CN207548797U - A kind of multi-freedom electric motor driving robot observation device - Google Patents
A kind of multi-freedom electric motor driving robot observation device Download PDFInfo
- Publication number
- CN207548797U CN207548797U CN201721511473.3U CN201721511473U CN207548797U CN 207548797 U CN207548797 U CN 207548797U CN 201721511473 U CN201721511473 U CN 201721511473U CN 207548797 U CN207548797 U CN 207548797U
- Authority
- CN
- China
- Prior art keywords
- bearing
- eye
- right eye
- left eye
- magnet steel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The utility model discloses a kind of multi-freedom electric motor driving robot observation devices, observe external environment for auxiliary robot, increase robot view field.The utility model includes eye rotation mechanism for wind, right eye luffing mechanism, left eye luffing mechanism and drive control device.The utility model detects the angular displacement of eye rolling rotor, left eye pitching motor rotor, right eye pitching motor rotor by magneto-electric displacement coder respectively；Utilize eye rolling motor rolling control eyes or so rolling；By the pitching movement of left eye pitching motor, the rotation control eyes of right eye pitching motor, so as to so that eyes observe any position in space, increase the visual field of robot, the utility model can be used for the observation device of robot.
Description
Technical field
The utility model discloses a kind of multi-freedom electric motor driving robot observation device, is related to a kind of multi-freedom electric motor
Drive robot observation device.
Background technology
In robot field, in order to obtain the information of manipulating object and external environment etc. in relation to robot, with
The action of robot is made to adapt to the variation of external environment, makes up to higher level automation, people install to robot
Observation device, it can help robot perception external ambient conditions, improve the practicability of robot.Existing robot observation
The first is the observation device for being only capable of rotating in the horizontal direction to device, and second is the observation device for being only capable of doing pitching movement.This
Liang Zhong robots observation device structure bulky, degree of freedom is few, and field range is small, high failure rate, is not easy that robot is made to adapt to the external world
The variation of environment.
Invention content
The purpose of this utility model, using a kind of motor-driven rotation mechanism for wind, driving binocular robot is in a certain plane
Interior rolling, while a kind of motor-driven luffing mechanism is used, the eyes of robot is driven to do pitching movement, improve robot
The degree of freedom of observation device increases the field range of robot, improves the ability that robot adapts to the variation of external environment.
The solution that the utility model solves its technical problem is：
The multi-freedom electric motor driving robot observation device of the utility model, it includes eye rotation mechanism for wind 1, right eye is bowed
Face upward 4 four part of mechanism 2, left eye luffing mechanism 3 and drive control device；It is characterized in that：The right eye luffing mechanism, left eye
Luffing mechanism, drive control device are connect respectively with eye rotation mechanism for wind screw.
Preferably, the eye rotation mechanism for wind by lower carriage, upper bracket, left eye gear shaft, rolling rotor axis of electric,
Right eye gear shaft, magnet steel mounting groove a, rolling motor rotor core, multipair pole magnet steel a, multipair pole magnet steel b, bearing a, bearing b,
Bearing c, bearing d, bearing e, magneto-electric displacement coder a, encoder end cap, bearing f, rolling motor stator, rolling motor
Stator winding forms, and wherein lower carriage is bolted with upper bracket, and left eye gear shaft is connect with bearing c, bearing d bearings, rolling
Rotor axis of electric is connect with bearing b, bearing f bearings, and right eye gear shaft is connect with bearing a, bearing e bearings, lower carriage, upper bracket
It is connect with bearing a, bearing b, bearing c, bearing d, bearing e, bearing f bearings, multipair pole magnet steel a, multipair pole magnet steel b and magnet steel are pacified
Tankage a is glued, and rolling motor rotor core is glued with rolling rotor axis of electric, magnet steel mounting groove a and rolling rotor axle key
Connection, lower carriage, magneto-electric displacement coder a are connect with encoder head bolts, and encoder end cap connects with bearing f bearings
It connects, lower carriage, rolling motor stator winding and rolling motor stator are glued.
Preferably, the right eye luffing mechanism is bowed by right eye stent, bearing g, right eye pitching motor rear end cap, right eye
Face upward plate, right eye camera, magnet steel mounting groove b, multipair pole magnet steel c, multipair pole magnet steel d, right eye magneto-electric displacement coder, axis
Hold h, right eye encoder rear end cap, right eye pitching motor rotor, right eye pitching motor rotor core, right eye pitching motor stator,
Right eye pitching motor stator winding forms, and wherein right eye stent is encoded with right eye gear shaft, right eye pitching motor rear end cap, right eye
Device rear end cap screw connects, and right eye pitching motor rear end cap, right eye pitching motor rotor are connect with bearing g bearings, multipair pole magnetic
Steel c, multipair pole magnet steel d and magnet steel mounting groove b are glued, and magnet steel mounting groove b, right eye encoder rear end cap are connect with bearing h bearings,
Right eye camera, magnet steel mounting groove b, right eye pitching motor rotor are connect with right eye pitching plate bolt, right eye stent, right eye magnetoelectricity
Formula displacement coder is connect with right eye encoder rear end cap screw, and right eye pitching motor rotor core turns with right eye pitching motor
Son is glued, and right eye stent, right eye pitching motor stator winding and right eye pitching motor stator are glued.
Preferably, the left eye luffing mechanism is bowed by left eye stent, bearing i, left eye pitching motor rear end cap, left eye
Face upward plate, left eye camera, magnet steel mounting groove c, multipair pole magnet steel e, multipair pole magnet steel f, left eye magneto-electric displacement coder, axis
Hold j, left eye encoder rear end cap, left eye pitching motor rotor, left eye pitching motor rotor core, left eye pitching motor stator,
Left eye pitching motor stator winding forms, and wherein left eye stent is encoded with right eye gear shaft, left eye pitching motor rear end cap, left eye
Device rear end cap screw connects, and left eye pitching motor rear end cap, left eye pitching motor rotor are connect with bearing i bearings, multipair pole magnetic
Steel e, multipair pole magnet steel f and magnet steel mounting groove c are glued, and magnet steel mounting groove c, left eye encoder rear end cap are connect with bearing j bearings,
Left eye camera, magnet steel mounting groove c, left eye pitching motor rotor are connect with left eye pitching plate bolt, left eye stent, left eye magnetoelectricity
Formula displacement coder is connect with left eye encoder rear end cap screw, and left eye pitching motor rotor core turns with left eye pitching motor
Son is glued, and left eye stent, left eye pitching motor stator winding and left eye pitching motor stator are glued.
The beneficial effects of the utility model are：
1. using rolling electricity and pitching motor output power, the degree of freedom of robot observation device is improved, increases machine
The field range of device people improves the ability that robot adapts to the variation of external environment.
2. three magneto-electric angular displacement sensors are respectively adopted to bow as eye rotation mechanism for wind, right eye luffing mechanism, left eye
The position feedback of mechanism is faced upward, measures the angle position of eye rolling rotor, right eye pitching motor rotor, left eye pitching motor rotor
It moves, it is small, it is light-weight, it can accurately feed back current eye camera space position.
Description of the drawings
Attached drawing 1：The overall structure diagram of the utility model；
Attached drawing 2：The eye rotation mechanism for wind schematic diagram of the utility model；
Attached drawing 3：The eye rotation mechanism for wind partial structural diagram of the utility model；
Attached drawing 4：The eye rotation mechanism for wind partial structural diagram of the utility model；
Attached drawing 5：The eye rotation mechanism for wind partial structural diagram of the utility model；
Attached drawing 6：The eye rotation mechanism for wind partial structural diagram of the utility model；
Attached drawing 7：The right eye luffing mechanism schematic diagram of the utility model；
Attached drawing 8：The right eye luffing mechanism partial structural diagram of the utility model；
Attached drawing 9：The right eye luffing mechanism partial structural diagram of the utility model；
Attached drawing 10：The right eye luffing mechanism partial structural diagram of the utility model；
Attached drawing 11：The right eye luffing mechanism partial structural diagram of the utility model；
Attached drawing 12：The left eye luffing mechanism schematic diagram of the utility model；
Attached drawing 13：The left eye luffing mechanism partial structural diagram of the utility model；
Attached drawing 14：The left eye luffing mechanism partial structural diagram of the utility model；
Attached drawing 15：The left eye luffing mechanism partial structural diagram of the utility model；
Attached drawing 16：The left eye luffing mechanism partial structural diagram of the utility model；
In figure, 1-1, lower carriage, 1-2, upper bracket, 1-3, left eye gear shaft, 1-4, rolling rotor axis of electric, 1-5, right eye
Gear shaft, 1-6, magnet steel mounting groove a, 1-7, rolling motor rotor core, 1-8, multipair pole magnet steel a, 1-9, multipair pole magnet steel b,
1-10, bearing a, 1-11, bearing b, 1-12, bearing c, 1-13, bearing d, 1-14, bearing e, 1-15, magneto-electric angular displacement coding
Device a, 1-16, encoder end cap, 1-17, bearing f, 1-18, rolling motor stator, 1-19, rolling motor stator winding, 2-1, the right side
Eye bracket, 2-2, bearing g, 2-3, right eye pitching motor rear end cap, 2-4, right eye pitching plate, 2-5, right eye camera, 2-6, magnetic
Steel mounting groove b, 2-7, multipair pole magnet steel c, 2-8, multipair pole magnet steel d, 2-9, right eye magneto-electric displacement coder, 2-10, axis
Hold h, 2-11, right eye encoder rear end cap, 2-12, right eye pitching motor rotor, 2-13, right eye pitching motor rotor core, 2-
14th, right eye pitching motor stator, 2-15, right eye pitching motor stator winding, 3-1, left eye stent, 3-2, bearing i, 3-3, left eye
Pitching motor rear end cap, 3-4, left eye pitching plate, 3-5, left eye camera, 3-6, magnet steel mounting groove c, 3-7, multipair pole magnet steel e,
3-8, multipair pole magnet steel f, 3-9, left eye magneto-electric displacement coder, 3-10, bearing j, 3-11, left eye encoder rear end cap,
3-12, left eye pitching motor rotor, 3-13, left eye pitching motor rotor core, 3-14, left eye pitching motor stator, 3-15, a left side
Eye pitching motor stator winding, 4, drive control device.
Specific embodiment
To make the objectives, technical solutions and advantages of the present invention clearer, below by showing in attached drawing
Specific embodiment describes the utility model.However, it should be understood that these descriptions are merely illustrative, and it is not intended to limit this reality
With novel range.In addition, in the following description, the description to known features and technology is omitted, to avoid unnecessarily mixing
Confuse the concept of the utility model.
The concrete structure and embodiment of the utility model are further illustrated below in conjunction with attached drawing.
The structure composition of the utility model as shown in Figure 1, Figure 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11,
Figure 12, Figure 13, Figure 14, Figure 15, Figure 16.
The multi-freedom electric motor driving robot observation device of the utility model, it includes eye rotation mechanism for wind 1, right eye is bowed
Face upward 4 four part of mechanism 2, left eye luffing mechanism 3 and drive control device；It is characterized in that：The right eye luffing mechanism 2, left eye
Luffing mechanism 3 and drive control device 4 are connect respectively with 1 screw of eye rotation mechanism for wind.
Further, the eye rotation mechanism for wind 1 is by lower carriage 1-1, upper bracket 1-2, left eye gear shaft 1-3, rolling
Rotor axis of electric 1-4, right eye gear shaft 1-5, magnet steel mounting groove a 1-6, rolling motor rotor core 1-7, multipair pole magnet steel a
1-8, multipair pole magnet steel b 1-9, bearing a 1-10, bearing b 1-11, bearing c 1-12, bearing d 1-13, bearing e 1-14, magnetic
Electric-type displacement coder a 1-15, encoder end cap 1-16, bearing f 1-17, rolling motor stator 1-18, rolling motor are determined
Sub- winding 1-19 compositions, wherein lower carriage 1-1 and upper bracket 1-2 are bolted, left eye gear shaft 1-3 and bearing c 1-12, axis
The connection of d 1-13 bearings is held, rolling rotor axis of electric 1-4 is connect with bearing b 1-11, bearing f 1-17 bearings, right eye gear shaft
1-5 is connect with bearing a 1-10, bearing e 1-14 bearings, lower carriage 1-1, upper bracket 1-2 and bearing a 1-10, bearing b 1-
11st, bearing c 1-12, bearing d 1-13, bearing e 1-14, the connection of bearing f 1-17 bearings, multipair pole magnet steel a 1-8, multipair pole
Magnet steel b 1-9 and magnet steel mounting groove a 1-6 are glued, and rolling motor rotor core 1-7 and rolling rotor axis of electric 1-4 is glued, magnetic
Steel mounting groove a 1-6 and rolling rotor axis of electric 1-4 is keyed, and lower carriage 1-1, magneto-electric displacement coder a 1-15 are with compiling
Code device end cap 1-16 screw connections, encoder end cap 1-16 are connect with bearing f 1-17 bearings, and lower carriage 1-1, rolling motor are determined
Sub- winding 1-19 and rolling motor stator 1-18 is glued.
Further, the right eye luffing mechanism 2 is by right eye stent 2-1, bearing g 2-2, right eye pitching motor rear end
Cover 2-3, right eye pitching plate 2-4, right eye camera 2-5, magnet steel mounting groove b 2-6, multipair pole magnet steel c 2-7, multipair pole magnet steel d
2-8, right eye magneto-electric displacement coder 2-9, bearing h 2-10, right eye encoder rear end cap 2-11, right eye pitching motor turn
Sub- 2-12, right eye pitching motor rotor core 2-13, right eye pitching motor stator 2-14, right eye pitching motor stator winding 2-15
Composition, wherein right eye stent 2-1 and right eye gear shaft 1-5, right eye pitching motor rear end cap 2-3, right eye encoder rear end cap 2-
11 screws connect, and right eye pitching motor rear end cap 2-3, right eye pitching motor rotor 2-12 are connect with bearing g 2-2 bearings, multipair
Pole magnet steel c 2-7, multipair pole magnet steel d 2-8 and magnet steel mounting groove b 2-6 are glued, after magnet steel mounting groove b 2-6, right eye encoder
End cap 2-11 is connect with bearing h 2-10 bearings, right eye camera 2-5, magnet steel mounting groove b 2-6, right eye pitching motor rotor 2-
12 connect with right eye pitching plate 2-4 screws, after right eye stent 2-1, right eye magneto-electric displacement coder 2-9 and right eye encoder
End cap 2-11 screws connect, and right eye pitching motor rotor core 2-13 and right eye pitching motor rotor 2-12 is glued, right eye stent
2-1, right eye pitching motor stator winding 2-15 and right eye pitching motor stator 2-14 are glued.
Further, the left eye luffing mechanism 3 is by left eye stent 3-1, bearing i 3-2, left eye pitching motor rear end
Cover 3-3, left eye pitching plate 3-4, left eye camera 3-5, magnet steel mounting groove c3-6, multipair pole magnet steel e3-7, multipair pole magnet steel f3-
8th, left eye magneto-electric displacement coder 3-9, bearing j3-10, left eye encoder rear end cap 3-11, left eye pitching motor rotor 3-
12nd, left eye pitching motor rotor core 3-13, left eye pitching motor stator 3-14, left eye pitching motor stator winding 3-15 groups
Into wherein left eye stent 3-1 and left eye gear shaft 1-3, left eye pitching motor rear end cap 3-3, left eye encoder rear end cap 3-11
Screw connects, and left eye pitching motor rear end cap 3-3, left eye pitching motor rotor 3-12 are connect with bearing i3-2 bearings, multipair pole
Magnet steel e3-7, multipair pole magnet steel f3-8 and magnet steel mounting groove c3-6 are glued, magnet steel mounting groove c3-6, left eye encoder rear end cap 3-
11 connect with bearing j3-10 bearings, left eye camera 3-5, magnet steel mounting groove c3-6, left eye pitching motor rotor 3-12 and left eye
Pitching plate 3-4 screws connect, left eye stent 3-1, left eye magneto-electric displacement coder 3-9 and left eye encoder rear end cap 3-11
Screw connects, and left eye pitching motor rotor core 3-13 and left eye pitching motor rotor 3-12 is glued, left eye stent 3-1, left eye
Pitching motor stator winding 3-15 and left eye pitching motor stator 3-14 is glued.
Its operation principle：Rolling motor stator winding 1-19 obtains electric so that rolling rotor axis of electric 1-4 is rotated, and is led to
Crossing gear pair causes left eye gear shaft 1-3, right eye gear shaft 1-5 to rotate, so as to fulfill eyes in rolling motor Plane of rotation
It is rotated towards same direction；Right eye pitching motor stator winding 2-15, left eye pitching motor stator winding 3-15 are obtained electric simultaneously, are made
Obtain right eye pitching motor rotor 2-12, left eye pitching motor rotor 3-12 rotation so that the right side on right eye pitching plate 2-4
Eye imaging head 2-5 faces upward action, and the left eye camera 3-5 on left eye pitching plate 3-4 does nutation movement or causes
Right eye camera 2-5 on right eye pitching plate 2-4 does nutation action, and the left eye on left eye pitching plate 3-4 is taken the photograph
As head 3-5 faces upward movement, so that the pitch orientation of right and left eyes is opposite so that robot can see two up and down simultaneously
The external environment in direction increases robotic vision range.
The basic principle of the utility model and main feature and the advantages of the utility model has been shown and described above.One's own profession
The technical staff of industry is it should be appreciated that the present utility model is not limited to the above embodiments, described in above embodiments and description
Only illustrate the principle of the utility model, on the premise of not departing from the spirit and scope of the utility model, the utility model is also
Various changes and modifications are had, these various changes and improvements fall within the scope of the claimed invention.The utility model
Claimed range is defined by the appending claims and its equivalent thereof.
Claims (4)
1. a kind of multi-freedom electric motor driving robot observation device, it includes eye rotation mechanism for wind（1）, right eye luffing mechanism
（2）, left eye luffing mechanism（3）And drive control device（4）Four parts；It is characterized in that：The right eye luffing mechanism（2）, it is left
Eye luffing mechanism（3）, drive control device（4）Respectively with eye rotation mechanism for wind（1）Screw connects.
2. multi-freedom electric motor driving robot observation device according to claim 1, it is characterised in that：The eye
Rotation mechanism for wind（1）By lower carriage（1-1）, upper bracket（1-2）, left eye gear shaft（1-3）, rolling rotor axis of electric（1-4）, right eye
Gear shaft（1-5）, magnet steel mounting groove a（1-6）, rolling motor rotor core（1-7）, multipair pole magnet steel a（1-8）, multipair pole magnetic
Steel b（1-9）, bearing a（1-10）, bearing b（1-11）, bearing c（1-12）, bearing d（1-13）, bearing e（1-14）, magneto-electric angle
Displacement encoder a（1-15）, encoder end cap（1-16）, bearing f（1-17）, rolling motor stator（1-18）, rolling motor determines
Sub- winding（1-19）Composition, wherein lower carriage（1-1）With upper bracket（1-2）It is bolted, left eye gear shaft（1-3）With bearing c
（1-12）, bearing d（1-13）Bearing connects, rolling rotor axis of electric（1-4）With bearing b（1-11）, bearing f（1-17）Bearing connects
It connects, right eye gear shaft（1-5）With bearing a（1-10）, bearing e（1-14）Bearing connects, lower carriage（1-1）, upper bracket（1-2）With
Bearing a（1-10）, bearing b（1-11）, bearing c（1-12）, bearing d（1-13）, bearing e（1-14）, bearing f（1-17）Bearing connects
It connects, multipair pole magnet steel a（1-8）, multipair pole magnet steel b（1-9）With magnet steel mounting groove a（1-6）It is glued, rolling motor rotor core
（1-7）With rolling rotor axis of electric（1-4）It is glued, magnet steel mounting groove a（1-6）With rolling rotor axis of electric（1-4）Key connection, under
Stent（1-1）, magneto-electric displacement coder a（1-15）With encoder end cap（1-16）Screw connects, encoder end cap（1-
16）With bearing f（1-17）Bearing connects, lower carriage（1-1）, rolling motor stator winding（1-19）With rolling motor stator（1-
18）It is glued.
3. multi-freedom electric motor driving robot observation device according to claim 1, it is characterised in that：The right eye
Luffing mechanism（2）By right eye stent（2-1）, bearing g（2-2）, right eye pitching motor rear end cap（2-3）, right eye pitching plate（2-
4）, right eye camera（2-5）, magnet steel mounting groove b（2-6）, multipair pole magnet steel c（2-7）, multipair pole magnet steel d（2-8）, right eye magnetic
Electric-type displacement coder（2-9）, bearing h（2-10）, right eye encoder rear end cap（2-11）, right eye pitching motor rotor（2-
12）, right eye pitching motor rotor core（2-13）, right eye pitching motor stator（2-14）, right eye pitching motor stator winding（2-
15）Composition, wherein right eye stent（2-1）With right eye gear shaft（1-5）, right eye pitching motor rear end cap（2-3）, right eye encoder
Rear end cap（2-11）Screw connects, right eye pitching motor rear end cap（2-3）, right eye pitching motor rotor（2-12）With bearing g（2-
2）Bearing connects, multipair pole magnet steel c（2-7）, multipair pole magnet steel d（2-8）With magnet steel mounting groove b（2-6）It is glued, magnet steel mounting groove
b（2-6）, right eye encoder rear end cap（2-11）With bearing h（2-10）Bearing connects, right eye camera（2-5）, magnet steel mounting groove
b（2-6）, right eye pitching motor rotor（2-12）With right eye pitching plate（2-4）Screw connects, right eye stent（2-1）, right eye magnetoelectricity
Formula displacement coder（2-9）With right eye encoder rear end cap（2-11）Screw connects, right eye pitching motor rotor core（2-
13）With right eye pitching motor rotor（2-12）It is glued, right eye stent（2-1）, right eye pitching motor stator winding（2-15）With the right side
Eye pitching motor stator（2-14）It is glued.
4. multi-freedom electric motor driving robot observation device according to claim 1, it is characterised in that：The left eye
Luffing mechanism（3）By left eye stent（3-1）, bearing i（3-2）, left eye pitching motor rear end cap（3-3）, left eye pitching plate（3-
4）, left eye camera（3-5）, magnet steel mounting groove c（3-6）, multipair pole magnet steel e（3-7）, multipair pole magnet steel f（3-8）, left eye magnetic
Electric-type displacement coder（3-9）, bearing j（3-10）, left eye encoder rear end cap（3-11）, left eye pitching motor rotor（3-
12）, left eye pitching motor rotor core（3-13）, left eye pitching motor stator（3-14）, left eye pitching motor stator winding（3-
15）Composition, wherein left eye stent（3-1）With left eye gear shaft（1-3）, left eye pitching motor rear end cap（3-3）, left eye encoder
Rear end cap（3-11）Screw connects, left eye pitching motor rear end cap（3-3）, left eye pitching motor rotor（3-12）With bearing i（3-
2）Bearing connects, multipair pole magnet steel e（3-7）, multipair pole magnet steel f（3-8）With magnet steel mounting groove c（3-6）It is glued, magnet steel mounting groove
c（3-6）, left eye encoder rear end cap（3-11）With bearing j（3-10）Bearing connects, left eye camera（3-5）, magnet steel mounting groove
c（3-6）, left eye pitching motor rotor（3-12）With left eye pitching plate（3-4）Screw connects, left eye stent（3-1）, left eye magnetoelectricity
Formula displacement coder（3-9）With left eye encoder rear end cap（3-11）Screw connects, left eye pitching motor rotor core（3-
13）With left eye pitching motor rotor（3-12）It is glued, left eye stent（3-1）, left eye pitching motor stator winding（3-15）With a left side
Eye pitching motor stator（3-14）It is glued.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721511473.3U CN207548797U (en) | 2017-11-14 | 2017-11-14 | A kind of multi-freedom electric motor driving robot observation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721511473.3U CN207548797U (en) | 2017-11-14 | 2017-11-14 | A kind of multi-freedom electric motor driving robot observation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207548797U true CN207548797U (en) | 2018-06-29 |
Family
ID=62681441
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721511473.3U Active CN207548797U (en) | 2017-11-14 | 2017-11-14 | A kind of multi-freedom electric motor driving robot observation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207548797U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107733153A (en) * | 2017-11-14 | 2018-02-23 | 哈尔滨理工大学 | A kind of big visual angle electric-machine directly-driven robot observation device |
-
2017
- 2017-11-14 CN CN201721511473.3U patent/CN207548797U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107733153A (en) * | 2017-11-14 | 2018-02-23 | 哈尔滨理工大学 | A kind of big visual angle electric-machine directly-driven robot observation device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104552329B (en) | The integrated joint of drived control integral intelligent | |
| CN203496981U (en) | Electric steering control device | |
| CN110154033A (en) | Omni-mobile tow-armed robot | |
| CN101672248B (en) | Magnetic suspension reversing device for wind machine | |
| CN106826906A (en) | A kind of mechanical arm modular joint of non-moment sensor | |
| CN105313134A (en) | Lightweight mechanical arm modular joint | |
| CN101774041A (en) | Tab cutting device | |
| FR2931466B1 (en) | METHOD FOR CONTROLLING THE ORIENTATION MOVEMENT OF THE ROTATING PART OF A TOWER CRANE | |
| CN103302884B (en) | Servo direct-driven power head for press machine | |
| CN202934754U (en) | Direct-drive servomotor used for all-electric injection molding machine | |
| CN103112573A (en) | Underwater power plant propeller | |
| CN207548797U (en) | A kind of multi-freedom electric motor driving robot observation device | |
| CN103157933A (en) | Vertical-type and connecting-rod-type intersecting line cutting head | |
| CN110480622A (en) | Selective compliance assembly robot arm and outer rotor joint arrangement | |
| CN204059232U (en) | A kind of Integral barrier gate machine core | |
| CN105397836A (en) | Highly-integrated modular robot joint | |
| CN202422999U (en) | Driving gear frame for winding machine | |
| CN107733153A (en) | A kind of big visual angle electric-machine directly-driven robot observation device | |
| CN102324800A (en) | Intensive rotary expansion device | |
| CN109774811A (en) | A kind of small biped robot and its control method of brshless DC motor driving | |
| CN205622454U (en) | Variable radial air gap's permanent magnet generator and wind power generation set | |
| CN209479813U (en) | A kind of small biped robot of brshless DC motor driving | |
| CN205606494U (en) | Laser cloud platform that can 360 degrees horizontal rotation | |
| CN205254998U (en) | Selective compliance assembly robot arm and control system thereof | |
| CN203827115U (en) | Rotary eddy current braking motor of building tower crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211026 Address after: 201108 No. 535, Shennan Road, Xinzhuang Industrial Zone, Minhang District, Shanghai Patentee after: Shanghai Frequency Control Technology Co.,Ltd. Address before: No.52 Xuefu Road, Nangang District, Harbin City, Heilongjiang Province Patentee before: HARBIN University OF SCIENCE AND TECHNOLOGY |
|
| TR01 | Transfer of patent right |