CN105904482A - Eccentric joint mechanism of mechanical arm - Google Patents
Eccentric joint mechanism of mechanical arm Download PDFInfo
- Publication number
- CN105904482A CN105904482A CN201610437163.5A CN201610437163A CN105904482A CN 105904482 A CN105904482 A CN 105904482A CN 201610437163 A CN201610437163 A CN 201610437163A CN 105904482 A CN105904482 A CN 105904482A
- Authority
- CN
- China
- Prior art keywords
- ring
- mechanical arm
- internal ring
- outer shroud
- articulation mechanism
- 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.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 30
- 230000000712 assembly Effects 0.000 claims abstract description 19
- 238000000429 assembly Methods 0.000 claims abstract description 19
- 230000006698 induction Effects 0.000 claims description 5
- 239000000523 sample Substances 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 2
- 239000000203 mixture Substances 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 2
- 238000010030 laminating Methods 0.000 description 2
- 210000003797 carpal joint Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- IXSZQYVWNJNRAL-UHFFFAOYSA-N etoxazole Chemical compound CCOC1=CC(C(C)(C)C)=CC=C1C1N=C(C=2C(=CC=CC=2F)F)OC1 IXSZQYVWNJNRAL-UHFFFAOYSA-N 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Pivots And Pivotal Connections (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an eccentric joint mechanism of a mechanical arm. The eccentric joint mechanism comprises two rotating ring assemblies and at least two connecting blocks. Each rotating ring assembly comprises an outer ring, an inner ring and two bearings, wherein the outer ring is coaxially arranged on the outer side of the inner ring in a sleeving manner, and the two bearings are connected to the two ends of the outer ring and the two ends of the inner ring so that the outer ring and the inner ring can rotate coaxially and relatively. The two rotating ring assemblies are perpendicular to each other and are arranged in a sleeved manner and connected through at least two connecting blocks. The eccentric joint mechanism of the mechanical arm has the beneficial effects of being light, high in flexibility, high in position accuracy, compact in structure and the like, and the working requirement of the mechanical arm under many special working conditions can be met.
Description
Technical field
The present invention relates to intelligent machine mechanical arm field, particularly relate to a kind of mechanical arm bias articulation mechanism.
Background technology
The structure of existing joint of mechanical arm is the most all an a kind of axial-rotation of rotary joint realization, and multiaxis
Manipulator motion typically requires multiple power joint and is combined driving, the rigidity that single action joint combines
Mechanical arm had both taken up space position, the heaviest, (as space is made under the conditions of the most gradually can not meeting particular job
Industry) job requirements.
Simultaneously for mechanical arm carpal joint and shoulder joint, it is required to two kinds of axial-rotations and is combined realizing making a reservation for
Action, the unicity in tradition joint becomes the bottleneck of mechanical arm high flexibility ratio so that multivariant mechanical arm
There is joint design defect numerous, baroque.
Summary of the invention
For solving that the degree of freedom in joint of existing mechanical arm is single, requisite space and the biggest technology of weight ask
Topic, the present invention proposes a kind of mechanical arm bias articulation mechanism based on duplex bearing principle, can not only realize two
Axial rotation motion, replaces the effect of two rotary joints, and is greatly saved space, and convenient location controls,
And reduce the weight of mechanical arm.
For reaching above-mentioned purpose, the present invention by the following technical solutions:
The invention discloses a kind of mechanical arm bias articulation mechanism, connect including two swivel assemblies and at least two
Block, described swivel assembly includes outer shroud, internal ring and two bearings, and described outer shroud coaxial sleeve is outside described internal ring
Side, two described bearings be connected to described internal ring and described outer shroud two ends so that described outer shroud and described in
Can coaxially relatively rotate between ring；Two described swivel assemblies are mutually perpendicular to and mutual fit, and by least two
Individual described contiguous block connects.
In further scheme, it is special that the mechanical arm bias articulation mechanism of the present invention can also have techniques below
Levy:
Described bearing includes outer ring, inner ring and multiple ball, and the plurality of ball is arranged on the inner side of described outer ring
In the ball grooves of the lateral surface of face and described inner ring, the two ends of described outer shroud respectively with described in two described bearings
Outer ring connects by screw is fixing, and the two ends of described internal ring described inner ring with two described bearings respectively passes through spiral shell
Nail is fixing to be connected；Preferably, described outer ring and described inner ring are made up of two half-turns respectively.
One of them end face of described outer ring and described inner ring is stepped cylindrical face, the two ends of described outer shroud respectively with
The stepped cylindrical face of the described outer ring of two described bearings is the first matching relationship, the two ends of described internal ring respectively with
The stepped cylindrical face of the described inner ring of two described bearings is the second matching relationship, wherein said first matching relationship
With described second matching relationship be interference fits or one of them for interference fits and another join for interference
Close.
Described outer shroud is the assembly of base and annulus that Notch angle is 100～160 °, and described annulus is with described
Connect by screw is fixing at the binding face of base, it is preferable that described base is provided with ring flange.
Described internal ring is made up of two half-turns, and the angle of one of them half-turn is 100～180 °, another half-turn
Angle be 260～180 °.
The outside of described internal ring is provided with power rope race, for rope is described interior to pull through described power rope race
Ring rotates forward or reversely rotates.
Described internal ring is provided with two circumference brake roads, and two described circumference brake roads are separately positioned on described internal ring
Outside two ends at；Described outer shroud is respectively equipped with four pieces of circumference brake blocks, every two pieces of described circumference brake
Sheet is correspondingly arranged in a described circumference brake road respectively.
Having four pin-and-holes on described outer shroud, the upper end of described circumference brake block is connected to described by bearing pin
In the described pin-and-hole of outer shroud, bullet is passed through in the lower end of two pieces of described circumference brake blocks in each described circumference brake road
Spring connects；It is additionally provided with cord hole in the lower end of described circumference brake block, in each described circumference brake road, rope
Sequentially pass through the described cord hole of one of described circumference brake block lower end, described spring and other one piece of described circle
The described cord hole of all brake block lower ends.
The outer wall of described internal ring is provided with magnetic grid, and described outer shroud is provided with the Magnetic Induction matched with described magnetic grid
Probe.
The quantity of described contiguous block is four, and four described contiguous blocks are respectively fixedly connected with two described change groups
The two ends of part；Preferably, described contiguous block includes that two orthogonal planar portions and connection two are described flat
The connecting portion of face, two described planar portions are fixedly connected on the described internal ring of two described swivel assemblies respectively
On.
Compared with prior art, the beneficial effects of the present invention is: the mechanical arm bias articulation mechanism of the present invention leads to
Cross two mutual fits and be mutually connected vertically so that just realizing three dimensions by an articulation mechanism and rotate fortune
Dynamic function, it is possible to carry out precise positioning；The structure of this mechanical arm bias articulation mechanism has high compact,
Can save much room in specific occasion, flexibility ratio is high, facilitates action executing, is greatly optimized routine more and closes
The structural complexity of joint mechanical arm.Comparing traditional joint, the mechanical arm based on duplex bearing principle of the present invention is inclined
Heart joint, greatly reduces the weight of mechanical arm by lightweight design bearing, it is possible to meet under specific environment (as
Space operation) job requirements of mechanical arm.
In further scheme, the internal ring of swivel assembly, outer shroud and two bearings are all by two half-turn combinations
Form, facilitate the assembly and disassembly of the mechanical arm bias articulation mechanism of the present invention.
Accompanying drawing explanation
Fig. 1 is the structural representation of the mechanical arm bias articulation mechanism of the preferred embodiment of the present invention；
Fig. 2 is the structural representation of the swivel assembly in Fig. 1；
Fig. 3 is the structural representation of the outer shroud in Fig. 2；
Fig. 4 is the structural representation of the internal ring in Fig. 2；
Fig. 5 is the structural representation of the bearing in Fig. 2；
Fig. 6 is one of cross-sectional view of Fig. 2；
Fig. 7 is the two of the cross-sectional view of Fig. 2；
Fig. 8 is the structural representation of the circumference brake block in Fig. 7；
Fig. 9 is the right view of Fig. 1；
Figure 10 is the structural representation of the contiguous block in Fig. 1.
Detailed description of the invention
Below against accompanying drawing and combine preferred embodiment the invention will be further described.
As it is shown in figure 1, be the structural representation of the mechanical arm bias articulation mechanism of the preferred embodiment of the present invention, its
Middle mechanical arm bias articulation mechanism includes two swivel assemblies 1 and four contiguous blocks 2, two swivel assembly 1 phases
The most vertical and mutual fit, and coupled together by four contiguous blocks 2.
Such as Fig. 2, being the structural representation of swivel assembly 1, swivel assembly 1 includes outer shroud 11, internal ring 12 and
Two bearings 13, outer shroud 11 coaxial sleeve is in the outside of internal ring 12, and two bearings 13 are connected to outer shroud 11
With the two ends of internal ring 12 are so that can coaxially relatively rotate between outer shroud 11 and internal ring 12.
As it is shown on figure 3, outer shroud 11 is the group of base 112 and annulus 111 that Notch angle is 100～160 °
Piece installing, in the present embodiment, the Notch angle of annulus 111 is 100 °, annulus 111 and the patch of base 112
Conjunction face place connects by screw is fixing, and base 112 is additionally provided with ring flange 1121, and ring flange 1121 can be used
Connect all kinds of mechanism.Be evenly distributed with multiple screw hole 113 on the anchor ring at the two ends of outer shroud 11, for
Bearing 13 is fixing to be connected.
As shown in Figure 4, internal ring 12 is made up of two half-turns 121 and 122, and the angle of one of them half-turn can
Thinking 100～180 °, the angle of another half-turn can be 260～180 °, half-turn 121 in the present embodiment
Angle be 201 °, the angle of half-turn 122 is 159 °.It is evenly distributed with on the anchor ring at the two ends of internal ring 12
Multiple screw holes 123, are connected for fixing with bearing 13.
As shown in Figure 5 and Figure 6, bearing 13 includes outer ring 131, inner ring 132 and multiple ball 133, multiple
Ball 133 is arranged in the ball grooves of the medial surface of outer ring 131 and the lateral surface of inner ring 132；Outer ring 131
On be uniformly distributed multiple screw hole 1311, corresponding with the position of the multiple screw holes 113 on outer shroud 11 pass through
Screw is fixing to be connected；Uniform uniform multiple screw holes 1321 on inner ring 132, with the multiple screws on internal ring 12
The position in hole 123 is corresponding to be connected by screw is fixing, a portion screw hole 1321 the most simultaneously be connected
Screw hole on block 3 is corresponding, contiguous block 3, inner ring 131 is connected together with internal ring 12 by screw
Come.If Fig. 5, outer ring 131 and inner ring 132 are to be spliced by two half-turns respectively, when splicing, permissible
The splicing position of outer ring 131 and inner ring 132 is staggered.Such as Fig. 6, outer ring 131 and inner ring 132 wherein
One end face is stepped cylindrical face, outer shroud 11 and the stepped cylindrical face interference fits of outer ring 131 or interference fit,
Laminating end face is fastened by equally distributed screw, internal ring 12 and the stepped cylindrical face transition of inner ring 132
Coordinating or interference fit, laminating end face is fastened by the most uniform screw, its outer-loop 11 and outer ring
The matching relationship in the stepped cylindrical face of 131 and internal ring 12 are excellent with the matching relationship in the stepped cylindrical face of inner ring 132
Choosing be interference fits simultaneously, or one of them be interference fits and another be interference fit, the cooperation at two
Relation is avoided being interference fit simultaneously, to ensure multiple ball 133 normal rotation.
As shown in Figure 4, it is provided with two power rope races 124 in the outside of internal ring 12, two ropes can be divided
Chuan Guo two power rope races 124 through the hole 1241 on power rope race 124, the direction of two ropes
It is contrary so that two ropes can pull internal ring 12 to rotate forward and reversely rotate, when internal ring 12 rotates respectively
Time, wherein a rope tightens up, other rope release.Two circumference brake roads it are additionally provided with on internal ring 12
125, at the two ends in the outside that two circumference brake road 125 is correspondingly arranged at internal ring 12 respectively.In conjunction with Fig. 3,
Shown in Fig. 7 and Fig. 8, outer shroud 11 is provided with four pieces of circumference brake blocks 114, every two pieces of circumference brake blocks 114
Being correspondingly arranged at respectively in a circumference brake road 125, the upper end of circumference brake block 114 is provided with pin shaft hole 1141,
Lower end is provided with flange 1142 and cord hole 1143, and outer shroud 11 has four pin-and-holes 115, circumference brake block 114
The pin shaft hole 1141 of upper end be fastened on the position of pin-and-hole 115 by bearing pin 1151, each circumference is stopped
The lower end of two pieces of circumference brake blocks 114 in track 125 is connected by spring 116, and spring 116 is linked in two
In the flange 1142 of the lower end of block circumference brake block；In each circumference brake road 125, rope 118 is depended on
The secondary cord hole 1143 of one piece of circumference brake block 114 lower end, spring 116 and the other one piece of circumference of passing through is stopped
It is then passed through rope sling 1181 after the cord hole 1143 of car sheet 114 lower end and passes.When needs brake, tighten up a rope
118, the termination of rope 118 and the common compression spring 116 of rope sling 1181, allow two pieces of circumference brake block 114 phases
Bearing pin 1151 is rotated and is close to the circumference brake road 125 of internal ring 12, reach to hold tightly the purpose of internal ring 12；
Two pieces of circumference brake blocks 114, when rope 118 relaxation state, are strutted by spring 116, make two pieces of circumference brakes
Sheet 114 separates with circumference brake road 125 respectively, it is to avoid circumference brake block 114 hinders internal ring 12 and outer shroud 11
Coaxially relatively rotate.
Shown in Fig. 3, Fig. 4 and Fig. 6, the outer wall of internal ring 12 posts magnetic grid 126, wherein magnetic grid
The angle of 126 is preferably greater than 280 °, installs the position with magnetic grid 126 and match on the base 112 of outer shroud 11
The Magnetic Induction probe 117 closed；Magnetic Induction probe 117 is solid by countersunk head screw 1123 as shown in Figure 9
Surely being connected on connecting plate 1122, connecting plate 1122 is to be fixedly connected on ring flange by countersunk head screw 1124
On 1121.By Magnetic Induction probe 117 and magnetic grid 126 with the use of, internal ring 12 He can be recorded at any time
Relatively rotation place between outer shroud 11.
Wherein, in the present embodiment, the structure of two swivel assemblies 1 is the same, in other embodiment,
A difference can be had in structure in two swivel assemblies 1 to be, wherein have in a swivel assembly 1 is interior
Ring 12 and outer shroud 11 can be integrated.
As shown in Figure 10, contiguous block 2 includes two orthogonal planar portions 21, and connects two planes
The connecting portion 22 in portion 21, two of which planar portions 21 is respectively equipped with at least one screw hole 211, puts down for two
Face 21 is connected by least one screw hole 211 is fixing with two swivel assemblies 1 respectively, wherein planar portions
Screw hole 211 on 21 and the screw hole 1321 on the inner ring 132 of bearing 13 and the screw hole on internal ring 12
The position of 123 is corresponding contiguous block 2, bearing 13 and internal ring 12 to be fixedly connected with by screw.This
The mechanical arm bias articulation mechanism of invention preferred embodiment includes four contiguous blocks 2, and four contiguous blocks 2 are respectively
It is fixedly connected on the two ends of two swivel assemblies 1 to be coupled together by the internal ring 12 of two swivel assemblies 1.
The installation step of the mechanical arm bias articulation mechanism in the preferred embodiment of the present invention is: first by one of them turn
Ring assemblies 1 (internal ring 12 in this swivel assembly 1 can be integrated or two half-turns assemble)
Outer shroud 11 coaxial sleeve in the outside of internal ring 12, connect the annulus 111 of outer shroud 11 and base 112, then will
Two bearings 13 are respectively fixedly connected with at outer shroud 11 and the two ends of internal ring 12, now internal ring 12 and outer shroud 11
Between can coaxially relatively rotate；Then by another swivel assembly 1, (internal ring 12 in this swivel assembly 1 is
Two half-turns assemble) internal ring 12 and outer shroud 11 be linked in respectively on the swivel assembly 1 assembled, by two
Individual bearing 13 is respectively fixedly connected with at outer shroud 11 and the two ends of internal ring 12 so that outer shroud 11 and internal ring 12 it
Between can coaxially relatively rotate；Finally by four contiguous blocks, two swivel assemblies 1 are connected mutual vertically
Coming, each contiguous block 2 is fixing with the internal ring 12 of two swivel assemblies 1 respectively to be connected, and completes assembling.This machine
The internal ring of two swivel assemblies, based on duplex bearing principle, is connected by mechanical arm bias articulation mechanism by four contiguous blocks
Get up, three-dimensional rotary motion can be completed, relative to the combination in existing multiple joints, compact conformation
And save much room, and flexibility ratio is high, action executing is very convenient, greatly reduces three dimensions and rotates
The complexity in joint, be greatly reduced own wt, it is possible to meet under specific environment (as space is made simultaneously
Industry) job requirements of mechanical arm.
Above content is to combine concrete preferred implementation further description made for the present invention, it is impossible to
Assert the present invention be embodied as be confined to these explanations.For those skilled in the art
For, without departing from the inventive concept of the premise, it is also possible to make some equivalents and substitute or obvious modification, and
And performance or purposes identical, all should be considered as belonging to protection scope of the present invention.
Claims (10)
1. a mechanical arm bias articulation mechanism, it is characterised in that include two swivel assemblies and at least two
Contiguous block, described swivel assembly includes outer shroud, internal ring and two bearings, and described outer shroud coaxial sleeve is at described internal ring
Outside, two described bearings are connected to the two ends of described outer shroud and described internal ring so that described outer shroud and institute
State and can coaxially relatively rotate between internal ring；Two described swivel assemblies are mutually perpendicular to and mutual fit, and by extremely
Few two described contiguous blocks connect.
Mechanical arm bias articulation mechanism the most according to claim 1, it is characterised in that described bearing bag
Including outer ring, inner ring and multiple ball, the plurality of ball is arranged on the medial surface of described outer ring and described inner ring
In the ball grooves of lateral surface, the two ends of described outer shroud are solid by screw with the described outer ring of two described bearings respectively
Fixed connection, the two ends of described internal ring are connected by screw is fixing with the described inner ring of two described bearings respectively；Excellent
Selection of land, described outer ring and described inner ring are made up of two half-turns respectively.
Mechanical arm bias articulation mechanism the most according to claim 2, it is characterised in that described outer ring and
One of them end face of described inner ring is stepped cylindrical face, the two ends of described outer shroud respectively with two described bearings
The stepped cylindrical face of described outer ring is the first matching relationship, the two ends of described internal ring respectively with two described bearings
The stepped cylindrical face of described inner ring is the second matching relationship, and wherein said first matching relationship and described second coordinates
Relation be interference fits or one of them for interference fits and another is for interference fit.
Mechanical arm bias articulation mechanism the most according to claim 1, it is characterised in that described outer shroud is
Base and the assembly of annulus that Notch angle is 100～160 °, at described annulus and the binding face of described base
Connect by screw is fixing, it is preferable that described base is provided with ring flange.
Mechanical arm bias articulation mechanism the most according to claim 1, it is characterised in that described internal ring by
Two half-turn compositions, the angle of one of them half-turn is 100～180 °, and the angle of another half-turn is
260～180 °.
Mechanical arm bias articulation mechanism the most according to claim 1, it is characterised in that described internal ring
Outside is provided with power rope race, for by rope through described power rope race to pull described internal ring to rotate forward or instead
To rotation.
Mechanical arm bias articulation mechanism the most according to claim 1, it is characterised in that on described internal ring
Being provided with two circumference brake roads, two described circumference brake roads are separately positioned on the two ends in the outside of described internal ring
Place；Being respectively equipped with four pieces of circumference brake blocks on described outer shroud, every two pieces of described circumference brake block correspondences respectively set
Put and brake in road at a described circumference.
Mechanical arm bias articulation mechanism the most according to claim 7, it is characterised in that on described outer shroud
Having four pin-and-holes, the upper end of described circumference brake block is connected to the described pin-and-hole of described outer shroud by bearing pin
In, the lower end of two pieces of described circumference brake blocks in each described circumference brake road is connected by spring；Described
The lower end of circumference brake block is additionally provided with cord hole, and in each described circumference brake road, rope sequentially passes through wherein one
The described cord hole of circumference brake block lower end, described spring and other one piece of described circumference brake block lower end described in block
Described cord hole.
Mechanical arm bias articulation mechanism the most according to claim 1, it is characterised in that described internal ring
Outer wall is provided with magnetic grid, and described outer shroud is provided with the Magnetic Induction probe matched with described magnetic grid.
10. according to the mechanical arm bias articulation mechanism described in any one of claim 1 to 9, it is characterised in that
The quantity of described contiguous block is four, and four described contiguous blocks are respectively fixedly connected with at two described swivel assemblies
Two ends；Preferably, described contiguous block includes two orthogonal planar portions and connects two described planar portions
Connecting portion, two described planar portions are fixedly connected on the described internal ring of two described swivel assemblies respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610437163.5A CN105904482B (en) | 2016-06-16 | 2016-06-16 | A kind of mechanical arm bias articulation mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610437163.5A CN105904482B (en) | 2016-06-16 | 2016-06-16 | A kind of mechanical arm bias articulation mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105904482A true CN105904482A (en) | 2016-08-31 |
| CN105904482B CN105904482B (en) | 2017-06-16 |
Family
ID=56751573
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610437163.5A Active CN105904482B (en) | 2016-06-16 | 2016-06-16 | A kind of mechanical arm bias articulation mechanism |
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| Country | Link |
|---|---|
| CN (1) | CN105904482B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107379003A (en) * | 2017-07-21 | 2017-11-24 | 清华大学 | Biaxial joint mechanism of robot |
| CN107379006A (en) * | 2017-09-07 | 2017-11-24 | 清华大学深圳研究生院 | A kind of joint connector of mechanical arm |
| CN107628271A (en) * | 2017-09-11 | 2018-01-26 | 航天东方红卫星有限公司 | A two-dimensional concentric rotary joint in space |
| CN114082200A (en) * | 2021-12-23 | 2022-02-25 | 不误正业(深圳)文化传播有限公司 | Novel joint connection structure and doll |
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| WO1991014220A1 (en) * | 1990-03-13 | 1991-09-19 | Amrus Corporation | Interlocking-body connective joints |
| US5314425A (en) * | 1990-03-13 | 1994-05-24 | Amrus Corporation | Interlocking-body connective joint |
| CN1281385A (en) * | 1997-12-11 | 2001-01-24 | 人造丝化学欧洲有限公司 | Catalyst based on palladium, cadmium, alkali and lanthanoids and method for producing vinyl acetate |
| CN1281385C (en) * | 2003-07-23 | 2006-10-25 | 郁有华 | Linear driven single o-multi-freedom joint |
| WO2009026937A2 (en) * | 2007-08-26 | 2009-03-05 | Abozaied Abdallah Ezzat Abdall | New robotic joint configuration |
| CN102042366A (en) * | 2010-12-07 | 2011-05-04 | 配天(安徽)电子技术有限公司 | Worm reducer, robot joints and robot |
| CN103846927A (en) * | 2014-03-18 | 2014-06-11 | 王培明 | Open type space two-dimensional eccentric rotational joint |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO1991014220A1 (en) * | 1990-03-13 | 1991-09-19 | Amrus Corporation | Interlocking-body connective joints |
| US5314425A (en) * | 1990-03-13 | 1994-05-24 | Amrus Corporation | Interlocking-body connective joint |
| CN1281385A (en) * | 1997-12-11 | 2001-01-24 | 人造丝化学欧洲有限公司 | Catalyst based on palladium, cadmium, alkali and lanthanoids and method for producing vinyl acetate |
| CN1281385C (en) * | 2003-07-23 | 2006-10-25 | 郁有华 | Linear driven single o-multi-freedom joint |
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| CN103846927A (en) * | 2014-03-18 | 2014-06-11 | 王培明 | Open type space two-dimensional eccentric rotational joint |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107379003A (en) * | 2017-07-21 | 2017-11-24 | 清华大学 | Biaxial joint mechanism of robot |
| CN107379006A (en) * | 2017-09-07 | 2017-11-24 | 清华大学深圳研究生院 | A kind of joint connector of mechanical arm |
| CN107628271A (en) * | 2017-09-11 | 2018-01-26 | 航天东方红卫星有限公司 | A two-dimensional concentric rotary joint in space |
| CN114082200A (en) * | 2021-12-23 | 2022-02-25 | 不误正业(深圳)文化传播有限公司 | Novel joint connection structure and doll |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105904482B (en) | 2017-06-16 |
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