CN113894837A - Joint power unit and mechanical arm applying same - Google Patents
Joint power unit and mechanical arm applying same Download PDFInfo
- Publication number
- CN113894837A CN113894837A CN202111228323.2A CN202111228323A CN113894837A CN 113894837 A CN113894837 A CN 113894837A CN 202111228323 A CN202111228323 A CN 202111228323A CN 113894837 A CN113894837 A CN 113894837A
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- gear ring
- unit
- cam
- joint power
- power unit
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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
- B25J17/02—Wrist joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention relates to the technical field of robot equipment, and discloses a joint power unit and a mechanical arm applying the same. The invention provides a joint power unit, which comprises a fixed seat, a motor unit and a speed reducer unit, wherein the motor unit and the speed reducer unit are arranged in the fixed seat; the cam is abutted against the meshing part and rotates relative to the meshing part so as to drive the meshing part to roll on the inner side of the internal gear ring; when the inner gear ring is fixed, the meshing part rolls on the inner side of the inner gear ring, and the output part is driven to rotate through the flexible connecting part; the flexible outer gear ring and the cam form a containing cavity, and the motor unit is arranged in the containing cavity. The axial size of the joint power unit is greatly shortened, and the whole structure is more compact.
Description
Technical Field
The invention relates to the technical field of robot equipment, in particular to a joint power unit and a mechanical arm applying the same.
Background
The joint power unit of integrated reduction gear is one of the key spare part of robot, and current reduction gear structure, size such as harmonic reduction gear, cycloid pin wheel reduction gear is great to set up mostly the ascending series connection design with the structural configuration of motor element, lead to joint power unit's axial dimension great, the structure is compact inadequately.
For example: an electric drive gyration power pack is disclosed in chinese patent application No. 2018212673930, including motor base, motor element and reduction gear unit, its motor element and reduction gear unit are axial series design promptly, lead to whole joint power pack's axial dimension great, and the structure is not compact, is unfavorable for using widely.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a joint power unit, wherein a motor unit and a speed reducer unit are coupled and integrated, the axial size is greatly shortened, the structure is compact, and the joint power unit is beneficial to popularization and use.
The invention also aims to provide a mechanical arm, wherein a motor unit and a speed reducer unit in a joint power unit are coupled and integrated, the axial size is greatly shortened, and the structure at the joint is more compact.
One of the purposes of the invention is realized by adopting the following technical scheme:
a joint power unit comprises a fixed seat, a motor unit and a speed reducer unit, wherein the motor unit and the speed reducer unit are arranged in the fixed seat;
the speed reducer unit comprises an inner gear ring, a flexible outer gear ring arranged on the inner side of the inner gear ring and a cam arranged on the inner side of the flexible outer gear ring;
the flexible outer gear ring sequentially comprises a meshing part, a flexible connecting part capable of generating deformation and an output part;
the meshing part is in meshing transmission with the inner gear ring, and the number of teeth of the meshing part is less than that of the inner gear ring;
the cam is abutted against the meshing part and rotates relative to the meshing part so as to drive the meshing part to roll on the inner side of the inner gear ring;
the rotation center of the output part, the rotation center of the cam and the rotation center of the inner gear ring are positioned on the same axis;
when the inner gear ring is fixed, the meshing part rolls on the inner side of the inner gear ring, and the output part is driven to rotate through the flexible connecting part;
the flexible outer gear ring and the cam form an accommodating cavity, and the motor unit is arranged in the accommodating cavity.
As a preferred technical solution, it is proposed that,
a stator fixing shaft is fixedly arranged at the rotation center of the fixing seat, and the motor unit comprises a motor rotor and a motor stator;
the motor stator is fixed on the stator fixing shaft, and the motor rotor is fixed on the stator fixing shaft through a first bearing; the tail end of the stator fixing shaft is rotatably connected with the output flange through a second bearing.
According to a preferable technical scheme, a flexible bearing is arranged on the inner side of the meshing part of the cam, an inner ring of the flexible bearing is fixedly connected with the cam, and an outer ring of the flexible bearing is fixedly connected with the meshing part. The flexible bearing is arranged between the cam and the meshing part, so that sliding friction between the cam and the meshing part is changed into rolling friction, the abrasion of parts is reduced, and the service life of the differential gear speed reducer is prolonged.
As a preferable technical solution, the output end of the motor rotor is fixedly connected with the cam, and the rotation center of the motor rotor and the rotation center of the cam are located on the same axis. The motor rotor directly drives the cam to rotate, so that the cam drives the meshing part to roll.
As a preferred technical scheme, an encoder is arranged at the output end of the motor rotor, the encoder comprises a magnetic ring and an annular circuit board which are matched with each other, the magnetic ring is concentrically and fixedly connected with the cam, and the annular circuit board is fixed at a corresponding position on the fixed seat.
As a preferred technical scheme, the joint power unit further comprises an outer shell, and the outer shell is in threaded connection with the fixed seat; the output flange is rotationally connected with the outer shell through a third bearing; an anti-impact pad is arranged between the outer shell and the inner gear ring, and bulges matched with the outer shell and the inner gear ring are respectively arranged on two sides of the anti-impact pad; when the inner gear ring is subjected to impact load, the inner gear ring and the outer shell rotate relatively.
The anti-impact pad is arranged, when the inner gear ring is impacted by instantaneous peak load, the inner gear ring can rotate relative to the outer shell, and the parts in the joint power unit are prevented from being damaged due to external impact.
Preferably, an annular hollow shielding ring sheet made of a magnetic conductive material is fixed on the end face of the fixing seat, and a hollow axis of the annular hollow shielding ring sheet and the fixing seat can be coaxial, so that interference of other parts outside the end face of the joint power unit fixing seat on an encoder in the joint power unit is prevented.
One part or all of the end surface of the stator fixing shaft close to the fixing seat is nested with a hollow ring sleeve made of annular magnetic conductive materials, so that various electric wires penetrating through the inside of the stator fixing shaft of the joint power unit are prevented from interfering with an encoder in the joint power unit.
As a preferred technical scheme, the joint power unit comprises a motor unit and a speed reducer unit;
the speed reducer unit is of a hollow structure, an accommodating cavity for assembling the motor unit is formed, and the axial extension direction of the motor unit is overlapped or parallel to the axial extension direction of the accommodating cavity so as to reduce the axial size of the joint power unit.
Through continuous exploration and test, the speed reducer unit with a hollow structure is arranged, and the motor unit is directly assembled in the speed reducer, so that the motor unit and the speed reducer are organically coupled.
Compared with the connection mode that the motor unit and the speed reducer unit are respectively used as independent functions and are integrally connected in series in the traditional design, the axial size of the joint power unit is greatly shortened, the overall structure of the joint power unit is more compact, the design is ingenious, and the joint power unit is utilized and popularized.
As a preferable technical scheme, the accommodating cavity penetrates through the motor unit along the axial direction, and at least one part of the sectional shape of the accommodating cavity is the same as that of the motor unit, so that the accommodating cavity is matched with the motor unit in shape, and the motor unit can be completely placed in the accommodating cavity. The motor is completely arranged in the speed reducer, and the axial size of the joint power unit is shortened to the maximum extent.
As a preferred technical scheme, the reducer unit comprises an inner gear ring, a flexible outer gear ring arranged on the inner side of the inner gear ring, and a cam arranged on the inner side of the flexible outer gear ring;
the flexible outer gear ring sequentially comprises a meshing part, a flexible connecting part capable of generating deformation and an output part;
the meshing part is in meshing transmission with the inner gear ring, and the number of teeth of the meshing part is less than that of the inner gear ring;
the cam is abutted against the meshing part and rotates relative to the meshing part so as to drive the meshing part to roll on the inner side of the inner gear ring;
the rotation center of the output part, the rotation center of the cam and the rotation center of the inner gear ring are positioned on the same axis;
when the inner gear ring is fixed, the meshing part rolls on the inner side of the inner gear ring, and the output part is driven to rotate through the flexible connecting part;
the flexible outer gear ring and the cam form an accommodating cavity, and the motor unit is arranged in the accommodating cavity.
The second purpose of the invention is realized by adopting the following technical scheme:
a mechanical arm comprises the joint power unit.
Compared with the prior art, the invention has the beneficial effects that:
according to the joint power unit provided by the invention, the motor unit is arranged in the flexible outer gear ring of the speed reducer unit, and the motor unit and the speed reducer unit are organically coupled, so that compared with a connection mode in which the motor unit and the speed reducer unit are respectively used as independent functions and integrally connected in series in the traditional design, the axial size of the joint power unit is greatly shortened, and the integral structure of the joint power unit is more compact.
The mechanical arm provided by the invention comprises the joint power unit, the motor unit is arranged in the flexible outer gear ring of the speed reducer, and the motor unit and the speed reducer unit are organically coupled, so that compared with a connection mode in which the motor unit and the speed reducer unit are respectively used as independent functions and integrally connected in series in the traditional design, the axial size of the joint power unit is greatly shortened, and the integral structure of the joint power unit is more compact.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a full sectional view of the retarder unit of the present invention;
FIG. 2 is an exploded view of the retarder unit of the present invention;
FIG. 3 is a full sectional view of the joint power unit of the present invention;
FIG. 4 is an exploded view of the joint power unit of the present invention;
fig. 5 is an overall schematic view of the joint power unit of the present invention.
In the figure: 1. an inner gear ring; 2. a flexible outer gear ring; 21. an engaging portion; 22. a flexible connection; 23. an output section; 3. a cam; 4. a compliant bearing; 5. a motor rotor; 6. a magnetic ring; 7. an annular circuit board; 8. an outer housing; 9. a stator fixing shaft; 10. an output flange; 11. an anti-impact pad; 12. a motor stator; 13. an accommodating chamber; 14. a fixed seat; 15. a first bearing; 16. a second bearing; 17. and a third bearing.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
It should be noted that when two elements are "fixedly connected" or "rotatably connected", the two elements may be directly connected or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "upper", "lower" and the like are used herein for illustrative purposes only.
As shown in fig. 1, 2, 3, 4, and 5, a joint power unit includes an outer housing 8, a fixing base 14, a motor unit and a reducer unit disposed in the fixing base 14.
The speed reducer unit comprises an inner gear ring 1, a flexible outer gear ring 2 arranged on the inner side of the inner gear ring 1 and a cam 3 arranged on the inner side of the flexible outer gear ring 2.
The flexible outer gear ring 2 sequentially comprises an engaging part 21, a flexible connecting part 22 capable of deforming and an output part 23, the engaging part 21 is in engaged transmission with the inner gear ring 1, and the number of teeth of the engaging part 21 is less than that of the inner gear ring 1.
The cam 3 abuts against the engaging part 21 and rotates relative to the engaging part 21 to drive the engaging part 21 to roll on the inner side of the ring gear 1.
The rotation center of the output part 23, the rotation center of the cam 3 and the rotation center of the ring gear 1 are positioned on the same axis; when the ring gear 1 is fixed, the engaging part 21 rolls on the inner side of the ring gear 1, and the output part 23 is driven to rotate through the flexible connecting part 22.
The flexible outer gear ring 2 and the cam 3 form an accommodating cavity 13, and the motor unit is arranged in the accommodating cavity 13. And a stator fixing shaft 9 is fixedly arranged at the rotation center of the fixing seat 14. The speed reducer unit is a differential gear speed reducer.
According to the joint power unit provided by the invention, the motor unit is arranged in the flexible outer gear ring 2 of the differential gear reducer, and the motor unit and the differential gear reducer are organically coupled, so that compared with a connection mode in which the motor unit and the reducer unit are respectively used as independent functions and integrally connected in series in the traditional design, the axial size of the joint power unit is greatly shortened, and the integral structure of the joint power unit is more compact.
A specific embodiment of the motor unit of the invention:
the motor unit comprises a motor rotor 5 and a motor stator 12.
The motor stator 12 is provided with a through hole, a first bearing 15 is assembled in the through hole, and the motor rotor 5 is fixed on the stator fixing shaft 9 through the first bearing 15.
The stator fixing shaft 9 is a stage shaft, an output flange 10 is arranged at the tail end of the stator fixing shaft, and the output flange 10 is fixed on the stator fixing shaft 9 through a second bearing 16.
One specific embodiment of the housing structure of the present invention:
the outer shell 8 is in threaded connection with the fixed seat 14; the output flange 10 is rotationally connected with the outer shell 8 through a third bearing 17; an anti-impact pad 11 is arranged between the outer shell 8 and the inner gear ring 1, and protrusions matched with the outer shell 8 and the inner gear ring 1 are respectively arranged on two sides of the anti-impact pad 11; when the inner gear ring 1 is subjected to impact load, the inner gear ring can rotate relative to the outer shell 8.
The anti-impact pad 11 is arranged, when the inner gear ring 1 is impacted by instantaneous peak load, the inner gear ring 1 and the outer shell 8 can rotate relatively, and parts in the joint power unit are prevented from being damaged due to external impact.
The invention adds a specific embodiment of the flexible bearing 4:
the cam 3 with the meshing portion 21 inboard is equipped with flexible bearing 4, flexible bearing 4 inner circle with cam 3 fixed connection, flexible bearing 4 outer lane with meshing portion 21 fixed connection. The flexible bearing 4 is arranged between the cam 3 and the meshing part 21, so that sliding friction between the cam 3 and the meshing part 21 is changed into rolling friction, the abrasion of parts is reduced, and the service life of the differential gear speed reducer is prolonged.
One specific embodiment of the transmission structure of the present invention:
the output end of the motor rotor 5 is fixedly connected with the cam 3, and the rotation center of the motor rotor 5 and the rotation center of the cam 3 are positioned on the same axis. The motor rotor 5 directly drives the cam 3 to rotate, so that the cam 3 drives the meshing part 21 to roll.
The invention adds a specific embodiment of the encoder:
the output end of the motor rotor 5 is provided with an encoder, the encoder comprises a magnetic ring 6 and an annular circuit board 7 which are matched with each other, the magnetic ring 6 is fixedly connected with the cam 3 in a concentric mode, and the annular circuit board 7 is fixed at the corresponding position on the fixed seat 14.
The specific embodiment of the invention for preventing electromagnetic interference comprises the following steps:
an annular hollow shielding ring sheet made of a magnetic conductive material is fixed on the end face of the fixed seat 14, and the hollow axis of the annular hollow shielding ring sheet is coaxial with the fixed seat 14, so that interference of other parts outside the end face of the fixed seat 14 of the joint power unit on an encoder in the joint power unit is prevented.
One part or all of the end surface of the stator fixing shaft 9 close to the fixed seat 14 is nested with a hollow ring sleeve made of annular magnetic conductive materials, so that various electric wires penetrating through the inside of the stator fixing shaft 9 of the joint power unit are prevented from interfering with an encoder in the joint power unit.
A preferred embodiment of the present invention:
a joint power unit comprises a motor unit and a speed reducer unit;
the speed reducer unit is of a hollow structure, an accommodating cavity 13 for assembling the motor unit is formed, and the axial extension direction of the motor unit is overlapped or parallel to the axial extension direction of the accommodating cavity 13, so that the axial size of the joint power unit is reduced.
Through continuous exploration and test, the speed reducer unit with a hollow structure is arranged, and the motor unit is directly assembled in the speed reducer, so that the motor unit and the speed reducer are organically coupled.
Compared with the connection mode that the motor unit and the speed reducer unit are respectively used as independent functions and are integrally connected in series in the traditional design, the axial size of the joint power unit is greatly shortened, the overall structure of the joint power unit is more compact, the design is ingenious, and the joint power unit is utilized and popularized.
One specific embodiment of the structure of the accommodation chamber 13 of the present invention:
the accommodating cavity 13 is through along the axial direction, and at least one section of the accommodating cavity is the same as that of the motor unit, so that the accommodating cavity 13 is matched with the motor unit in shape, and the motor unit can be completely placed in the accommodating cavity 13. The motor is completely arranged in the speed reducer, and the axial size of the joint power unit is shortened to the maximum extent.
In the application, the fixing connection mode can be a screw connection mode, a welding mode, a riveting mode, an inserting mode or a connection mode through a third component, and a person skilled in the art can select the fixing connection mode according to actual conditions.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (10)
1. A joint power unit is characterized in that,
comprises a fixed seat (14), a motor unit and a reducer unit which are arranged in the fixed seat (14);
the speed reducer unit comprises an inner gear ring (1), a flexible outer gear ring (2) arranged on the inner side of the inner gear ring (1), and a cam (3) arranged on the inner side of the flexible outer gear ring (2);
the flexible outer gear ring (2) sequentially comprises a meshing part (21), a flexible connecting part (22) capable of generating deformation and an output part (23);
the meshing part (21) is in meshing transmission with the inner gear ring (1), and the number of teeth of the meshing part (21) is less than that of the inner gear ring (1);
the cam (3) is abutted against the meshing part (21) and rotates relative to the meshing part (21) so as to drive the meshing part (21) to roll on the inner side of the inner gear ring (1);
the rotation center of the output part (23), the rotation center of the cam (3) and the rotation center of the inner gear ring (1) are positioned on the same axis;
when the inner gear ring (1) is fixed, the meshing part (21) rolls on the inner side of the inner gear ring (1), and the output part (23) is driven to rotate through the flexible connecting part (22);
the flexible outer gear ring (2) and the cam (3) form an accommodating cavity (13), and the motor unit is arranged in the accommodating cavity (13).
2. The joint power unit of claim 1,
a stator fixing shaft (9) is fixedly arranged at the rotation center of the fixing seat (14), and the motor unit comprises a motor rotor (5) and a motor stator (12);
the motor stator (12) is fixed on the stator fixing shaft (9), and the motor rotor (5) is fixed on the stator fixing shaft (9) through a first bearing (15); the tail end of the stator fixing shaft (9) is rotatably connected with the output flange (10) through a second bearing (16).
3. The joint power unit of claim 2,
the cam (3) and the inner side of the meshing part (21) are provided with flexible bearings (4), inner rings of the flexible bearings (4) are fixedly connected with the cam (3), and outer rings of the flexible bearings (4) are fixedly connected with the meshing part (21).
4. The joint power unit of claim 2,
the output end of the motor rotor (5) is fixedly connected with the cam (3), and the rotation center of the motor rotor (5) and the rotation center of the cam (3) are positioned on the same axis.
5. The joint power unit of any one of claims 1-4,
the output end of the motor rotor (5) is provided with an encoder, the encoder comprises a magnetic ring (6) and an annular circuit board (7) which are matched with each other, the magnetic ring (6) is concentrically and fixedly connected with the cam (3), and the annular circuit board (7) is fixed at a corresponding position on the fixed seat (14).
6. The joint power unit of claim 1,
the joint power unit further comprises an outer shell (8), and the outer shell (8) is in threaded connection with the fixed seat (14); the output flange (10) is rotationally connected with the outer shell (8) through a third bearing (17); an anti-impact pad (11) is arranged between the outer shell (8) and the inner gear ring (1), and protrusions matched with the outer shell (8) and the inner gear ring (1) are respectively arranged on two sides of the anti-impact pad (11); when the inner gear ring (1) is subjected to impact load, the inner gear ring and the outer shell (8) rotate relatively.
7. The joint power unit of claim 2,
an annular hollow shielding ring sheet made of magnetic conductive materials is fixed on the end face of the fixed seat (14);
one part or all of the end surface of the stator fixing shaft (9) close to the fixed seat (14) is nested with a hollow ring sleeve made of annular magnetic conductive materials.
8. A joint power unit is characterized in that,
comprises a motor unit and a reducer unit;
the speed reducer unit is of a hollow structure, an accommodating cavity (13) for assembling the motor unit is formed, and the axial extension direction of the motor unit is overlapped with or parallel to the axial extension direction of the accommodating cavity (13) so as to reduce the axial size of the joint power unit.
9. The joint power unit of claim 8,
the accommodating cavity (13) is communicated along the axial direction, and at least one section of the accommodating cavity is the same as that of the motor unit, so that the accommodating cavity (13) is matched with the motor unit in shape, and the motor unit can be completely placed in the accommodating cavity (13);
the speed reducer unit comprises an inner gear ring (1), a flexible outer gear ring (2) arranged on the inner side of the inner gear ring (1), and a cam (3) arranged on the inner side of the flexible outer gear ring (2);
the flexible outer gear ring (2) sequentially comprises a meshing part (21), a flexible connecting part (22) capable of generating deformation and an output part (23);
the meshing part (21) is in meshing transmission with the inner gear ring (1), and the number of teeth of the meshing part (21) is less than that of the inner gear ring (1);
the cam (3) is abutted against the meshing part (21) and rotates relative to the meshing part (21) so as to drive the meshing part (21) to roll on the inner side of the inner gear ring (1);
the rotation center of the output part (23), the rotation center of the cam (3) and the rotation center of the inner gear ring (1) are positioned on the same axis;
when the inner gear ring (1) is fixed, the meshing part (21) rolls on the inner side of the inner gear ring (1), and the output part (23) is driven to rotate through the flexible connecting part (22);
the flexible outer gear ring (2) and the cam (3) form an accommodating cavity (13), and the motor unit is arranged in the accommodating cavity (13).
10. A robotic arm comprising a joint power unit as claimed in any one of claims 1 to 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111228323.2A CN113894837A (en) | 2021-10-21 | 2021-10-21 | Joint power unit and mechanical arm applying same |
| PCT/CN2022/093200 WO2023065655A1 (en) | 2021-10-21 | 2022-05-17 | Joint power unit and mechanical arm using same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111228323.2A CN113894837A (en) | 2021-10-21 | 2021-10-21 | Joint power unit and mechanical arm applying same |
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| Publication Number | Publication Date |
|---|---|
| CN113894837A true CN113894837A (en) | 2022-01-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111228323.2A Pending CN113894837A (en) | 2021-10-21 | 2021-10-21 | Joint power unit and mechanical arm applying same |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113894837A (en) |
| WO (1) | WO2023065655A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023065655A1 (en) * | 2021-10-21 | 2023-04-27 | 杭州宇树科技有限公司 | Joint power unit and mechanical arm using same |
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| CN112728014A (en) * | 2020-12-25 | 2021-04-30 | 杭州宇树科技有限公司 | Overload impact resistant planetary reducer, robot joint and quadruped robot |
| CN113172655A (en) * | 2021-05-10 | 2021-07-27 | 福德机器人（成都）有限责任公司 | Integrated joint device and seven-axis robot thereof |
| CN113300542A (en) * | 2021-06-01 | 2021-08-24 | 广东威灵电机制造有限公司 | Rotor, motor and household appliance |
| CN216299344U (en) * | 2021-10-21 | 2022-04-15 | 杭州宇树科技有限公司 | Joint power unit and mechanical arm applying same |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023065655A1 (en) * | 2021-10-21 | 2023-04-27 | 杭州宇树科技有限公司 | Joint power unit and mechanical arm using same |
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| Publication number | Publication date |
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| WO2023065655A1 (en) | 2023-04-27 |
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