange, and with harmonic speed reducer main body, the first output flange and the second output flange pass through intersection rolling respectively
Sub- bearing is connected to adapter flange, and rotates synchronously with adapter flange.
Specifically, driven spur gear and driven wheel of differential are connect with the flexbile gear in harmonic speed reducer main body respectively, method of transferring
Orchid connect with the firm gear in harmonic speed reducer main body；More specifically, the inner ring of adapter flange and crossed roller bearing is drivingly connected,
Such as the rib that can be embedded in (specific is, for example, to be interference fitted) inner ring is equipped in adapter flange, realize adapter flange driving
The rotation of crossed roller bearing inner ring；Preferably, the annular that carrying crossed roller bearing outer ring is equipped in reducing gearbox body is held
Circle is carried, and the outer ring of crossed roller bearing is compacted to by end ring by end ring, wherein end ring uses such as spiral shell
The mode of bolt is fixed on reducer shell.
It should be noted that the first output flange and the second output flange are opposite with the inner ring of crossed roller bearing solid respectively
It is fixed, it is firm can also to realize that other techniques fixed such as synchronous rotation, such as welding are realized by the way of for example embedding
Connection.
Another kind specific embodiment according to the present invention, the first output flange and/or the second output flange are equipped with along it
The threading hole that centre of gyration direction extends, the middle part of one of harmonic reduction device assembly are equipped with and are connected to inside the first cylinder base
Cable-through hole interconnects between threading hole and cable-through hole, electric wire can pass through threading hole and cable-through hole and internal drive part into
Row connection.
It is additionally provided with detection unit in the present invention, is respectively used to detection motor angle of rotation specifically, being equipped in the first cylinder base
The first angle detection unit of degree, it is preferred that be equipped with the mode of such as encoder on two motors, obtained by encoder
Such as the relevant informations such as angle, speed of motor rotation, present invention input control is accurately obtained by first angle detection unit
The input speed at end processed.
Further, further include two groups second jiao for obtaining the first output flange and the second output flange rotational angle
Detection unit is spent, second angle detection unit is arranged to relatively fixed with the first cylinder base and the second cylinder base.Preferably, second jiao
Degree detection unit is used to obtain the first output method in real time for example including magnet ring and the reading head wiring board being located on reducer shell
Blue or the second output flange rotational angle.
Two freedom degree directions of the invention are all made of double detection units to obtain the revolving speed of input terminal and output end respectively
The accurate output of the first output flange and the second output flange may be implemented in information.FOR ALL WE KNOW road, most power outputs
The acquisition of square (revolving speed) is directly to be calculated according to the kinetics equation (transmission ratio) of torque-feedback and robot system,
In actual structure, the frictional force especially in transmission mechanism be it is very important, transmission efficiency can be generated it is apparent influence,
And the frictional force is also influenced by factors such as the posture of robot, revolving speed, temperature, it is difficult to accurately be modeled and be distinguished
Not.In the present invention, by the way of double detection units, the information of input terminal and output end is directly acquired, modeling process is avoided
The error of appearance can obtain accurate operation information, such as between input torque and output torque by the debugging of limited times
Relationship etc..
Another kind specific embodiment according to the present invention, the first cylinder base and/or the second cylinder base are externally provided with for perceiving
The electronic skin structure of contact force size, electronic skin structure have flexible layer diaphragm type sensor；Specifically, electronic skin
Structure can detecte collision and power when contacting with people, have the characteristics that high sensitivity, with high accuracy, in conjunction with detection unit
Such as Torque Control mode that (first angle detection unit and second angle detection unit) obtains, can be improved the peace of mechanical arm
Quan Xing.
The present invention realizes primary deceleration using setting epicyclic reducer first, then carries out two by gear-driven mode
Grade is slowed down, and carries out three-level deceleration finally by harmonic speed reducer；Preferably, it by the way that different transmission ratios is arranged, realizes at two
In freedom degree direction, when the revolving speed of input terminal (motor) is identical, the revolving speed of output end (output flange) is also identical, in order to control
System.The structure slowed down using three-level, effectively reduces whole structure, is conducive to Integration Design process, and have compared with
Big output torque can bear biggish load, can be adapted for the process of such as nursing robot's transporting patient.
The invention has the beneficial effects that: multi-stage speed-reducing transmission mechanism is used, the output of larger torque can be carried out；Two
Freedom degree is all made of double detection units, and accuracy with higher may be implemented accurately to control；It is equipped with and intersects in output end simultaneously
Roller bearing, the load bearing ability of lift structure；Fexible film pressure sensor is installed in joint, can perceive and be connect with people
Power when touching, improves security performance.
The present invention is described in further detail with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is the overall structure diagram of two degree-of-freedom joint device；
Fig. 2 is the schematic diagram of internal structure of two degree-of-freedom joint device；
Fig. 3 is the structural schematic diagram of a harmonic reduction device assembly in two degree-of-freedom joint device.
Specific embodiment
As shown in Figure 1-3, the present invention provides a kind of two degree-of-freedom joint device, including the first cylinder base 1, the second cylinder base
2, the first output flange 3 being located on the first cylinder base 1 and the second output flange 4 being located on the second cylinder base 2.
Referring to fig. 2, first direction output revolving shaft 5 and second direction output revolving shaft 6, and the are equipped in the first cylinder base 1
One direction output revolving shaft 5 and second direction output revolving shaft 6 are each provided on the length direction of the first cylinder base 1, mutually flat therebetween
It goes and is respectively facing opposite direction setting.
Wherein, first motor 7 and the second motor 8 are equipped in the first cylinder base 1, it is preferred that be equipped with and use in the first cylinder base 1
In the set casing 9 of fixed first motor 7 and the second motor 8, guarantee the stability of first motor 7 and 8 rotation process of the second motor.
Specifically, first motor 7 is used to drive the rotation of first direction output revolving shaft 5, it is preferred that first motor 7 it is defeated
Outlet is equipped with the first planetary reduction gear 10, and first direction output revolving shaft 5 is connected with the first planetary reduction gear 10.
Further, output revolving shaft 5 is equipped with Spur Gear Driving group in a first direction, and Spur Gear Driving group includes being located at first
Pinion gear 11 (active spur gear) on direction output revolving shaft 5 and the gear wheel 12 (driven spur gear) being connect with pinion gear 11,
Gear wheel 12 drives the first output flange 3 the by connecting between first harmonic decelerator component 13 and the first output flange 3
Rotation on one direction, it is preferred that the number of teeth of gear wheel 12 is slightly larger than the number of teeth of pinion gear 11, such as the biography of Spur Gear Driving group
Dynamic ratio is 1:1.5, then such as 1:1.25.
More specifically, the second motor 8 is used to drive the rotation of second direction output revolving shaft 6, it is preferred that the second motor 8
Output end is equipped with the second planetary reduction gear 14, and second direction output revolving shaft 6 is connected with the second planetary reduction gear 14.
Further, it is equipped with Bevel Gear Transmission group in second direction output revolving shaft 6, Bevel Gear Transmission group includes being located at the
Drive bevel gear 15 on two direction output revolving shafts 6 and the driven wheel of differential 16 being connect with drive bevel gear 15, it is preferred that second
Direction output revolving shaft 6 stretches out except the first cylinder base 1 and is built in the second cylinder base 2；More there is choosing, in the second cylinder base 2 far from second
4 side of output flange is equipped with fixed cover board 17, and driven wheel of differential 16 is located on fixed cover board 17 by bearing block, and passes through transmission
Axis 18 is connected to 19 component of second harmonic retarder, and then drives the rotation of the second output flange 4 in a second direction.
Preferably, drive bevel gear 15 and driven wheel of differential 16 are isometrical straight bevel gear, number of teeth phase between the two
Together, in another preferred embodiment, drive bevel gear 15 and the number of teeth of driven wheel of differential 16 can not also be identical, such as from
The number of teeth of dynamic bevel gear 16 and the gear ratio of drive bevel gear 15 are 1.5:1.
In an example of the invention, 19 structure class of first harmonic decelerator component 13 and second harmonic reducer assemblies
Seemingly, by taking first harmonic decelerator component 13 as an example, illustrate the specific structure of harmonic reduction device assembly, referring to Fig. 3, harmonic speed reducer
Component includes: reducer shell 20, connecting flange 21, harmonic speed reducer main body 22, adapter flange 23 and roller bearing 24,
In, reducer shell 20 is located at except the first cylinder base 1 and is fixedly connected with the first cylinder base 1, and connecting flange 21 is located at reducing gearbox
On body 20, gear wheel 12 is located on connecting flange 21；Harmonic speed reducer main body 22 is located on reducer shell 20, specifically, even
Acting flange 21 is connected with the flexbile gear of harmonic speed reducer main body 22, the firm gear of adapter flange 23 one side and harmonic speed reducer main body 22
On the other hand connection is drivingly connected with the inner ring of crossed roller bearing 24, such as be equipped with to be embedded in adapter flange 23 and (have
Body is interference fit) rib in inner ring, realize that adapter flange 23 drives the rotation of 24 inner ring of crossed roller bearing.
Preferably, reducer shell 20 is equipped with annular carrier ring 25 and end ring 26, the outer ring of crossed roller bearing 24
It is compacted on carrier ring 25 by end ring 26, wherein end ring 26 is fixed on retarder by the way of such as bolt
On shell 20；The inner ring of first output flange 3 and crossed roller bearing 24 is relatively fixed, can be real by the way of for example embedding
Now rotate synchronously, such as welding etc. other fix techniques realization be bonded.
Wherein, for the ease of control, it is preferred that in a first direction the whole transmission ratio in freedom degree and second direction from
It is consistent by the whole transmission ratio spent, i.e., when the output revolving speed of the output revolving speed of first motor 7 and the second motor 8 is identical, first
Output flange 3 and the second output flange 4 also revolving speed having the same.
In another example of the invention, the first output flange 3 is equipped with the threading hole extended along its centre of gyration direction
27, referring to Fig. 1, correspondingly, the middle part of first harmonic decelerator component 13 is equipped with and the cable-through hole that is connected to inside the first cylinder base 1
(not shown) interconnects between threading hole 27 and cable-through hole, and electric wire can pass through threading hole 27 and cable-through hole and inside
Drive part is attached.
In an also example of the invention, it is equipped in the first cylinder base 1 and is respectively used to the of detection motor rotational angle
One angle detection unit 28, referring again to Fig. 2, specifically, encoder is equipped in first motor 7 and the second motor 8, for obtaining
Obtain the rotational angle and velocity of rotation of motor.
Further, it is equipped with second angle detection unit on the reducer shell 20 of harmonic reduction device assembly, joins again
See Fig. 3, second angle detection unit includes magnet ring 29 and the reading head wiring board 30 that is located on reducer shell 20, is used to real-time
Obtain the rotational angle of the first output flange 3 or the second output flange 4.
Two detection units are respectively equipped in two freedom degree direction settings, directly acquire input terminal (motor) and output end
The information of (output flange) can be obtained accurately between such as input torque and output torque by the debugging of limited times
The information such as relationship, and then realize high-precision control.
In another example of the invention, in the electronics skin of the first cylinder base 1 being externally provided with for perceiving contact force size
Skin structure 31, referring to Fig. 1, electronic skin structure 31 has flexible layer diaphragm type sensor；Specifically, electronic skin structure 31
It can detecte collision and power when contacting with people, have the characteristics that high sensitivity, with high accuracy, in conjunction with detection unit (first
Angle detection unit and second angle detection unit) obtain such as Torque Control mode, the safety of mechanical arm can be improved.
Although the present invention is disclosed above in the preferred embodiment, it is not intended to limit the invention the range of implementation.Any
The those of ordinary skill in field is not departing from invention scope of the invention, improves when can make a little, i.e., all according to this hair
Bright done same improvement, should be the scope of the present invention and is covered.
Claims (10)
1. a kind of two degree-of-freedom joint device based on multi-stage speed-reducing transmission, which is characterized in that including vertically disposed first
Seat and the second cylinder base；
First direction output revolving shaft and second direction output revolving shaft, the first direction output revolving shaft are equipped in first cylinder base
It is each provided on the length direction of first cylinder base, is parallel to each other therebetween and court respectively with the second direction output revolving shaft
It is arranged in the opposite direction；
First output flange, the centre of gyration of first output flange are parallel to the direction setting of the first direction shaft；
The centre of gyration of second output flange, second output flange is arranged perpendicular to the direction of the second direction shaft；
Be equipped with Spur Gear Driving group in first cylinder base, the Spur Gear Driving group include mutually matched active spur gear and
Driven spur gear, the active spur gear are located on the first direction output revolving shaft, and first output flange passes through harmonic wave
Reducer assemblies are connected to the driven spur gear；
Be equipped with Bevel Gear Transmission group in second cylinder base, the Bevel Gear Transmission group include mutually matched drive bevel gear and
Driven wheel of differential, the drive bevel gear are located on the second direction output revolving shaft, and second output flange passes through harmonic wave
Reducer assemblies are connected to the driven wheel of differential.
2. two degree-of-freedom joint device as described in claim 1, which is characterized in that the harmonic reduction device assembly includes slowing down
Device shell, the harmonic speed reducer main body being located in the reducing gearbox body, is located at turning for the retarder output end at connecting flange
Acting flange and the crossed roller bearing being connect with the adapter flange, wherein the connecting flange fixation is located at the retarder
On shell, the driven spur gear and the driven wheel of differential are respectively provided on the connecting flange, and with the harmonic reduction
The connection of device main body, first output flange and second output flange pass through the crossed roller bearing respectively and are connected to institute
Adapter flange is stated, and is rotated synchronously with the adapter flange.
3. two degree-of-freedom joint device as claimed in claim 2, which is characterized in that the harmonic reduction device assembly is additionally provided with axis
Retaining ring is held, annular carrier ring is equipped in the reducing gearbox body, the crossed roller bearing is compacted to institute by the end ring
Annular carrier ring is stated, and is fixedly connected with the reducer shell.
4. two degree-of-freedom joint device as described in claim 1, which is characterized in that first output flange and/or described
Second output flange is equipped with the threading hole extended along its centre of gyration direction, the middle part of one of them harmonic reduction device assembly
Equipped with the cable-through hole being connected to the first cylinder base inside, interconnected between the threading hole and the cable-through hole.
5. two degree-of-freedom joint device as described in claim 1, which is characterized in that be equipped with and be respectively used in first cylinder base
Two drive members of the first direction output shaft and the second direction output shaft are driven, each drive member is wrapped
It includes motor and is located at the planetary reduction box of motor output end.
6. two degree-of-freedom joint device as claimed in claim 5, which is characterized in that be equipped with and be respectively used in first cylinder base
Detect the first angle detection unit of two motor rotational angles.
7. two degree-of-freedom joint device as claimed in claim 6, which is characterized in that further include for obtaining first output
The second angle detection unit of flange and the second output flange rotational angle, the second angle detection unit are arranged to
It is relatively fixed with first cylinder base and second cylinder base.
8. two degree-of-freedom joint device as described in claim 1, which is characterized in that second cylinder base is far from described second
The side of output flange is equipped with fixed cover board, and the driven wheel of differential is located on the fixed cover board by bearing block rotation, institute
It states driven wheel of differential and is equipped with the transmission shaft being connected with harmonic reduction device assembly.
9. two degree-of-freedom joint device as described in claim 1, which is characterized in that first cylinder base and/or described second
The electronic skin structure of cylinder base being externally provided with for perceiving contact force size, the electronic skin structure have flexible layer film
Formula sensor.
10. two degree-of-freedom joint device as described in claim 1, which is characterized in that in the Spur Gear Driving group, the master
The number of teeth of dynamic spur gear is less than the number of teeth of the driven spur gear；In the Bevel Gear Transmission group, the drive bevel gear and institute
Stating driven wheel of differential is straight bevel gear, and the number of teeth of the two is identical.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811516504.3A CN109397327A (en) | 2018-12-11 | 2018-12-11 | A kind of two degree-of-freedom joint device based on multi-stage speed-reducing transmission |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811516504.3A CN109397327A (en) | 2018-12-11 | 2018-12-11 | A kind of two degree-of-freedom joint device based on multi-stage speed-reducing transmission |
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| CN109397327A true CN109397327A (en) | 2019-03-01 |
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| CN201811516504.3A Pending CN109397327A (en) | 2018-12-11 | 2018-12-11 | A kind of two degree-of-freedom joint device based on multi-stage speed-reducing transmission |
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Cited By (3)
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| CN110170986A (en) * | 2019-05-14 | 2019-08-27 | 北京铁甲钢拳科技有限公司 | A kind of exoskeleton system |
| CN112124044A (en) * | 2020-10-20 | 2020-12-25 | 江苏雷利电机股份有限公司 | Power device, wind direction adjusting device and vehicle |
| CN112454415A (en) * | 2019-09-06 | 2021-03-09 | 东风汽车有限公司 | Controllable locking type mechanical joint |
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