CN207327029U - A kind of joint of mechanical arm and mechanical arm - Google Patents
A kind of joint of mechanical arm and mechanical arm Download PDFInfo
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- CN207327029U CN207327029U CN201720841856.0U CN201720841856U CN207327029U CN 207327029 U CN207327029 U CN 207327029U CN 201720841856 U CN201720841856 U CN 201720841856U CN 207327029 U CN207327029 U CN 207327029U
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Abstract
Mechanical arm technical field is the utility model is related to, more particularly, to a kind of joint of mechanical arm and mechanical arm.Joint of mechanical arm includes input module, output precision, brake, harmonic speed reducer, multi-turn absolute value encoder and grating encoder, wherein, multi-turn absolute value encoder is used to detect the multiturn absolute angle value during hollow input shaft initial start；When the grating encoder reads Z phase signals, the multiturn absolute angle value of the hollow input shaft is detected by the grating encoder.The joint of mechanical arm coordinates the infomation detection for the multiturn absolute angle value for carrying out hollow input shaft by absolute value encoder and grating encoder, simplify the structure of multi-turn absolute value encoder, improve accuracy of detection, and then simplify the overall structure of joint of mechanical arm, reduce cost, improve the overall precision of joint of mechanical arm.Mechanical arm includes joint of mechanical arm, simplifies overall structure, reduces dead weight, improves overall precision.
Description
Technical field
Mechanical arm technical field is the utility model is related to, more particularly, to a kind of joint of mechanical arm and mechanical arm.
Background technology
With the development of electromechanical integration technology, industrial products are towards intelligence, systematization, micromation, modularization and people
The direction of machine cooperation is developed.Especially in light-duty mechanical arm field, mechanical arm has height to refine, modularization, lightweight and it is more from
By the development trend of degreeization.
And for existing machinery arm, the upper arm composition of people is substantially simulated, in order to ensure that mechanical arm has six
Spatial degrees of freedom, its active joint number are generally six, are all cradle head under normal circumstances.Existing modular mechanical arm
In modularized joint structure it is excessively complicated so that the own vol in joint is larger, cost is higher.
Utility model content
(1) technical problems to be solved
The purpose of this utility model is to provide a kind of joint of mechanical arm, to solve modularized joint existing in the prior art
Structure it is excessively complicated so that the higher technical problem of the cost in joint.
(2) technical solution
In order to solve the above-mentioned technical problem, the utility model provides a kind of joint of mechanical arm, including input module, output
Component, brake, harmonic speed reducer, multi-turn absolute value encoder and grating encoder；
The input module includes hollow shaft motor and hollow input shaft, the hollow input shaft and the hollow shaft motor
Rotor be fixedly connected；
The output precision include output flange and along the output flange it is axially extending go out hollow output shaft；
The hollow output shaft is arranged in the axocoel of the hollow input shaft, and the hollow output shaft with it is described hollow
It can relatively rotate between input shaft；
The hollow input shaft is fixedly connected with the wave producer of the harmonic speed reducer, the output flange with it is described humorous
The firm gear of ripple retarder is fixedly connected；
The brake is set on the hollow input shaft；
The multi-turn absolute value encoder is used to detect the multiturn absolute angle value during hollow input shaft initial start；
When the grating encoder reads Z phase signals, the hollow input shaft is detected by the grating encoder
Multiturn absolute angle value.
Preferably, the multi-turn absolute value encoder includes microcontroller, permanent magnet and at least one magnetic deviation sensor；
The permanent magnet is installed on the hollow input shaft and is rotated with the hollow input shaft；
At least one magnetic deviation sensor is arranged at around the permanent magnet, to detect the list of the hollow input shaft
Enclose absolute angle angle value；
The zero-bit of individual pen absolute angle angle value is demarcated, and is stored in the microcontroller；
The output terminal of at least one magnetic deviation sensor is connected with the microcontroller respectively, for the microcontroller according to
The number of the individual pen absolute angle angle value and zero-bit across individual pen absolute angle angle value determines that the multi-turn of the hollow input shaft is exhausted
To angle value.
Preferably, the grating encoder includes grating disc and grating reading head, the grating disc be installed on it is described in
Empty input shaft, and rotated with the hollow input shaft；The grating reading head is used to read the grating disc.
Preferably, the multi-turn absolute value encoder further includes main power source, stand-by power supply and for selecting the main power source
Or the power selection circuit that the stand-by power supply is powered to the microcontroller and magnetic deviation sensor.
Preferably, the permanent magnet is N poles and the extremely symmetrically arranged annular permanent magnets of S.
Preferably, at least one magnetic deviation sensor and the microcontroller integrate on circuit boards.
Preferably, the flexbile gear of the harmonic speed reducer is fixedly connected with articular shell；The output flange passes through the 3rd axis
Hold and be connected with the wave producer；The hollow input shaft spacer sleeve is equipped with clutch shaft bearing and second bearing, the clutch shaft bearing
It is connected with second bearing by bearing bracket stand with articular shell.
Preferably, the brake includes brake rotor, has brake stator, tablet, the armature of coil, the system
Dynamic device stator, armature, brake rotor and tablet are sequentially coaxially set, and the stator is equipped with and acts on the armature
Elastic component, the relative position of the tablet and the brake stator are fixed, and the brake rotor is fixed on described hollow defeated
Enter on axis, and rotated synchronously with the hollow input shaft, the brake stator is fixed on articular shell；
When off-position, the resilient element urges armature compresses the brake rotor, stops the brake rotor
Rotation stop is moved；
When "on" position, the armature compression elastic piece, makes the armature away from the brake rotor.
The utility model additionally provides a kind of mechanical arm, including any of the above-described kind of joint of mechanical arm.
(3) beneficial effect
The above-mentioned technical proposal of the utility model has the following advantages that：Joint of mechanical arm provided by the utility model, including
Input module, output precision, brake, harmonic speed reducer, multi-turn absolute value encoder and grating encoder, wherein, it is described defeated
Entering component includes hollow shaft motor and hollow input shaft, and the rotor of the hollow input shaft and the hollow shaft motor fixes company
Connect；The output precision include output flange and along the output flange it is axially extending go out hollow output shaft；It is described hollow
Output shaft is arranged in the axocoel of the hollow input shaft, and can be sent out between the hollow output shaft and the hollow input shaft
It is raw to relatively rotate；The hollow input shaft is fixedly connected with the wave producer of the harmonic speed reducer, the output flange and institute
The firm gear for stating harmonic speed reducer is fixedly connected；The brake is set on the hollow input shaft；The multi-turn absolute value is compiled
Code device is used to detect the multiturn absolute angle value during hollow input shaft initial start；When the grating encoder reads Z
During phase signals, the multiturn absolute angle value of the hollow input shaft is detected by the grating encoder.The joint of mechanical arm passes through
Absolute value encoder and grating encoder coordinate the infomation detection for the multiturn absolute angle value for carrying out hollow input shaft, simplify
The structure of multi-turn absolute value encoder, improves accuracy of detection, so simplify joint of mechanical arm overall structure, reduce into
This, improves the overall precision of joint of mechanical arm.
Brief description of the drawings
Fig. 1 is the internal structure schematic diagram for the joint of mechanical arm that the utility model embodiment provides；
Fig. 2 is the structure diagram of the multi-turn absolute value encoder that the utility model embodiment provides and grating encoder；
Fig. 3 is the brake structural schematic diagram that the utility model embodiment provides.
In figure：100- hollow input shafts；101- rotors；102- stators；103- hollow output shafts；104- output flanges；
105- wave producers；106- firm gears；107- flexbile gears；108- shells；109- end caps；110- grating reading heads；111- grating discs；
112- permanent magnets；113- magnetic deviation sensors；114- drive circuit boards；115- encoder circuit plates；118- brakes；119- electricity
Pivot；120- brake stators；121- brake rotors；122- tablets；123- clutch shaft bearings；124- second bearings；125- the 3rd
Bearing.
Embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the part of the embodiment of the utility model, instead of all the embodiments.Based on the reality in the utility model
Apply example, those of ordinary skill in the art's all other embodiments obtained on the premise of creative work is not made, all
Belong to the scope of the utility model protection.
In addition, term " first ", " second ", " the 3rd " are only used for description purpose, and it is not intended that instruction or implying phase
To importance.
As shown in Figure 1, the joint of mechanical arm that the utility model embodiment provides, including input module, output precision, braking
Device, harmonic speed reducer and multi-turn absolute value encoder；Input module includes hollow shaft motor and hollow input shaft 100, hollow defeated
Enter axis 100 to be fixedly connected with the rotor 101 of hollow shaft motor；Output precision includes output flange 104 and along output flange 104
It is axially extending go out hollow output shaft 103, hollow output shaft 103 rotates synchronously with output flange 104；Hollow output shaft 103 is worn
In the axocoel of hollow input shaft 100, and it can relatively rotate between hollow output shaft 103 and hollow input shaft 100.
Joint of mechanical arm further includes harmonic speed reducer, wherein, the wave producer of hollow input shaft 100 and harmonic speed reducer
105 are fixedly connected, and output flange 104 is fixedly connected with the firm gear 106 of harmonic oscillator.
Multi-turn absolute value encoder is used for the multiturn absolute angle value for detecting the hollow input shaft 100；Brake 118 is solid
It is scheduled on hollow input shaft 100, hollow input shaft 100 is braked when needed.
Joint of mechanical arm further includes articular shell 108, and stator 102 and the articular shell 108 of hollow shaft motor are fixed repeatedly,
The stator 102 can be connected with articular shell 108 by gluing mode, can also pass through screw connection；Hollow input shaft 100
It can be connected by glue with the rotor 101 of hollow shaft motor or nut check, when the rotor 101 of hollow shaft motor rotates,
Hollow input shaft 100 is rotated with rotor 101.The axis of output flange 104 is overlapped with the axis of hollow output shaft 103.
In addition, the material of output flange 104 is aluminium alloy, cost and difficulty of processing can be substantially reduced.Harmonic speed reducer
Flexbile gear 107 be fixedly connected with articular shell 108, specific flexbile gear 107 is fixedly connected with articular shell 108 by screw, just
Wheel 106 is fixedly connected by screw with output flange 104, and flexbile gear 107 is connected with firm gear 106 by cross roller bearing-transmission
Connect.
During work, the rotor 101 of hollow shaft motor drives hollow input shaft 100 to rotate, and hollow input shaft 100 drives harmonic wave
The wave producer 105 of retarder rotates, and then is realized slow down by flexbile gear 107 and firm gear 106 again, and passes through output flange 104
Output rotates, that is to say, that the input speed of hollow input shaft 100 is more than the output speed of output flange 104；Output flange
While 104 rotation, hollow output shaft 103 is driven to rotate together.
In one embodiment, hollow output shaft 103 is integrally machined with output flange 104 and forms, and makes hollow output shaft
There is more preferable synchronism and output accuracy between 103 and output flange 103.
Certainly, full name is implemented in other, hollow output shaft 103 can be had with output flange 104 by the way of split
Body, hollow output shaft 103 and output flange 104 are processed respectively, are then connected through a screw thread, gluing connection or threaded connection
The mode being combined with gluing connection connects, and rotates synchronously hollow output shaft 103 and output flange 104, reduces difficult processing
Degree, so as to reduce cost.
Preferably, the material of hollow output shaft 103 has high temperature resistant for nylon or carbon fiber etc., not easy to wear nonmetallic.
In the embodiment, output flange 104 is connected by 3rd bearing 125 with wave producer 105, specific 3rd bearing
125 inner ring is connected with output flange 104, and the outer ring of 3rd bearing 125 is connected with wave producer 105, and wave producer 105 is with
Empty input shaft 100 is fixedly connected.Spacer sleeve is equipped with clutch shaft bearing 123 and second bearing 124 on hollow input shaft 100, specifically,
Clutch shaft bearing 123 and the inner ring of second bearing 124 are fixedly connected with hollow input shaft 100, clutch shaft bearing 123 and second bearing
124 outer ring is fixedly connected by bearing fixed frame with articular shell 108.
Preferably, clutch shaft bearing 123 and second bearing 124 are deep groove ball bearing；Two bearings can be hollow input shaft
100 provide two stable stress supporting points, and the Magnetic force centering sky input shaft 100 that can offset hollow shaft motor generation applies
Moment of flexure, while realize the relative rotation between wave producer 105 and output flange 104.
The embodiment of the utility model, multi-turn absolute value encoder are used to detect the more of hollow input shaft initial start up phase
Enclose absolute angle angle value.Specifically, as depicted in figs. 1 and 2, the multi-turn absolute value encoder in the present embodiment include permanent magnet 112,
Microcontroller and at least one magnetic deviation sensor 113, wherein, permanent magnet 112 is installed on hollow input shaft 100, and with hollow input
Axis 100 rotates, and the geometric center of permanent magnet 112 is located on the axis of hollow input shaft 100, and magnetic deviation sensor 113 is integrated in
On encoder circuit plate 115, and positioned at the side of permanent magnet 112, the individual pen provided by the magnetic field of mechanical periodicity in a circle is exhausted
To angle value.In the present embodiment, microcontroller can be integrated on encoder circuit plate 115, can also be integrated in drive circuit
On plate 114, i.e., microcontroller does not have particular requirement with 112 relative position of permanent magnet, does not limit herein.
It should be noted that circuit board can as shown in Figure 1 include drive circuit board 114 and encoder circuit plate
115 two pieces of circuit boards being separately set, can further reduce the volume of battery plate plate to a certain extent；In some other reality
Apply in example or one piece of circuit board.
Permanent magnet 112 is installed on hollow input shaft 100, is not had particular/special requirement to the position of permanent magnet during installation, is passed through
One calibration process the zero mark of absolute angle angle value in microcontroller, when microcontroller detects the zero of individual pen absolute angle angle value
During position, you can judge that hollow input shaft 100 is rotated across circle, and the output terminal of magnetic deviation sensor 113 is connected with microcontroller, magnetic deviation passes
Sensor 113 sends the information of detection to microcontroller, and microcontroller is according to the individual pen absolute angle angle value that detects and exhausted across individual pen
The multiturn absolute angle value of hollow input shaft 100 is determined to the number of the zero-bit of angle value.
The outbound data interface of multi-turn absolute value encoder is a SPI interface, is provided by microcontroller, be configured to SPI from
Pattern.
Multi-turn absolute value encoder provided in this embodiment compares with existing multi-turn absolute value encoder, without complexity
Gear set structure, make the structure of multi-turn absolute value encoder simpler, can effectively reduce cost and design difficulty, and can
By property and high stability.
It should be noted that the permanent magnet in the present embodiment can be circular or other shapes, preferable permanent magnet
It is symmetrical arranged for N poles and S poles, can specifically uses a N poles to be realized with the extremely symmetrically arranged permanent magnets of S.
The multi-turn absolute value encoder that the utility model embodiment provides, further includes power supply, specifically, power supply includes main electricity
Source and stand-by power supply, multi-turn absolute value encoder be additionally provided with for selecting main power source or the stand-by power supply to the microcontroller and
The power selection circuit that magnetic deviation sensor 113 is powered.
In the utility model embodiment, main power source is realized by externally fed, and stand-by power supply is realized by battery, power supply selection electricity
Routing power selection chip is realized.Specifically, externally fed and battery powered select chip to switch by power supply, can effectively remove
Interference, avoids the power jitter in handoff procedure.In a specific embodiment, power supply selection chip is MAX6326 chips.Its
In, the lithium ion battery of the support charge function of a small package may be selected in battery, and charge control can select special lithium electricity
Pond charging management chip, can also be by chip microcontroller, and when passing through chip microcontroller, when having externally fed, microcontroller passes through
The voltage of integrated ADC functional circuits detection battery, charge switch electricity is controlled when voltage is less than pre-determined threshold voltage by IO
Road is opened, and is charged to battery, and monitoring voltage in charging process, voltage is thought to have been filled with when reaching certain value, turns off charging circuit.
Wherein, charge switch circuit can be realized by triode.
In the utility model embodiment, when the power selection circuit selects stand-by power supply power supply while when default
In, the microcontroller is persistently compared the angle information obtained twice in succession, when angle change is consistently less than threshold value,
The microcontroller enter it is standby, i.e., microcontroller is in the sleep mode of super low-power consumption, the electric current of a consumption stand-by power supply very little, use
In the groundwork for maintaining microcontroller and magnetic deviation sensor 113, note circle mistake is prevented.
Herein, the preset time that microcontroller is persistently compared the angle information obtained twice in succession is 0.5S-1.5S,
Preferably 1S, certain preset time can make choice according to factors such as the rotating speed of hollow input shaft, accuracy of detection.
In a specific embodiment, permanent magnet 112 uses ringshaped magnet, and magnetic deviation sensor 113 uses simulation output
Magnetic degree sensor integrated chip, positioned at the side of ringshaped magnet, microcontroller selects low-power consumption type microcontroller, battery using lithium from
Sub- battery.
When being placed on the side of permanent magnet 112 using simulation output magnetic deviation sensor, it is necessary to demarcate, specifically, simulation
Export magnetic deviation sensor and sine value is provided, the output of cosine value two paths of signals, phase difference is 45 degree, can be provided in 180 degree unique
Sine value and cosine value, with 180 degree loop cycle.Tangent value is worth to by sine value and cosine, is tabled look-up using tangent value,
It is demarcated with a high-precision encoder, records a tangent value and the mapping form of actual corners angle value, and store and arrive monolithic
In machine, microcontroller can obtain the actual angle of hollow input shaft according to the signal that simulation output magnetic deviation sensor exports
Value.
In another embodiment, if simulation output magnetic deviation sensor is placed on the end face of circular magnet, tangent is being obtained
After value, tangent of negating can be obtained by the actual angle value of hollow input shaft.
In some other embodiment, the magnetic deviation sensor of direct output angle is can also use, it is directly defeated to be placed on end face
Go out angle value, or magnetic deviation sensor carries backoff algorithm, only need to provide some parameters for different model.
Further, the present embodiment further includes grating encoder, and as depicted in figs. 1 and 2, grating encoder includes grating disc
Piece 111 and grating reading head 110, wherein, grating disc 111 is installed on the hollow input shaft 100, and with hollow input shaft
100 rotate, and grating reading head 110 is installed on drive circuit board 114, for reading grating disc 111.
Preferably, grating encoder is increment type grating encoder.
In use, multi-turn absolute value encoder obtains initial start up phase, the multiturn absolute angle of hollow input shaft 100
Value, when microcontroller reads the Z phase signals of grating encoder, grating encoder is exhausted with the multi-turn of current multi-turn absolute encoder
Angle value is added up for basic point into row positional information, and then realizes the high-precision multiturn absolute angle value of hollow input shaft 100
Detection.
Hereafter, be subject to grating encoding detection positional information, the multiturn absolute angle value of multi-turn absolute value encoder
Information is stored on second singlechip, and the multi-turn of multi-turn absolute value encoder is corrected with the positional information of the detection of grating encoding
Information, when external power supply breaks down or modularization maintenance dismounts, multi-turn absolute value encoder is adopted under the power-down state of joint
With the strategy of dynamic spaced time-samples to ensure that complete machine is in relatively low power consumption levels, and record storage location information.When just
When often powering on and detect grating encoder Z phases, then it is switched to the grating encoder absolute position values by calibration.
The utility model embodiment, it is common to coordinate by an absolute value encoder and an increment type grating encoder,
The positional information detection of hollow input shaft 100 is carried out, not only simplifies absolute value encoder structure, while improves detection essence
Degree, and then simplify the overall structure of joint of mechanical arm, reduce cost, improve the overall precision of joint of mechanical arm.
Preferably, joint of mechanical arm further includes end cap 109, which coordinates with articular shell 108, is closed for protecting
Section.
As shown in figure 3, brake 118 include brake rotor 121, have the brake stator 120 of coil, tablet 122,
Armature 119, wherein, brake stator 120, armature 119, brake rotor 121 and tablet 122 are sequentially coaxially set, and are braked
Device stator 120 is equipped with the elastic component acted on the armature 119, the opposite position of the tablet 122 and brake stator 120
Fixation is put, brake rotor 121 is fixed on hollow input shaft 100, and can be rotated synchronously with hollow input shaft 100, braking
Device stator 120 is fixed on articular shell 108；
When off-position, resilient element urges armature 119 compresses brake rotor 121, makes brake rotor 121 stop turning
It is dynamic, so that hollow input shaft 100 stops operating；When "on" position, 119 compression elastic piece of armature, makes armature 119 away from system
Dynamic device rotor 121, is freely rotated brake rotor 121.Preferably, elastic component is compression spring.
The present embodiment additionally provides a kind of mechanical arm, which includes multiple any of the above-described kind of joint of mechanical arm.
Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：
It can still modify the technical solution described in foregoing embodiments, or which part technical characteristic is carried out etc.
With replacement；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the utility model technology
The spirit and scope of scheme.
Claims (9)
1. a kind of joint of mechanical arm, it is characterised in that including input module, output precision, brake, harmonic speed reducer, multi-turn
Absolute value encoder and grating encoder；
The input module includes hollow shaft motor and hollow input shaft, and the hollow input shaft turns with the hollow shaft motor
Son is fixedly connected；
The output precision include output flange and along the output flange it is axially extending go out hollow output shaft；
The hollow output shaft is arranged in the axocoel of the hollow input shaft, and the hollow output shaft and the hollow input
It can relatively rotate between axis；
The hollow input shaft is fixedly connected with the wave producer of the harmonic speed reducer, and the output flange subtracts with the harmonic wave
The firm gear of fast device is fixedly connected；
The brake is set on the hollow input shaft；
The multi-turn absolute value encoder is used for the multiturn absolute angle value for detecting the hollow input shaft initial start up phase；
After the Z phase signals of the grating encoder are detected, the hollow input shaft are detected by the grating encoder more
Enclose absolute angle angle value.
2. joint of mechanical arm according to claim 1, it is characterised in that：The multi-turn absolute value encoder includes monolithic
Machine, permanent magnet and at least one magnetic deviation sensor；
The permanent magnet is installed on the hollow input shaft and is rotated with the hollow input shaft；
At least one magnetic deviation sensor is arranged at around the permanent magnet, exhausted to detect the individual pen of the hollow input shaft
To angle value；
The zero-bit of individual pen absolute angle angle value is demarcated, and is stored in the microcontroller；
The output terminal of at least one magnetic deviation sensor is connected with the microcontroller respectively, so that the microcontroller is according to
The number of individual pen absolute angle angle value and zero-bit across individual pen absolute angle angle value determines the multi-turn absolute angle of the hollow input shaft
Angle value.
3. joint of mechanical arm according to claim 1, it is characterised in that：The grating encoder includes grating disc and light
Grid read head, the grating disc is installed on the hollow input shaft, and is rotated with the hollow input shaft；The grating reading head
For reading the grating disc.
4. joint of mechanical arm according to claim 2, it is characterised in that：The multi-turn absolute value encoder further includes main electricity
Source, stand-by power supply and the electricity for selecting the main power source or the stand-by power supply to power to the microcontroller and magnetic deviation sensor
Source selection circuit.
5. joint of mechanical arm according to claim 2, it is characterised in that：The permanent magnet is extremely symmetrically arranged for N poles and S
Annular permanent magnets.
6. joint of mechanical arm according to claim 2, it is characterised in that：At least one magnetic deviation sensor and the list
Piece machine integrates on circuit boards.
7. joint of mechanical arm according to claim 1, it is characterised in that：The flexbile gear and articular shell of the harmonic speed reducer
It is fixedly connected；The output flange is connected by 3rd bearing with the wave producer；The hollow input shaft spacer sleeve is equipped with
Clutch shaft bearing and second bearing, the clutch shaft bearing and second bearing are connected by bearing bracket stand with articular shell.
8. joint of mechanical arm according to claim 1, it is characterised in that：The brake includes brake rotor, has
Brake stator, tablet, the armature of coil, the brake stator, armature, brake rotor and tablet are sequentially coaxially set,
And the stator is equipped with the elastic component acted on the armature, the relative position of the tablet and the brake stator is consolidated
Fixed, the brake rotor is fixed on the hollow input shaft, and is rotated synchronously with the hollow input shaft, the brake
Stator is fixed on articular shell；
When off-position, the resilient element urges armature compresses the brake rotor, makes the brake rotor stop turning
It is dynamic；
When "on" position, the armature compression elastic piece, makes the armature away from the brake rotor.
A kind of 9. mechanical arm, it is characterised in that：Including such as claim 1-8 any one of them joint of mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720841856.0U CN207327029U (en) | 2017-07-12 | 2017-07-12 | A kind of joint of mechanical arm and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720841856.0U CN207327029U (en) | 2017-07-12 | 2017-07-12 | A kind of joint of mechanical arm and mechanical arm |
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| Publication Number | Publication Date |
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| CN207327029U true CN207327029U (en) | 2018-05-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720841856.0U Expired - Fee Related CN207327029U (en) | 2017-07-12 | 2017-07-12 | A kind of joint of mechanical arm and mechanical arm |
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| CN (1) | CN207327029U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107662220A (en) * | 2017-07-12 | 2018-02-06 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm and mechanical arm |
| CN110125976A (en) * | 2018-12-04 | 2019-08-16 | 杭州新剑机器人技术股份有限公司 | High flexibility modularized joint with the control of power position |
| CN110154080A (en) * | 2019-06-21 | 2019-08-23 | 中车青岛四方车辆研究所有限公司 | Joint drive module, seven shaft mechanical arms and robot |
-
2017
- 2017-07-12 CN CN201720841856.0U patent/CN207327029U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107662220A (en) * | 2017-07-12 | 2018-02-06 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm and mechanical arm |
| CN110125976A (en) * | 2018-12-04 | 2019-08-16 | 杭州新剑机器人技术股份有限公司 | High flexibility modularized joint with the control of power position |
| CN110125976B (en) * | 2018-12-04 | 2021-07-27 | 杭州新剑机器人技术股份有限公司 | High-flexibility modular joint with force position control |
| CN110154080A (en) * | 2019-06-21 | 2019-08-23 | 中车青岛四方车辆研究所有限公司 | Joint drive module, seven shaft mechanical arms and robot |
| CN110154080B (en) * | 2019-06-21 | 2024-02-13 | 中车青岛四方车辆研究所有限公司 | Joint driving module, seven-axis mechanical arm and robot |
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