CN215202053U - End transmission structure of industrial robot wrist transmission structure - Google Patents
End transmission structure of industrial robot wrist transmission structure Download PDFInfo
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- CN215202053U CN215202053U CN202121032801.8U CN202121032801U CN215202053U CN 215202053 U CN215202053 U CN 215202053U CN 202121032801 U CN202121032801 U CN 202121032801U CN 215202053 U CN215202053 U CN 215202053U
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Abstract
The utility model discloses an industrial robot wrist transmission structure's terminal transmission structure, it includes forearm casing and wrist casing, installs initiative bevel gear revolution in the forearm casing, and driven bevel gear revolution is installed to wrist casing one end, and the ring gear subassembly is installed to the other end, the ring gear subassembly includes gear shaft, straight-teeth gear outer lane, cross bearing, the gear shaft meshes with straight-teeth gear outer lane, and cross bearing centering supports the straight-teeth gear outer lane. The utility model discloses an end transmission structure can realize the regulation to gear drive's backlash, and has the advantage that the appearance is compact, the installation is simple, the transmission precision is high, the noise is little.
Description
Technical Field
The utility model relates to a six robot technical field, more specifically the end transmission structure that relates to an industrial robot wrist transmission structure that says so.
Background
The wrist component of the robot is used for connecting the arm of the robot and the end actuating mechanism, is positioned at the extreme end of the robot joint, has similar action with the wrist of a human body, and is used for adjusting or changing the posture of the end so as to enable the end actuating mechanism of the robot to meet the specific action requirement, so that the wrist has independent degree of freedom.
The tail end is directly connected with the executing mechanism, and auxiliary equipment is also arranged outside the executing mechanism, so that the limit on the external dimension of the tail end is limited, the size of the tail end is larger, the weight of the tail end is sensitive to the load performance of the whole machine, the weight of the body exceeds the standard, the reduction of the working load is inevitably caused, the efficiency is low, and the energy consumption loss is excessive.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an industrial robot wrist transmission structure's end transmission structure to solve the technical problem who exists among the background art.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides an industrial robot wrist transmission structure's end transmission structure, includes forearm casing and wrist casing, installs initiative bevel gear revolution mechanic in the forearm casing, and driven bevel gear revolution mechanic is installed to wrist casing one end, and the ring gear subassembly is installed to the other end, the ring gear subassembly includes gear shaft, straight-teeth gear outer lane, cross bearing, gear shaft and straight-teeth gear outer lane meshing, cross bearing centering and support straight-teeth gear outer lane.
In some embodiments, the outer ring of the spur gear comprises a first spur gear and a second spur gear with the same tooth profile parameters, the first spur gear and the second spur gear are installed in a superposition mode, the rotation range of the second spur gear is limited through a bushing and the second spur gear is axially fixed, circular arc-shaped holes are uniformly distributed in the first spur gear, cylindrical pins are respectively installed in the first spur gear and the second spur gear, a second compression spring is installed in the circular arc-shaped hole in the first spur gear, two ends of the second compression spring tightly support the side faces of the cylindrical pins connected with the first spur gear and the second spur gear, and the second spur gear is twisted around the center of the first spur gear through the elasticity of the second compression spring so that the tooth profile of the second spur gear is staggered from the tooth profile of the first spur gear.
In some embodiments, a cross bearing is arranged at the large end of the outer part of the first straight gear, a deep groove ball bearing is arranged at the small end of the outer part of the first straight gear, then the outer ring of the straight gear is integrally arranged in the wrist shell, and the inner ring of the straight gear is arranged at the bearing position of the wrist shell through the cross bearing.
In some embodiments, the cross bearing further comprises a pressing ring, and the pressing ring presses and locks the outer ring end face of the cross bearing, so that the gear shaft is meshed with the first straight gear and the second straight gear.
In some embodiments, the cross bearing further comprises an output flange, wherein the output flange is fixed with the first straight gear, and simultaneously presses and fixes the inner ring end face of the cross bearing.
In some embodiments, the output flange is sealed by oil seals disposed on both the inside and outside of the output flange, the oil seals including a first oil seal mounted on the wrist housing and a second oil seal mounted on the first end cap, and the lips both acting on the output flange to seal.
In some embodiments, the drive bevel gear rotating structure includes a drive bevel gear, a first bearing, a second bearing, a bushing, a synchronizing wheel; the first bearing is installed in an inner ring bearing position of the shaft sleeve in a pressed mode, the second bearing is installed in an outer ring bearing position of the shaft sleeve in a pressed mode, the driving bevel gear is installed in the first bearing, the synchronizing wheel is installed at the other end of the first bearing, the synchronizing wheel and the driving bevel gear are connected and locked, the first bearing is pressed through the pressing plate, the driving bevel gear transmission structure is formed, the driving bevel gear transmission structure is integrally installed in the forearm shell, and the wrist shell is connected with the bottom of the shaft sleeve.
In some embodiments, the synchronizing wheel is mounted on an end surface of a sleeve supported by the deep groove ball bearing, and the other end surface of the sleeve is mounted on a side surface of the wrist housing.
In some embodiments, the driven bevel gear rotating structure comprises a driven bevel gear, a roller bearing and a spline housing, the tail section of the large end of the gear shaft is a straight cylinder, the small end of the gear shaft is a positioning pin shaft, the small end surface of the gear shaft is provided with internal threads, and the small end of the gear shaft penetrates through an inner hole of the driven bevel gear and is axially limited by a shaft shoulder and is locked and fixed by a gasket and a screw; the middle part of the gear shaft is provided with a roller bearing and is supported on the wrist shell.
In some embodiments, the roller bearing inner race is installed in the bearing position of the gear shaft and limited by the shaft retaining ring, the gear shaft is installed in the driven bevel gear, limited to the shaft shoulder, adjusted by the gasket and locked by the screw, the first compression spring is installed on the driven bevel gear shaft, the spline sleeve is provided with an internal spline, the external diameter is installed in the third bearing and locked by the shaft retaining ring, the driven bevel gear shaft is provided with an external spline, and the spline sleeve is installed on the shaft of the driven bevel gear shaft; and then the whole body is put into the wrist shell, the second end cover is arranged to be pressed tightly, and the driven bevel gear is pressed tightly through the elastic force of the first compression spring.
Compared with the prior art, the utility model beneficial effect who has is:
the utility model discloses an end transmission structure can realize the regulation to gear drive's backlash, and has the advantage that the appearance is compact, the installation is simple, the transmission precision is high, the noise is little.
Drawings
Fig. 1 is a schematic structural diagram of an end transmission structure of an industrial robot wrist transmission structure of the present invention.
Fig. 2 is a schematic structural diagram of a spur gear outer ring of an end transmission structure of an industrial robot wrist transmission structure.
Fig. 3 is a schematic diagram of a driving gear backlash eliminating structure of an end transmission structure of an industrial robot wrist transmission structure.
Fig. 4 is a transmission schematic diagram of an end transmission structure of an industrial robot wrist transmission structure of the present invention.
The labels in the figure are: 1-first end cover, 2-wrist housing, 3-deep groove ball bearing, 4-first oil seal, 5-small arm housing, 6-gear shaft, 7-roller bearing, 8-second bearing, 9-shaft sleeve, 10-driving bevel gear, 11-first bearing, 12-synchronizing wheel, 13-pressing plate, 14-driven bevel gear, 15-first compression spring, 16-third bearing, 17-screw, 18-spline sleeve, 19-second end cover, 20-second straight gear, 21-first straight gear, 22-cross bearing, 23-pressing ring, 24-second oil seal, 25-output flange, 26-bush, 27-cylindrical pin and 28-second compression spring.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
On the contrary, this application is intended to cover any alternatives, modifications, equivalents, and alternatives that may be included within the spirit and scope of the application as defined by the appended claims. Furthermore, in the following detailed description of the present application, certain specific details are set forth in order to provide a better understanding of the present application. It will be apparent to one skilled in the art that the present application may be practiced without these specific details.
Fig. 1 is a schematic structural diagram of an end transmission structure of an industrial robot wrist transmission structure of the present invention. Fig. 2 is a schematic structural diagram of a spur gear outer ring of an end transmission structure of an industrial robot wrist transmission structure. Fig. 3 is a schematic diagram of a driving gear backlash eliminating structure of an end transmission structure of an industrial robot wrist transmission structure. Fig. 4 is a transmission schematic diagram of an end transmission structure of an industrial robot wrist transmission structure of the present invention. The end transmission structure of the wrist transmission structure of an industrial robot according to the embodiment of the present application will be described in detail with reference to fig. 1 to 4. It should be noted that the following examples are only for explaining the present application and do not constitute a limitation to the present application.
In the embodiment of this application, as shown in fig. 1, an industrial robot wrist transmission structure's terminal transmission structure, including forearm casing 5 and wrist casing 2, install drive bevel gear 10 revolution mechanic in the forearm casing 5, driven bevel gear 14 revolution mechanic is installed to 2 one end of wrist casing, and the ring gear subassembly is installed to the other end, the ring gear subassembly includes gear shaft 6, straight gear outer lane, cross bearing 22, gear shaft 6 meshes with the straight gear outer lane, and cross bearing 22 centers on and supports the straight gear outer lane.
In some embodiments, the outer ring of the spur gear includes a first spur gear 21 and a second spur gear 20 with the same tooth profile parameters, the first spur gear 21 and the second spur gear 20 are installed in a superposition manner, the rotation range of the second spur gear 20 is limited by a bushing 26 and is axially fixed, circular arc-shaped holes are uniformly distributed in the first spur gear 21, cylindrical pins 27 are respectively installed in the first spur gear 21 and the second spur gear 20, a second compression spring 28 is installed in the circular arc-shaped hole in the first spur gear 21, two ends of the second compression spring 28 tightly push against the side surfaces of the cylindrical pins 27 connected with the first spur gear 21 and the second spur gear 20, and the second spur gear 20 is twisted around the axis 6 of the first spur gear 21 by the elastic force of the second compression spring 28, so that the tooth profile of the second spur gear 20 is staggered from the tooth profile of the first spur gear 21. Thereby reducing the tooth profile height of the gear and being capable of floating, thereby eliminating the meshing clearance between the gear shaft 6 and the gear ring first straight gear 21 and the second straight gear 20 and improving the transmission precision.
The gear grinding processing technology is adopted for the surfaces of the teeth of the first straight gear 21 and the second straight gear 20, so that the bearing strength of the gears is improved, the meshing of the gears is more compact, the transmission precision is higher, the noise is reduced, and the like, the service life of the gears is prolonged, and the failure rate and the maintenance cost are reduced. Because the structure is a key transmission part on the robot body, the transmission precision and the stability of the whole robot are improved. Because the external tooth structure is adopted, the installation and the maintenance are more convenient. By adopting the method for machining, the efficiency of machining and detecting the gear is improved, and the manufacturing cost is reduced.
In some embodiments, the cross bearing 22 is installed at the large end of the outer part of the first spur gear 21, the deep groove ball bearing 3 is installed at the small end of the outer part of the first spur gear, the outer ring of the spur gear is integrally placed in the wrist housing 2, and the inner ring of the spur gear is installed at the bearing position of the wrist housing 2 through the cross bearing 22.
In some embodiments, a pressing ring 23 is further included, and the pressing ring 23 presses and locks the outer ring end face of the cross bearing 22, so that the gear shaft 6 is meshed with the first spur gear 21 and the second spur gear 20. The cross bearing further comprises an output flange 25, wherein the output flange 25 is fixed with the first straight gear 21, and simultaneously presses and fixes the inner ring end face of the cross bearing 22.
In some embodiments, the output flange 25 is sealed internally and externally by oil seals comprising a first oil seal 4 and a second oil seal 24, the first oil seal 4 being mounted on the wrist housing 2, the second oil seal 24 being mounted on the first end cap 1, and the lips acting on the output flange 25 to seal.
In some embodiments, the drive bevel gear 10 rotating structure includes a drive bevel gear 10, a first bearing 11, a second bearing 8, a bushing 9, a synchronizing wheel 12; the first bearing 11 is pressed in an inner ring bearing position of the shaft sleeve 9, the second bearing 8 is arranged in an outer ring bearing position of the shaft sleeve 9, the driving bevel gear 10 is arranged in the first bearing 11, the synchronizing wheel 12 is arranged at the other end in the first bearing 11, the synchronizing wheel 12 is connected and locked with the driving bevel gear 10, the first bearing 11 is pressed through the pressing plate 13, a driving bevel gear 10 transmission structure is formed and integrally arranged in the small arm shell 5, and the wrist shell 2 is connected with the bottom of the shaft sleeve 9.
In some embodiments, the synchronizing wheel 12 is mounted on the end face of the sleeve 9 supported by the deep groove ball bearing 3, and the other end face of the sleeve 9 is mounted on the side face of the wrist housing 2. The other end face of the shaft sleeve 9 is arranged on the side face of the wrist shell 2, and the outer diameter of the driving bevel gear 10 is provided with a deep groove ball and keeps coaxial with the synchronous wheel 12.
In some embodiments, the rotating structure of the driven bevel gear 14 comprises the driven bevel gear 14, a roller bearing 7 and a spline housing 18, the tail section of the large end of the gear shaft 6 is a straight cylindrical tooth, the small end is a positioning pin shaft, the small end surface is provided with an internal thread, the small end of the gear shaft 6 penetrates through the inner hole of the driven bevel gear 14 and is axially limited by a shaft shoulder, and the driven bevel gear 14 is locked and fixed by a gasket and a screw; the gear shaft 6 is centrally mounted with a roller bearing 7 and supported in the wrist housing 2.
In some embodiments, the inner ring of the roller bearing 7 is arranged in the bearing position of the gear shaft 6 and limited by a shaft check ring, the gear shaft 6 is arranged in the driven bevel gear 14 and limited to a shaft shoulder, a gasket is used for adjustment and a screw is used for locking, a first compression spring 15 is arranged on the shaft of the driven bevel gear 14, a spline sleeve 18 is provided with an internal spline, the outer diameter of the spline sleeve is arranged in the third bearing 16 and locked by the shaft check ring, an external spline is arranged on the shaft of the driven bevel gear 14, and the spline sleeve 18 is arranged on the shaft of the driven bevel gear; and then the whole body is put into the wrist shell 2, the second end cover 19 is arranged to be pressed tightly, and the driven bevel gear 14 is pressed tightly by the elastic force of the first compression spring 15. The first compression spring 15 is compressed by the end surface of the spline housing 18 and acts on the driven bevel gear 14, thereby eliminating the backlash of the drive bevel gear 10 and the driven bevel gear 14. Because of machining errors, the consistency of the pretightening force cannot be guaranteed, the pretightening force of the spring is adjusted by changing the thickness of the adjusting gasket, the meshing clearance of the bevel gear pair is eliminated, and the transmission precision is improved.
The synchronizing wheel 12 is rotated by hand to check the meshing state of the bevel gear pair. If the meshing state is not right, the pre-tightening force of the first compression spring 15 is adjusted by adding a gasket on the end surface of the third bearing 16, so that the bevel gear pair achieves the best meshing state.
The specific assembly process is as follows:
the second straight gear 20, the first straight gear 21 forms a straight gear outer ring, the tooth parameters are the same, firstly the cylindrical pin 27 is respectively installed and connected with the first straight gear 21 and the second straight gear 20, then the second compression spring 28 is put into the circular arc groove in the first straight gear 21, the two end faces of the spring are tightly propped against the side faces of the cylindrical pins 27 on the two gears, the second straight gear 20 and the first straight gear 21 are tightly pressed through a bush 26 and a screw to form a whole gear ring, the first straight gear 21 is fixed by hand or tool, then the second straight gear 20 is rotated, whether the second straight gear 20 normally swings is checked, the cross bearing 22 is arranged at the large end of the shaft 6 of the first straight gear 21, the small end of the shaft is arranged in the deep groove ball bearing 3, then the whole gear ring is arranged in the wrist shell 2, the cross bearing 22 outer ring is arranged at the bearing position of the wrist shell 2 through the tool, the ring 23 presses the end face of the cross bearing 22 outer ring, locking with a screw, rotating the gear ring by hand, checking whether the gear ring rotates freely without a stagnation clamping point; the output flange 25 is fixed to the first spur gear 21 while pressing and fixing the inner ring end face of the cross bearing 22 with screws.
Referring to fig. 1, the first bearing 112 is arranged in parallel in the shaft sleeve 9, and the driving bevel gear 10 is arranged in the first bearing 11 and limited to the small end surface; the inner ring of the second bearing 8 is pressed into the other bearing position of the shaft sleeve 9, the end surface is flush with the inner ring, and the second bearing 8 is pressed by a pressing plate 13 and a screw; the synchronizing wheel 12 is locked with the first bearing 11 by a screw, the synchronizing wheel 12 and the drive bevel gear 10 are locked by a screw, and the second bearing 8 is installed in the bearing position of the small arm shell 5. The wrist housing 2 is then connected to the sleeve 9 by screws.
The inner ring of the roller bearing 7 is arranged in the bearing position of the gear shaft 6 and limited by a check ring for the shaft, and the outer ring of the roller bearing 7 is arranged in the wrist shell 2; the gear shaft 6 is arranged in a driven bevel gear 14, limited to a shaft shoulder and locked by a screw 17, a first compression spring 15 is arranged on the shaft of the driven bevel gear 14, a spline sleeve 18 is provided with an internal spline, the outer diameter of the spline sleeve is arranged in a third bearing 16 and locked by a shaft retainer ring, an external spline is arranged on the shaft of the driven bevel gear 14, and the spline sleeve 18 is arranged on the shaft of the driven bevel gear. Then the whole body is put into the wrist shell 2, the second end cover 19 is arranged to be pressed tightly, the driven bevel gear 14 is propped tightly through the elastic force of the first compression spring 15 so as to achieve the purpose of eliminating the backlash, the synchronizing wheel 12 is rotated by hand, and the meshing state of the bevel gear pair is checked. If the meshing state is not right, the pre-tightening force of the first compression spring 15 is adjusted by adding a gasket on the end face of the third bearing 16, so that the gear shaft 6 is meshed with the first straight gear 21 and the second straight gear 20 of the gear ring, the whole mechanism rotates by manually rotating the synchronizing wheel 12, whether the bevel gear pair and the straight gear pair rotate stably and smoothly is checked, and the phenomena of stuck point retardation and the like cannot occur.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides an industrial robot wrist transmission structure's terminal transmission structure, its characterized in that, includes forearm casing and wrist casing, installs drive bevel gear revolution in the forearm casing, and driven bevel gear revolution is installed to wrist casing one end, and the ring gear subassembly is installed to the other end, the ring gear subassembly includes gear shaft, straight-teeth gear outer lane, cross bearing, the gear shaft meshes with the straight-teeth gear outer lane, and the cross bearing is centering and is supporting the straight-teeth gear outer lane.
2. The end transmission structure of an industrial robot wrist transmission structure according to claim 1, wherein the outer ring of the spur gear comprises a first spur gear and a second spur gear with the same tooth profile parameters, the first spur gear and the second spur gear are installed in a superposition manner, the rotation range of the second spur gear is limited by a bushing and is axially fixed, circular arc-shaped holes are uniformly distributed in the first spur gear, cylindrical pins are respectively installed in the first spur gear and the second spur gear, a second compression spring is installed in the circular arc-shaped hole in the first spur gear, two ends of the second compression spring are tightly pressed against the side surfaces of the cylindrical pins connected with the first spur gear and the second spur gear, and the second spur gear is twisted around the first spur gear center by the elastic force of the second compression spring, so that the tooth profile of the second spur gear shaft is staggered with the tooth profile of the first spur gear.
3. The end transmission structure of an industrial robot wrist transmission structure according to claim 2, characterized in that a cross bearing is installed at the large end outside the first spur gear, a deep groove ball bearing is installed at the small end, and then the spur gear outer ring is integrally installed in the wrist housing, and the inner ring is installed at the bearing position of the wrist housing through the cross bearing.
4. The end transmission structure of an industrial robot wrist transmission structure according to claim 3, further comprising a pressing ring which presses and locks an outer ring end face of the crisscross bearing so that the gear shaft is engaged with the first spur gear and the second spur gear.
5. The end transmission structure of an industrial robot wrist transmission structure according to claim 4, further comprising an output flange fixed to the first spur gear while pressing and fixing an inner ring end face of the crossed bearing.
6. The end transmission structure of an industrial robot wrist transmission structure according to claim 5, wherein the output flange is provided with oil seals for sealing at the inner and outer portions, the oil seals include a first oil seal and a second oil seal, the first oil seal is mounted on the wrist housing, the second oil seal is mounted on the first end cover, and the lips are both applied to the output flange for sealing.
7. The end transmission structure of an industrial robot wrist transmission structure according to claim 3, wherein the drive bevel gear rotating structure comprises a drive bevel gear, a first bearing, a second bearing, a shaft sleeve and a synchronizing wheel; the first bearing is installed in an inner ring bearing position of the shaft sleeve in a pressed mode, the second bearing is installed in an outer ring bearing position of the shaft sleeve in a pressed mode, the driving bevel gear is installed in the first bearing, the synchronizing wheel is installed at the other end of the first bearing, the synchronizing wheel and the driving bevel gear are connected and locked, the first bearing is pressed through the pressing plate, the driving bevel gear transmission structure is formed, the driving bevel gear transmission structure is integrally installed in the forearm shell, and the wrist shell is connected with the bottom of the shaft sleeve.
8. The end effector for an industrial robot wrist actuator according to claim 7, wherein the synchronizing wheel is mounted on an end face of a boss supported by deep groove ball bearings, and the other end face of the boss is mounted on a side face of the wrist housing.
9. The end transmission structure of an industrial robot wrist transmission structure according to claim 1, characterized in that the driven bevel gear rotating structure comprises a driven bevel gear, a roller bearing and a spline housing, the tail section of the large end of the gear shaft is a straight cylinder, the small end of the gear shaft is a positioning pin shaft, the small end surface is provided with an internal thread, and the small end of the gear shaft passes through the inner hole of the driven bevel gear and is axially limited by a shaft shoulder and is locked and fixed; the middle part of the gear shaft is provided with a roller bearing and is supported on the wrist shell.
10. The end transmission structure of an industrial robot wrist transmission according to claim 7, characterized in that the inner race of the roller bearing is fitted into the bearing position of the gear shaft and restrained by a shaft retainer, the gear shaft is fitted into the driven bevel gear, restrained to the shoulder, adjusted by a spacer and locked by a screw, the driven bevel gear shaft is fitted with a first compression spring, the spline is fitted with an inner spline, the outer diameter is fitted into the third bearing and locked by the shaft retainer, the driven bevel gear shaft is provided with an outer spline, and the spline is fitted onto the shaft; and then the whole body is put into the wrist shell, the second end cover is arranged to be pressed tightly, and the driven bevel gear is pressed tightly through the elastic force of the first compression spring.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121032801.8U CN215202053U (en) | 2021-05-14 | 2021-05-14 | End transmission structure of industrial robot wrist transmission structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121032801.8U CN215202053U (en) | 2021-05-14 | 2021-05-14 | End transmission structure of industrial robot wrist transmission structure |
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| CN215202053U true CN215202053U (en) | 2021-12-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113635341A (en) * | 2021-05-14 | 2021-11-12 | 成都卡诺普机器人技术股份有限公司 | End transmission structure of industrial robot wrist transmission structure |
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- 2021-05-14 CN CN202121032801.8U patent/CN215202053U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113635341A (en) * | 2021-05-14 | 2021-11-12 | 成都卡诺普机器人技术股份有限公司 | End transmission structure of industrial robot wrist transmission structure |
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