CN212421350U - Double-encoder integrated joint with force sensing function - Google Patents
Double-encoder integrated joint with force sensing function Download PDFInfo
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- CN212421350U CN212421350U CN202020519061.XU CN202020519061U CN212421350U CN 212421350 U CN212421350 U CN 212421350U CN 202020519061 U CN202020519061 U CN 202020519061U CN 212421350 U CN212421350 U CN 212421350U
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Abstract
The utility model discloses a double-encoder integrated joint with force sensing function, belonging to a mechanical joint structure, wherein the input end of a harmonic speed reducer is coaxially connected with a first output shaft in a driving way; the torque sensor is arranged between the harmonic speed reducer and the motor; the first end of the threading pipe is coaxially connected with the output end of the harmonic speed reducer, and the second end of the threading pipe sequentially penetrates through the harmonic speed reducer, the torque sensor and the motor from the output end of the harmonic speed reducer to the direction of a second output shaft and penetrates out from the tail end of the second output shaft; the first encoder magnetic ring is movably sleeved at the second end of the threading pipe and fixedly connected with the second output shaft, the second encoder magnetic ring is fixedly sleeved at the second end of the threading pipe, and the encoder circuit board is movably sleeved at the second end of the threading pipe and fixed between the first encoder magnetic ring and the second encoder magnetic ring. The precision of the integrated joint is improved, the burden of the structure on the joint is reduced, and the integrated joint is more suitable for the occasions where the tail end of the mechanical arm needs to rotate continuously.
Description
Technical Field
The utility model relates to a mechanical joint structure especially relates to a two encoder integrated joint with function are felt to power.
Background
With the rapid development of society, the man-machine cooperation robot is widely used in the automation industry to reduce the labor intensity of human beings. As the human-computer cooperation robot has higher requirement on the safety of people, a torque sensor is arranged in the joint of the human-computer cooperation robot and is used for detecting the output torque.
At present, there is an integrated joint on the market, and torque sensor adorns between speed reducer and motor, and the direct dress of motor stator shell is on torque sensor, and the benefit of doing so is, compact structure, does not need extra part to fix torque sensor, and when the output rotates in succession, and torque sensor need not follow the rotation, and torque sensor's line can not take place the winding yet. However, the joint described above is equipped with only one encoder for detecting the position of the rotor of the motor and, by indirect means, calculating the position of the output. However, since the torque sensor senses the torque by using its own strain, the output accuracy is affected by the deformation of the torque sensor itself.
There is another integrated joint on the market, and two encoders are arranged in the joint and used for respectively detecting the positions of the motor end and the output end, so that the deformation in the transmission mechanism does not influence the output precision. But the torque sensor is arranged at the output end of the speed reducer. In practical use, an inverted output mode is used, the torque sensor is fixed, and the motor end body rotates. In order to fix the torque sensor, an additional housing is required, which increases the volume and weight. Meanwhile, the torque sensor and the motor end rotate relatively, so that the torque sensor is not suitable for being used at the tail end of the mechanical arm and in the occasion of continuous rotation.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects of the prior art, the utility model aims to provide a double-encoder integrated joint with force sensing function, which improves the structural compactness of the mechanical integrated joint and improves the working precision.
The utility model discloses an one of the purpose adopts following technical scheme to realize:
a double-encoder integrated joint with a force sensing function comprises a motor and a drive control unit in control connection with the motor, wherein the motor comprises a first output shaft and a second output shaft which are coaxially and respectively arranged at two opposite ends of the motor; the harmonic speed reducer is provided with an input end and an output end, and the input end of the harmonic speed reducer is coaxially connected with the first output shaft in a driving way; the torque sensor is arranged between the harmonic speed reducer and the motor and fixedly connected with a stator of the motor; the first end of the threading pipe is coaxially connected with the output end of the harmonic speed reducer, and the second end of the threading pipe sequentially penetrates through the harmonic speed reducer, the torque sensor and the motor from the output end of the harmonic speed reducer to the direction of a second output shaft and penetrates out from the tail end of the second output shaft; the encoder assembly comprises a first encoder magnetic ring, a second encoder magnetic ring and an encoder circuit board, the first encoder magnetic ring is movably sleeved at the second end of the threading pipe and fixedly connected with the second output shaft, the second encoder magnetic ring is fixedly sleeved at the second end of the threading pipe, and the encoder circuit board is movably sleeved at the second end of the threading pipe and fixed between the first encoder magnetic ring and the second encoder magnetic ring.
Furthermore, the encoder assembly also comprises a first magnetic ring mounting seat; the first magnetic ring mounting seat is sleeved at the second end of the threading pipe and forms a gap with the threading pipe, the first magnetic ring mounting seat is coaxially connected with the second output shaft, and the first encoder magnetic ring is fixedly sleeved outside the first magnetic ring mounting seat.
Furthermore, a first bearing is arranged between the first magnetic ring mounting seat and the threading pipe, an outer ring of the first bearing is fixedly arranged on the inner circumferential surface of the first magnetic ring mounting seat, and an inner ring of the first bearing is fixedly sleeved outside the threading pipe.
Furthermore, a first step is arranged on the outer peripheral surface of the first magnetic ring mounting seat, and the first encoder magnetic ring is clamped on the first step.
Furthermore, the encoder assembly also comprises a second magnetic ring mounting seat; the second end of threading pipe is located to the coaxial cover of second magnetic ring mount pad, and the fixed cover of second encoder magnetic ring is located the outside of second magnetic ring mount pad.
Furthermore, a second step is arranged on the outer peripheral surface of the second magnetic ring mounting seat, and the second encoder magnetic ring is clamped on the second step.
Further, a machine shell is arranged outside the motor, a stator of the motor is fixed inside the machine shell, and the encoder circuit board is fixedly installed on the machine shell.
Furthermore, a second bearing is arranged between the casing and the rotor of the motor, an outer ring of the second bearing is fixedly arranged on the inner circumferential surface of the casing, and an inner ring of the second bearing is fixedly sleeved outside the stator of the motor.
Further, the harmonic speed reducer comprises a flexible gear, a rigid gear and a wave generator; the rigid wheel is sleeved on the periphery of the flexible wheel and is meshed with the flexible wheel, one end of the wave generator is connected with the first output shaft, and the other end of the wave generator is in driving fit with the flexible wheel; the torque sensor is sleeved outside the wave generator and positioned between the flexible gear and the motor, the inner side of the torque sensor is fixedly matched with the flexible gear, and the outer side of the torque sensor is fixed on a stator of the motor.
Furthermore, a crossed roller bearing is arranged between the rigid wheel and the torque sensor, and two side surfaces of the crossed roller bearing are respectively abutted against the rigid wheel and the torque sensor; the inner ring of the crossed roller bearing is fixedly connected with the rigid wheel, and the outer ring of the crossed roller bearing is fixedly connected with the torque sensor.
Compared with the prior art, the beneficial effects of the utility model reside in that:
the torque sensor is arranged between the harmonic speed reducer and the motor, the torque sensor is fixedly connected with the stator of the motor, the cantilever installation of the torque sensor is avoided, the deformation of the torque sensor cannot influence the output precision, the precision of the integrated joint is improved, and the torque sensor does not need to rotate when the joint is out during working, so that the wire of the torque sensor cannot be wound, and an additional support is not needed to be added to fix the torque sensor;
the first end of the threading pipe is coaxially connected with the output end of the harmonic reducer, the second end of the threading pipe sequentially penetrates through the harmonic reducer, the torque sensor and the motor from the output end of the harmonic reducer to the direction of the second output shaft and penetrates out of the tail end of the second output shaft, and a lead electrically connected with a driving control unit and other parts can penetrate through the threading pipe, so that the winding of the lead is avoided;
the first encoder magnetic ring is movably sleeved at the second end of the threading pipe and fixedly connected with the second output shaft, the second encoder magnetic ring is fixedly sleeved at the second end of the threading pipe, the encoder circuit board is movably sleeved at the second end of the threading pipe and fixed between the first encoder magnetic ring and the second encoder magnetic ring, the first encoder magnetic ring for sensing the position of the motor rotor and the second encoder magnetic ring for sensing the output position of the harmonic speed reducer are both arranged at the position of the threading pipe close to the second end, and the first encoder magnetic ring and the second encoder magnetic ring at two sides are respectively fed back by the same encoder circuit board, so that the internal structure compactness of the integrated joint is improved, the joint output end and the motor output end are respectively detected by two encoders, the deformation of the torque sensor does not influence the precision of the output end, and the burden of the structure on the joint is reduced, improve the data acquisition precision of integrated joint, let the utility model discloses be applicable to the terminal occasion that needs continuous rotation of arm more.
Drawings
Fig. 1 is a schematic view of the overall structure of the dual-encoder integrated joint with force sensing function of the present invention.
In the figure: 10. a motor; 11. a first output shaft; 12. a second output shaft; 13. a rotor; 14. a stator; 20. a drive control unit; 30. a harmonic speed reducer; 31. a flexible gear; 32. a rigid wheel; 33. a wave generator; 34. a crossed roller bearing; 35. an input end; 36. an output end; 40. a threading tube; 50. an encoder assembly; 51. a first encoder magnetic ring; 52. a second encoder magnetic loop; 53. a circuit board of the encoder; 54. a first magnetic ring mounting seat; 541. a first bearing; 542. a first step; 55. a second magnetic ring mounting seat; 551. a second step; 60. a housing; 61. a second bearing; 62. a supporting seat; 63. a wire via hole; 70. a torque sensor.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that the embodiments or technical features described below can be arbitrarily combined to form a new embodiment without conflict.
As shown in figure 1, guarantee the compactedness of its structure in order to improve integrated articular output precision, the utility model discloses an integrated joint of dual encoder with function is felt to power, this integrated joint can guarantee the precision of output, is suitable for continuous rotation again, has the moment of torsion feedback function simultaneously, and compact structure is as good as with traditional mechanical joint volume. The double-encoder integrated joint with the force sensing function comprises a motor 10 and a drive control unit 20 in control connection with the motor 10, wherein the motor 10 is a double-head motor 10 and comprises a first output shaft 11 and a second output shaft 12 which are coaxially arranged at two opposite ends of the motor 10, in the embodiment, the first output shaft 11 and the second output shaft 12 are integrally formed and rotate synchronously, and in order to facilitate understanding of the scheme, in the embodiment, the drive control unit 20 for driving the motor 10 is arranged on one side of the second output shaft 12.
The harmonic speed reducer 30 is provided with an input end 35 for inputting power and an output end 36 for outputting speed reduction power, and the input end 35 of the harmonic speed reducer 30 is coaxially connected with the first output shaft 11 in a driving mode and used for outputting power for the integrated joint.
A torque sensor 70, the torque sensor 70 being interposed between the harmonic reducer 30 and the motor 10, used for sensing and detecting the torsion moment of the output end 36 of the double-encoder integrated joint with force sensing function of the utility model, the torque sensor 70 is fixedly connected with the stator 14 of the motor 10, in the working process of the joint, the outer ring at one side of the torque sensor 70 is fixed on the shell 60, namely, the stator 14 of the motor 10, the inner ring of the torque sensor 70 on the other side is fixed with the flexible gear 31 of the harmonic reducer 30, in the process of integrating joint output, the rigid wheel 32 rotates relative to the flexible wheel 31, and since the flexible wheel 31 and the machine shell 60 are relatively static in the process, therefore, torque sensor 70 is also relatively fixed, and torque sensor 70's wire can not intertwine, also need not increase extra support and fix torque sensor 70, improves the utility model discloses a compact structure nature.
The first end of the threading pipe 40 is coaxially connected with the output end 36 of the harmonic reducer 30, the second end of the threading pipe 40 sequentially passes through the harmonic reducer 30, the torque sensor 70 and the motor 10 from the output end 36 of the harmonic reducer to the direction of the second output shaft 12 and penetrates out from the tail end of the second output shaft 12, in this example, a lead through hole 63 corresponding to the casing 60 is arranged at the opening of the second end of the threading pipe 40, in order to avoid interference, the driving control unit 20 is arranged outside the casing 60, and a lead penetrating from the first end of the threading pipe 40 can penetrate out from the second end of the threading pipe 40 through the threading pipe 40 and is finally connected with the driving control unit 20 through the lead through hole 63.
The encoder assembly 50, the encoder assembly 50 includes a first encoder magnetic ring 51, a second encoder magnetic ring 52 and an encoder circuit board 53, the first encoder magnetic ring 51 is movably sleeved at the second end of the threading pipe 40 and fixedly connected with the second output shaft 12 for sensing the second output shaft 12, namely the position of the rotor 13 of the motor 10, the second encoder magnetic ring 52 is fixedly sleeved at the second end of the threading pipe 40 for sensing the output position of the output end 36 of the harmonic speed reducer 30, the encoder circuit board 53 is movably sleeved at the second end of the threading pipe 40 and fixed between the first encoder magnetic ring 51 and the second encoder magnetic ring 52, two opposite sides of the encoder circuit board 53 are respectively matched with the first encoder magnetic ring 51 and the second encoder magnetic ring 52 for carrying out position feedback on the output end 36 of the integrated joint and the rotor 13 of the motor 10, the internal structure compactness of the integrated joint is improved, joint output 36 and motor 10 have adopted two encoders respectively to detect, make torque sensor 70's deformation not influence output 36's precision, when having reduced the structure to articular burden, improve the data acquisition precision of integrated joint, let the utility model discloses be applicable to more the terminal occasion that needs continuous rotation of arm.
Specifically, the encoder assembly 50 further includes a first magnetic ring mounting seat 54 for fixedly mounting the first encoder magnetic ring 51; the first magnetic ring mounting seat 54 is sleeved at the second end of the threading pipe 40 and forms a gap with the threading pipe 40, the first magnetic ring mounting seat 54 is coaxially connected with the second output shaft 12, the threading pipe 40 of the integrated joint can rotate along with the output end 36 of the harmonic speed reducer 30 in the output process, and the first magnetic ring mounting seat 54 circumferentially forms a gap with the threading pipe 40, so that the first magnetic ring mounting seat 54 cannot rotate along with the rotation of the threading pipe 40, otherwise, the first magnetic ring mounting seat 54 is coaxially connected with the second output shaft 12 and can rotate along with the second output shaft 12 in the output process of the motor 10, the first encoder magnetic ring 51 is fixedly sleeved outside the first magnetic ring mounting seat 54, and the encoder circuit board 53 senses the position of the first encoder magnetic ring 51.
Further, in order to improve the stability of the first magnetic ring mounting seat 54, a first bearing 541 is arranged between the first magnetic ring mounting seat 54 and the threading pipe 40, an outer ring of the first bearing 541 is fixedly arranged on an inner peripheral surface of the first magnetic ring mounting seat 54, an inner ring of the first bearing 541 is fixedly sleeved outside the threading pipe 40, one end of the first magnetic ring mounting seat 54 is coaxially connected with the second output shaft 12, the other end of the first magnetic ring mounting seat extends towards the direction of the driving control unit 20 to form a cantilever, in order to reduce the influence of the cantilever on the sensing precision, the first bearing 541 is arranged to support the cantilever, and the precision of the first encoder magnetic ring 51 is ensured.
In order to make the first encoder magnetic ring 51 more stable, a first step 542 is disposed on the outer peripheral surface of the first magnetic ring mounting seat 54, and the first encoder magnetic ring 51 is clamped to the first step 542.
The encoder assembly 50 further comprises a second magnetic ring mounting seat 55 for mounting and fixing the second encoder magnetic ring 52; the second magnetic ring mounting seat 55 is coaxially sleeved at the second end of the threading tube 40, so that the threading tube 40 and the second encoder magnetic ring 52 rotate synchronously, and the second magnetic ring mounting seat 55 is fixedly sleeved outside.
In order to make the second encoder magnetic ring 52 more stable, the second step 551 is disposed on the outer peripheral surface of the second magnetic ring mounting seat 55, and the second encoder magnetic ring 52 is clamped to the second step 551.
In this embodiment, the first step 542 and the second step 551 are respectively disposed at the ends of the first magnetic ring mounting seat 54 and the second magnetic ring mounting seat 55 close to each other, so as to facilitate the assembly and disassembly of the first encoder magnetic ring 51 and the second encoder magnetic ring 52, and the first encoder magnetic ring 51 and the second encoder magnetic ring 52 can also be assembled and disassembled together with the first magnetic ring mounting seat 54 and the second magnetic ring mounting seat 55.
Further, a casing 60 is disposed outside the motor 10, the stator 14 of the motor 10 is fixed inside the casing 60, and the encoder circuit board 53 is fixedly mounted on the casing 60, in this example, a support base 62 for supporting the encoder circuit board 53 extends inside the casing 60, and the encoder circuit board 53 is mounted on the support base 62.
A second bearing 61 is arranged between the casing 60 and the rotor 13 of the motor 10, an outer ring of the second bearing 61 is fixedly arranged on an inner circumferential surface of the casing 60, and an inner ring of the second bearing 61 is fixedly sleeved outside the stator 14 of the motor 10, so that stability is improved.
The harmonic reducer 30 includes a flexspline 31, a rigid spline 32 forming an output end 36, and a wave generator 33; the rigid gear 32 is sleeved on the periphery of the flexible gear 31 and is meshed with the flexible gear 31, one end of the wave generator 33 is connected with the first output shaft 11, and the other end of the wave generator 33 is in driving fit with the flexible gear 31; the torque sensor 70 is sleeved outside the wave generator 33 and located between the flexible gear 31 and the motor 10, the inner side of the torque sensor 70 is fixedly matched with the flexible gear 31, and the outer side of the torque sensor 70 is fixed on the stator 14 of the motor 10.
A crossed roller bearing 34 is arranged between the rigid wheel 32 and the torque sensor 70, and two side surfaces of the crossed roller bearing 34 are respectively abutted against the rigid wheel 32 and the torque sensor 70; the inner ring of the cross roller bearing 34 is fixedly connected to the rigid wheel 32, and the outer ring of the cross roller bearing 34 is fixedly connected to the torque sensor 70.
Make the utility model discloses in practical application, when making it have the function of torsion perception, can pass through the fixed flexbile gear 31 of torque sensor 70, connect motor 10 stator 14 to have simple structure compactness, simple to operate, small light in weight's advantage. In addition, the acting force of the torque sensor 70 on the workpiece or the load generated by the self-weight cantilever only acts on the inside of the harmonic speed reducer 30, and the torque sensor can be supported by mounting a bearing in practical application, so that the torque sensor 70 does not influence the torque of the robot joint in the rotating direction, the torque sensing precision is improved, and the service life of the torque sensor 70 is prolonged. Let torque sensor 70 replace the effect of parts such as traditional flange, make the utility model discloses a harmonic speed reducer ware structure with power perception function is compacter simple, makes things convenient for its assembly maintenance.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention cannot be limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are all within the protection scope of the present invention.
Claims (10)
1. A dual encoder integrated joint with force sensing capabilities, comprising:
the motor comprises a first output shaft and a second output shaft which are coaxially and respectively arranged at two opposite ends of the motor;
the harmonic speed reducer is provided with an input end and an output end, and the input end of the harmonic speed reducer is coaxially connected with the first output shaft in a driving way;
the torque sensor is arranged between the harmonic speed reducer and the motor, and is fixedly connected with a stator of the motor;
the first end of the threading pipe is coaxially connected with the output end of the harmonic speed reducer, and the second end of the threading pipe sequentially penetrates through the harmonic speed reducer, the torque sensor and the motor from the output end of the harmonic speed reducer to the second output shaft and penetrates out of the tail end of the second output shaft;
the encoder assembly comprises a first encoder magnetic ring, a second encoder magnetic ring and an encoder circuit board, the first encoder magnetic ring is movably sleeved at the second end of the threading pipe and fixedly connected with the second output shaft, the second encoder magnetic ring is fixedly sleeved at the second end of the threading pipe, and the encoder circuit board is movably sleeved at the second end of the threading pipe and fixed between the first encoder magnetic ring and the second encoder magnetic ring.
2. The dual encoder integrated joint with force sensing capability of claim 1, wherein: the encoder assembly further comprises a first magnetic ring mounting seat;
the first magnetic ring mounting seat is sleeved at the second end of the threading pipe, a gap is formed between the first magnetic ring mounting seat and the threading pipe, the first magnetic ring mounting seat is coaxially connected with the second output shaft, and the first encoder magnetic ring is fixedly sleeved outside the first magnetic ring mounting seat.
3. The dual encoder integrated joint with force sensing capability of claim 2, wherein: a first bearing is arranged between the first magnetic ring mounting seat and the threading pipe, the outer ring of the first bearing is fixedly arranged on the inner circumferential surface of the first magnetic ring mounting seat, and the inner ring of the first bearing is fixedly sleeved outside the threading pipe.
4. The dual encoder integrated joint with force sensing capability of claim 2, wherein: the first magnetic ring mounting seat is provided with a first step on the outer peripheral surface, and the first encoder magnetic ring is clamped on the first step.
5. The dual encoder integrated joint with force sensing capability of claim 1, wherein: the encoder assembly further comprises a second magnetic ring mounting seat;
the second magnetic ring mounting seat is coaxially sleeved at the second end of the threading pipe, and the second encoder magnetic ring is fixedly sleeved outside the second magnetic ring mounting seat.
6. The dual encoder integrated joint with force sensing capability of claim 5, wherein: the outer peripheral surface of the second magnetic ring mounting seat is provided with a second step, and the second encoder magnetic ring is clamped on the second step.
7. The dual encoder integrated joint with force sensing capability of claim 1, wherein: the motor is characterized in that a casing is arranged outside the motor, a stator of the motor is fixed inside the casing, and the encoder circuit board is fixedly installed on the casing.
8. The dual encoder integrated joint with force sensing capability of claim 7, wherein: and a second bearing is arranged between the casing and the rotor of the motor, the outer ring of the second bearing is fixedly arranged on the inner circumferential surface of the casing, and the inner ring of the second bearing is fixedly sleeved outside the stator of the motor.
9. The dual encoder integrated joint with force sensing capability of claim 1, wherein: the harmonic speed reducer comprises a flexible gear, a rigid gear and a wave generator; the rigid gear is sleeved on the periphery of the flexible gear and meshed with the flexible gear, one end of the wave generator is connected with the first output shaft, and the other end of the wave generator is in driving fit with the flexible gear;
the torque sensor sleeve is arranged outside the wave generator and located between the flexible gear and the motor, the inner side of the torque sensor is fixedly matched with the flexible gear, and the outer side of the torque sensor is fixed on the stator of the motor.
10. The dual encoder integrated joint with force sensing capability of claim 9, wherein: a crossed roller bearing is arranged between the rigid wheel and the torque sensor, and two side surfaces of the crossed roller bearing are respectively abutted against the rigid wheel and the torque sensor;
the inner ring of the crossed roller bearing is fixedly connected with the rigid wheel, and the outer ring of the crossed roller bearing is fixedly connected with the torque sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020519061.XU CN212421350U (en) | 2020-04-10 | 2020-04-10 | Double-encoder integrated joint with force sensing function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020519061.XU CN212421350U (en) | 2020-04-10 | 2020-04-10 | Double-encoder integrated joint with force sensing function |
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| CN212421350U true CN212421350U (en) | 2021-01-29 |
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| CN202020519061.XU Active CN212421350U (en) | 2020-04-10 | 2020-04-10 | Double-encoder integrated joint with force sensing function |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112720568A (en) * | 2021-02-09 | 2021-04-30 | 中山早稻田科技有限公司 | Dual-module integrated joint with force perception |
| CN113001533A (en) * | 2021-03-15 | 2021-06-22 | 哈尔滨工业大学 | Quadruped robot joint power unit |
| CN113799169A (en) * | 2021-10-22 | 2021-12-17 | 广东天太机器人有限公司 | Double-encoder joint module |
| CN114526761A (en) * | 2022-02-23 | 2022-05-24 | 成都卡诺普机器人技术股份有限公司 | Robot and detection method thereof, double encoders and system thereof |
-
2020
- 2020-04-10 CN CN202020519061.XU patent/CN212421350U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112720568A (en) * | 2021-02-09 | 2021-04-30 | 中山早稻田科技有限公司 | Dual-module integrated joint with force perception |
| CN113001533A (en) * | 2021-03-15 | 2021-06-22 | 哈尔滨工业大学 | Quadruped robot joint power unit |
| CN113799169A (en) * | 2021-10-22 | 2021-12-17 | 广东天太机器人有限公司 | Double-encoder joint module |
| CN114526761A (en) * | 2022-02-23 | 2022-05-24 | 成都卡诺普机器人技术股份有限公司 | Robot and detection method thereof, double encoders and system thereof |
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