CN115042224A - Multi-degree-of-freedom spherical electric joint - Google Patents
Multi-degree-of-freedom spherical electric joint Download PDFInfo
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- CN115042224A CN115042224A CN202210823142.2A CN202210823142A CN115042224A CN 115042224 A CN115042224 A CN 115042224A CN 202210823142 A CN202210823142 A CN 202210823142A CN 115042224 A CN115042224 A CN 115042224A
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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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Abstract
The invention relates to the technical field of spherical joints, and discloses a multi-freedom-degree spherical electric joint which comprises a first rotor, a second rotor, a third rotor and an output shaft, the first stator, the second stator, the third stator and the base, the first rotor, the second rotor and the third rotor are respectively in a ring shape and have the same circle center, the first rotor and the second rotor are arranged in a crossed mode to form a ball frame, the third rotor is arranged in the ball frame, a connecting shaft is arranged on the inner side of the third rotor, an output shaft penetrates through the crossed connection position of the first rotor and the second rotor, the output shaft is connected with the connecting shaft through a universal joint, the first stator is connected with the base in a rotating mode, the rotating axis of the first stator is a first axis, the first rotor can rotate along with the first stator, the second stator is connected with the base in a rotating mode, the rotating axis of the second stator is a second axis, the second rotor can rotate along with the second stator, and the third stator is fixedly connected with the base. The invention decouples the three-degree-of-freedom motion of the joint, has simple control and improves the output torque.
Description
Technical Field
The invention relates to the technical field of spherical joints, in particular to a multi-degree-of-freedom spherical electric joint.
Background
In order to realize the rotary motion with three degrees of freedom, the existing robot has a way that a plurality of single-degree-of-freedom joints are connected in series, and a speed reducer is arranged in each joint. However, the scheme has the problems of self-weight, poor dynamic performance, return error, singular points in a working space and the like; another approach is to use a multiple degree of freedom spherical motorized joint that can produce multiple degree of freedom rotation at a single joint. It is common practice to use a spherical motor, which consists of a single spherical stator and a single spherical rotor, and which can simultaneously realize three-directional rotational movements. The position detection of the rotor is realized by a contact type measuring method, a hall element measuring method, a photoelectric measuring method, a visual measuring method, and the like. In the contact measurement method, a joint output shaft is connected with an encoder through mechanisms such as a mechanical connecting rod and a slide way, so that the pose of the joint output shaft is calculated; the Hall element measuring method is that Hall elements are arranged on a stator, and a rotor magnetic field is utilized to measure the pose; the photoelectric measurement method utilizes the texture of the surface of the rotor to analyze, thereby estimating the pose of the rotor; the vision measurement method is to perform color coding on the rotor, and utilize images acquired by a camera to solve coding combination in the images to obtain the rotor pose.
However, the existing spherical motor has the following problems: 1. too low a torque density: in the spherical motor, the torque of the permanent magnet type spherical motor is the largest, but because the rotor rotates and moves highly in all directions and is coupled, in the process of rotating in one direction, the torque in the other direction is influenced, and the electromagnetic force cannot be fully utilized, so the torque density is still very small; 2. rotor attitude detection lacks a high-precision integration scheme: the contact type measuring method has higher precision, but a transmission mechanism is required to be added, so that the inertia of the rotor is increased, and the dynamic performance is reduced; the Hall element measuring method is easily influenced by a magnetic field, and the detection precision is slightly poor; the photoelectric measurement method is influenced by environmental light, and the precision is low; the visual measurement method system is large and inconvenient to integrate. The four detection modes are limited by the detection device and are difficult to integrate on the joint; 3. the control difficulty is large: due to the severe kinematic coupling, the control method is relatively complex.
Disclosure of Invention
The invention aims to solve the technical problem of providing a multi-degree-of-freedom spherical electric joint which utilizes a frame type structure to decouple the three-degree-of-freedom motion of the joint and greatly improve the output rotation torque. In order to solve the technical problems, the invention provides a multi-degree-of-freedom spherical electric joint, which comprises a first rotor, a second rotor, a third rotor, an output shaft, a first stator, a second stator, a third stator and a base, wherein the first rotor, the second rotor and the third rotor are respectively in a ring shape, the first rotor, the second rotor and the third rotor have the same circle center, the first rotor and the second rotor are arranged in a crossed manner to form a ball frame, the third rotor is arranged in the ball frame, a connecting shaft arranged in the radial direction of the third rotor is arranged on the inner side of the third rotor, the output shaft is arranged in the radial direction of the first rotor and the radial direction of the second rotor, the output shaft penetrates through the crossed connection position of the first rotor and the second rotor, and is connected with the connecting shaft through a universal joint, the first stator and the first rotor are matched to form a first driving unit, the first stator is rotationally connected with the base, the rotating axis of the first stator is a first axis, the first axis is arranged along the radial direction of the first rotor, the first rotor can rotate around the first axis along with the first stator, the second stator and the second rotor are matched to form a second driving unit, the second stator is rotationally connected with the base, the rotating axis of the second stator is a second axis, the second axis is arranged along the radial direction of the second rotor, the second rotor can rotate around the second axis along with the second stator, the third stator and the third rotor are matched to form a third driving unit, the third stator is fixedly connected with the base, and the third rotor can rotate around the axis of the third stator.
As a preferable scheme of the present invention, the universal joint includes a connecting member and a connecting sleeve, the output shaft is connected to the connecting member, the connecting sleeve is rotatably sleeved on the connecting shaft, the connecting member is rotatably connected to the connecting sleeve, and a rotation axis of the connecting member intersects with an axis of the connecting shaft at a center of a sphere of the third rotor.
As a preferable scheme of the present invention, a first permanent magnet array is disposed on an outer side of the first rotor, the first stator is provided with a first winding corresponding to the first permanent magnet array, and the first winding is energized to generate a magnetic field for driving the first rotor to rotate around an axis of the first rotor; a second permanent magnet array is arranged on the outer side of the second rotor, a second winding corresponding to the second permanent magnet array is arranged on the second stator, and a magnetic field for driving the second rotor to rotate around the axis of the second rotor is generated after the second winding is electrified; and a third permanent magnet array is arranged outside the third rotor, a third winding corresponding to the third permanent magnet array is arranged on the third stator, and a magnetic field for driving the third rotor to rotate around the axis of the third rotor is generated after the third winding is electrified.
As a preferable aspect of the present invention, a first magnetic encoder for detecting a rotational position of the first stator is provided at a rotational connection point of the first stator and the base, and a second magnetic encoder for detecting a rotational position of the second stator is provided at a rotational connection point of the second stator and the base.
As a preferable scheme of the present invention, a positioning shaft is disposed at the bottom of the universal joint and is coaxial with the output shaft, the positioning shaft passes through the bottom of the first rotor and the bottom of the second rotor, and a third magnetic encoder for detecting a rotation position of the positioning shaft is disposed at the bottom of the positioning shaft.
As a preferable aspect of the present invention, two first stators are provided, and the two first stators are located on both sides in the radial direction of the first rotor, respectively.
As a preferable aspect of the present invention, two second stators are provided, and the two second stators are respectively located on both sides in the radial direction of the second rotor.
As a preferable aspect of the present invention, an axis of the third rotor is vertically arranged.
As a preferable scheme of the present invention, a protrusion is disposed on a top of the first rotor, a groove is disposed on a top of the second rotor, the protrusion is disposed on the groove, and the output shaft sequentially penetrates through the protrusion and the groove.
Compared with the prior art, the multi-degree-of-freedom spherical electric joint has the beneficial effects that: when the first driving unit drives the first rotor to rotate, the first rotor finally rotates around the second axis under the action of the first stator, the second rotor and the second stator, so that the output shaft is driven to rotate around the second axis; when the second driving unit drives the second rotor to rotate, under the action of the second stator, the first rotor and the first stator, the second rotor finally rotates around the first axis, so that the output shaft is driven to rotate around the first axis; when the third driving unit drives the third rotor to rotate, the output shaft finally rotates around the axis of the output shaft under the action of the universal joint; the output shaft of the invention can respectively rotate around the first axis, the second axis and the own axis, thereby realizing the multi-degree-of-freedom rotation of the output shaft, decoupling the three-degree-of-freedom motion, having simple control, high torque density, small inertia and good dynamic performance, greatly improving the output rotation torque, removing internal materials and greatly reducing the joint dead weight.
Drawings
FIG. 1 is a structural diagram of a multi-degree-of-freedom spherical electric joint provided by the invention;
FIG. 2 is a block diagram from another perspective of FIG. 1;
FIG. 3 is a view showing a coupling structure of the output shaft of FIG. 1 to the coupling shaft via a universal joint;
in the figure, 1, a first rotor; 11. a first permanent magnet array; 12. a protrusion; 2. a second rotor; 21. a second permanent magnet array; 22. a groove; 3. a third rotor; 31. a connecting shaft; 32. a third permanent magnet array; 4. an output shaft; 41. a universal joint; 411. a connecting member; 412. connecting sleeves; 413. positioning the shaft; 5. a first stator; 51. a first axis; 52. a first winding; 53. a first magnetic encoder; 6. a second stator; 61. a second axis; 62. a second winding; 63. a second magnetic encoder; 7. a third stator; 71. a third winding; 72. a third magnetic encoder; 8. a base.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. used herein are used in the orientation or positional relationship indicated in the drawings, which are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention, and furthermore, the terms "first", "second", "third" are used only for descriptive purposes and are not intended to indicate or imply relative importance.
As shown in fig. 1 to 3, for convenience of explaining the operation mechanism, only a part of the supporting structure and the core electromagnetic driving element is simply shown in fig. 1, a multi-degree-of-freedom spherical electric joint according to a preferred embodiment of the present invention includes a first rotor 1, a second rotor 2, a third rotor 3, an output shaft 4, a first stator 5, a second stator 6, a third stator 7, and a base 8, wherein the first rotor 1, the second rotor 2, and the third rotor 3 are respectively circular, the first rotor 1, the second rotor 2, and the third rotor 3 have the same center, the first rotor 1 and the second rotor 2 are arranged in a crossing manner to form a spherical frame, the third rotor 3 is arranged in the spherical frame, a connecting shaft 31 arranged in the radial direction of the third rotor 3 is arranged on the inner side of the third rotor 3, the output shaft 4 is arranged in the radial direction of the first rotor 1 and the radial direction of the second rotor 2, the output shaft 4 passes through the crossing connection between the first rotor 1 and the second rotor 2, the output shaft 4 is connected with the connecting shaft 31 through a universal joint 41, the first stator 5 is matched with the first rotor 1 to form a first driving unit, the first stator 5 is rotationally connected with the base 8, the rotation axis of the first stator 5 is a first axis 51, the first axis 51 is arranged along the radial direction of the first rotor 1, the first rotor 1 can rotate around the first axis 51 along with the first stator 5 (under the action of the magnetic attraction force between the first stator 5 and the first rotor 1), the second stator 6 is matched with the second rotor 2 to form a second driving unit, the second stator 6 is rotationally connected with the base 8, the rotation axis of the second stator 6 is a second axis 61, the second axis 61 is arranged along the radial direction of the second rotor 2, the second rotor 2 can rotate around the second axis 61 along with the second stator 6 (under the action of the magnetic attraction force between the second stator 6 and the second rotor 2), the third stator 7 is matched with the third rotor 3 to form a third driving unit, the third stator 7 is fixedly connected with the base 8, the third rotor 3 can rotate around the axis of the third rotor 3, the universal joint 41 can transmit the rotation of the connecting shaft 31 around the axis of the third rotor 3 to the output shaft 4 to rotate around the axis of the third rotor, and meanwhile, the universal joint 41 can avoid the interference of the first rotor 1 and the second rotor 2 with the third rotor 3 during rotation.
The working principle of the embodiment is as follows: when the first driving unit drives the first rotor 1 to rotate, specifically, the winding of the first stator 5 is electrified to generate a magnetic field for driving the first rotor 1 to rotate around the axis of the first rotor 1, because the output shaft 4 passes through the cross connection part of the first rotor 1 and the second rotor 2, and the second rotor 2 can rotate around the second axis 61 along with the second stator 6, the first stator 5 drives the first rotor 1 to rotate so as to drive the second rotor 2 to rotate, and simultaneously under the adsorption action of the second stator 6 and the second rotor 2, the second rotor 2 and the second stator 6 are finally driven to rotate around the second axis 61, so that the output shaft 4 is driven to rotate around the second axis 61; when the second driving unit drives the second rotor 2 to rotate, specifically, the winding of the second stator 6 is energized to generate a magnetic field which drives the second rotor 2 to rotate around the axis of the second rotor 2, similarly, the second stator 6 drives the second rotor 2 to rotate so as to drive the first rotor 1 to rotate, and finally, under the adsorption action of the first stator 5 and the first rotor 1, the first rotor 1 and the first stator 5 rotate around the first axis 51, so that the output shaft 4 is driven to rotate around the first axis 51; when the third driving unit drives the third rotor 3 to rotate, specifically, the winding of the third stator 7 is electrified to generate a magnetic field which drives the third rotor 3 to rotate around the axis of the third rotor 3, and since the output shaft 4 is connected with the connecting shaft 31 through the universal joint 41, the output shaft 4 finally rotates around the axis of the output shaft 4 under the action of the universal joint 41; the output shaft 4 can rotate around the first axis 51, the second axis 61 and the own axis respectively, so that the multi-degree-of-freedom rotation of the output shaft 4 is realized, namely on the premise of not considering limit, the output shaft 4 can freely rotate on a ball which takes the length of the output shaft 4 as the radius and takes the circle center of the first rotor 1 as the sphere center, and can also rotate, the three-degree-of-freedom motion is decoupled, the control is simple, the torque density is high, the inertia is small, the dynamic performance is good, the output rotating torque is greatly improved, the internal material is removed, and the joint dead weight is greatly reduced.
Illustratively, the universal joint 41 includes a connecting member 411 and a connecting sleeve 412, the output shaft 4 is connected to the connecting member 411, in this embodiment, the bottom end of the output shaft 4 is fixedly connected to the top of the connecting member 411, the connecting sleeve 412 is rotatably sleeved on the connecting shaft 31, that is, the connecting sleeve 412 can rotate around the axis of the connecting shaft 31, the connecting member 411 is rotatably connected to the connecting sleeve 412, and the rotation axis of the connecting member 411 and the axis of the connecting shaft 31 intersect at the center of the sphere of the third rotor 3, when the first driving unit drives the output shaft 4 to rotate around the second axis 61, the connecting sleeve 412 rotates relative to the connecting shaft 31, and when the second driving unit drives the output shaft 4 to rotate around the first axis 51, the connecting member 411 rotates relative to the connecting sleeve 412, thereby preventing the connecting shaft 31 from rotating, and ensuring that the connecting shaft 31 does not drive the third rotor 3 to move and cause misalignment with the third stator 7.
Illustratively, a first permanent magnet array 11 is arranged on the outer side of the first rotor 1, a first winding 52 corresponding to the first permanent magnet array 11 is arranged on the first stator 5, the first winding 52 is electrified to generate a magnetic field for driving the first rotor 1 to rotate around the axis of the first rotor 1, the structure of the first winding 52 and the arrangement structure of the first permanent magnet array 11 are mature technologies in the motor, and will not be described in detail herein, a second permanent magnet array 21 is arranged on the outer side of the second rotor 2, a second winding 62 corresponding to the second permanent magnet array 21 is arranged on the second stator 6, and the second winding 62 is electrified to generate a magnetic field for driving the second rotor 2 to rotate around the axis of the second rotor 2; a third permanent magnet array 32 is arranged outside the third rotor 3, a third winding 71 corresponding to the third permanent magnet array 32 is arranged on the third stator 7, a magnetic field for driving the third rotor 3 to rotate around the axis of the third rotor 3 is generated after the third winding 71 is electrified, the third stator 7 can be arranged in a plurality of numbers, the third winding 71 is only required to be distributed around the axis of the third rotor 3, or the third stator 7 is a circular ring coaxially arranged with the third rotor 3, and the third winding 71 is arranged around the inner ring of the third stator 7 in a circle.
Illustratively, the number of the first stators 5 is two, the two first stators 5 are respectively located at two radial sides of the first rotor 1, the two first stators 5 are respectively connected with the base 8 in a rotating manner, and the two first stators 5 are distributed at two sides of the first rotor 1 along the first axis 51.
Illustratively, the number of the second stators 6 is two, and the two second stators 6 are respectively located on both sides in the radial direction of the second rotor 2.
Illustratively, a first magnetic encoder 53 for detecting the rotation position of the first stator 5 is arranged at the rotation connection position of the first stator 5 and the base 8, so as to determine the rotation position of the first rotor 1, generally, the outer side of the first stator 5 is rotatably connected with the base 8 through a first rotating shaft, the first magnetic encoder 53 is arranged at the connection position of the first rotating shaft and the base 8, a second magnetic encoder 63 for detecting the rotation position of the second stator 6 is arranged at the rotation connection position of the second stator 6 and the base 8, so as to determine the rotation position of the second rotor 2, generally, the outer side of the second stator 6 is rotatably connected with the base 8 through a second rotating shaft, and the second magnetic encoder 63 is arranged at the connection position of the second rotating shaft and the base 8.
Exemplarily, the bottom of the universal joint 41 is provided with a positioning shaft 413 coaxially disposed with the output shaft 4, the positioning shaft 413 passes through the bottom of the first rotor 1 and the bottom of the second rotor 2, the bottom of the positioning shaft 413 is provided with a third magnetic encoder 72 for detecting a rotational position of the positioning shaft 413, the rotational position of the output shaft 4 is determined by detecting the rotational position of the positioning shaft 413, in this embodiment, in order to facilitate installation of the third magnetic encoder 72, the bottom of the first rotor 1 is provided with a first boss, the bottom of the second rotor 2 is provided with a second boss, the first boss is located above the second boss, the positioning shaft 413 sequentially passes through the first boss and the second boss, and the third magnetic encoder 72 is installed at the bottom of the second boss.
Illustratively, the axis of the third rotor 3 is vertically arranged, that is, the third rotor 3 is horizontally arranged, so as to facilitate the arrangement of the third rotor 3 and the base 8, in this embodiment, the base 8 is a circular ring coaxially arranged with the third rotor 3, the third stator 7 is arranged between the inner side of the base 8 and the third rotor 3, and the base 8 is provided with a first mounting groove for mounting the first rotor 1 and a second mounting groove for mounting the second rotor 2, so as to facilitate positioning and mounting.
In an embodiment of the present invention, in the initial state, the axis of the first rotor 1 and the second axis 61 are arranged along the X axis, the axis of the second rotor 2 and the first axis 51 are arranged along the Y axis, the axis of the third rotor 3 and the axis of the output shaft 4 are arranged along the Z axis, and the X axis, the Y axis and the Z axis are perpendicular to each other in pairs, it should be noted that the above positions are the initial positions of the present invention and do not represent that the above positional relationship is maintained in the following process, and in fact, when the first rotor 1, the second rotor 2 and the output shaft 4 rotate, the corresponding axes are changed in position, and the axes of the first axis 51, the second axis 61 and the third rotor 3 are maintained unchanged.
Illustratively, the top of the first rotor 1 is provided with a protrusion 12, the top of the second rotor 2 is provided with a groove 22, the protrusion 12 is arranged on the groove 22, and the output shaft 4 sequentially passes through the protrusion 12 and the groove 22, so that the first rotor 1 and the second rotor 2 are arranged in a crossed manner.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (9)
1. A multi-freedom spherical electric joint is characterized in that: the ball-shaped driving device comprises a first rotor, a second rotor, a third rotor, an output shaft, a first stator, a second stator, a third stator and a base, wherein the first rotor, the second rotor and the third rotor are respectively in a ring shape, the first rotor, the second rotor and the third rotor have the same circle center, the first rotor and the second rotor are arranged in a crossed mode to form a ball frame, the third rotor is arranged in the ball frame, a connecting shaft arranged along the radial direction of the third rotor is arranged on the inner side of the third rotor, the output shaft is arranged along the radial direction of the first rotor and the radial direction of the second rotor, the output shaft penetrates through the crossed connection position of the first rotor and the second rotor, the output shaft is connected with the connecting shaft through a universal joint, and the first stator and the first rotor are matched to form a first driving unit, the first stator is connected with the base in a rotating mode, the rotating axis of the first stator is a first axis, the first axis is arranged along the radial direction of the first rotor, the first rotor can follow the first stator to rotate around the first axis, the second stator is matched with the second rotor to form a second driving unit, the second stator is connected with the base in a rotating mode, the rotating axis of the second stator is a second axis, the second axis is arranged along the radial direction of the second rotor, the second rotor can follow the second stator to rotate around the second axis, the third stator is matched with the third rotor to form a third driving unit, the third stator is fixedly connected with the base, and the third rotor can rotate around the axis of the third rotor.
2. The multi-degree-of-freedom spherical motorized joint according to claim 1, wherein: the universal joint includes connecting piece and adapter sleeve, the output shaft with the connecting piece is connected, the rotatable cover of adapter sleeve is established on the connecting axle, the connecting piece with the adapter sleeve rotates to be connected and its axis of rotation with the axis of connecting axle intersect in the centre of sphere of third rotor.
3. The multi-degree-of-freedom spherical motorized joint according to claim 1, wherein: a first permanent magnet array is arranged on the outer side of the first rotor, a first winding corresponding to the first permanent magnet array is arranged on the first stator, and a magnetic field for driving the first rotor to rotate around the axis of the first rotor is generated after the first winding is electrified; a second permanent magnet array is arranged on the outer side of the second rotor, a second winding corresponding to the second permanent magnet array is arranged on the second stator, and a magnetic field for driving the second rotor to rotate around the axis of the second rotor is generated after the second winding is electrified; and a third permanent magnet array is arranged outside the third rotor, a third winding corresponding to the third permanent magnet array is arranged on the third stator, and a magnetic field for driving the third rotor to rotate around the axis of the third rotor is generated after the third winding is electrified.
4. The multi-degree-of-freedom spherical motorized joint according to claim 1, wherein: the first stator with the rotation junction of base is equipped with and is used for detecting the first magnetic encoder of the rotational position of first stator, the second stator with the rotation junction of base is equipped with and is used for detecting the second magnetic encoder of the rotational position of second stator.
5. The multi-degree-of-freedom spherical motorized joint according to claim 1, wherein: the bottom of the universal joint is provided with a positioning shaft which is coaxial with the output shaft, the positioning shaft penetrates through the bottom of the first rotor and the bottom of the second rotor, and the bottom of the positioning shaft is provided with a third magnetic encoder for detecting the rotating position of the positioning shaft.
6. The multi-degree-of-freedom spherical motorized joint according to claim 1, wherein: the number of the first stators is two, and the two first stators are respectively located on two radial sides of the first rotor.
7. The multi-degree-of-freedom spherical motorized joint according to claim 1, wherein: the number of the second stators is two, and the two second stators are respectively positioned on two radial sides of the second rotor.
8. The multi-degree-of-freedom spherical motorized joint according to claim 1, wherein: the axis of the third rotor is arranged vertically.
9. The multi-degree-of-freedom spherical motorized joint according to claim 1, wherein: the top of first rotor is equipped with the arch, the top of second rotor is equipped with the recess, the arch is located on the recess, the output shaft passes in proper order the arch with the recess.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210823142.2A CN115042224A (en) | 2022-07-13 | 2022-07-13 | Multi-degree-of-freedom spherical electric joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210823142.2A CN115042224A (en) | 2022-07-13 | 2022-07-13 | Multi-degree-of-freedom spherical electric joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115042224A true CN115042224A (en) | 2022-09-13 |
Family
ID=83164662
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210823142.2A Pending CN115042224A (en) | 2022-07-13 | 2022-07-13 | Multi-degree-of-freedom spherical electric joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115042224A (en) |
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2022
- 2022-07-13 CN CN202210823142.2A patent/CN115042224A/en active Pending
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