CN206011131U - A kind of robot modularized series connection joint that cooperates - Google Patents
A kind of robot modularized series connection joint that cooperates Download PDFInfo
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- CN206011131U CN206011131U CN201620958502.XU CN201620958502U CN206011131U CN 206011131 U CN206011131 U CN 206011131U CN 201620958502 U CN201620958502 U CN 201620958502U CN 206011131 U CN206011131 U CN 206011131U
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Abstract
This utility model is related to a kind of robot modularized series connection joint of cooperation, including joint housing and hollow motor disposed within, harmonic speed reducer, input shaft, output shaft, torque sensor, brake, absolute value encoder, driver, and harmonic speed reducer, hollow motor, brake, absolute value encoder and driver are sequentially connected in series on input shaft.Articulation structure of the present utility model is compacter, and low cost, security reliability are higher, dexterous, and modularity is integrated；Brake structure is simple, is easily installed, braking ability reliability, stable；Force feedback system performance sensitive, stable, reliability are high；In addition, cabling arrangement adopts mesopore cabling so that wiring more reasonable, cabling is convenient.
Description
Technical field
This utility model is related to a kind of tool shoulder joint structure, more particularly to a kind of robot modularized series connection joint of cooperation.
Background technology
When traditional industrial robot gradually replaces dullness, the work that repeatability is high, danger is strong, cooperate robot
Each industrial circle is slowly penetrated into, with people's cooperation.Lightweight robotic during robot cooperate as industrial robot, in the past
Industrial robot is to replace artificial with machinery and reduce human cost, and the robot that cooperates mainly assists the mankind and and people
Class together operation, and need not being isolated using safe fence, is solved the mankind compared with the degree of accuracy for being difficult to reach or allows the mankind
Away from dangerous environment and work.Core building block of the cooperation robot joint structure as cooperation robot, its performance
Seem most important in whole cooperation robot kinematics.Its main feature have modularity, flexibility, integrated, dexterous,
Safety and can bear.Want more relatively simple than the structure of conventional industrial robot, fixed, heavy, this kind of cooperation joint of robot knot
Structure is designed using modular, and there is replaceability between each joint, can constitute 4～7 degree of freedom machinery by independent assortment
Arm, its structure more diversification, dexterousr, the application of the more complex environments of adaptation.Current global collaboration robot representative master
ABB to be had, storehouse card, UR etc..
Patent (CN201510181154.X) describe a kind of can variable freedom modular mechanical shoulder joint, as shown in Figure 1.
Its principle is：The brake gear 4 is installed on rear end cap 305, including electric magnet 401, brake catch 402, positioning snap ring 403
With three crest pads 404.Wherein, electric magnet 401 by L-type support at 305 outer rim of rear end cap, positioning snap ring 403 with
Three crest packing rings 404 are 2, and brake catch 402 is 1, using the decussate texture in circumference with four spacing levers.
2 three crest packing rings 404 are with brake catch 402 according to tri- crest packing ring 404- brake catch 402- of positioning snap ring 403-, tri- ripples
The order of peak packing ring 404- positioning snap rings 403 is enclosed within quill shaft 303, as shown in figure 5, and near 303 shaft end of quill shaft
Shielding plate 405 is additionally provided between three crest packing rings 404 and positioning snap ring 403, the structure of 2 locator card interannulars is blocked.
Wherein, 2 positioning snap rings 403 are fixed in the groove that design in 303 circumference of quill shaft, and by 2 three crest packing rings 404 and 1
It is fixed between individual brake 402 three of catch.Can ensure in this utility model joint of mechanical arm not from there through brake gear 4
When upper electricity or generation emergency situations, the device so as to ensure personal safety promptly can be mechanically braked.Normal work
When making, electric adhesive on electric magnet 401, brake catch 402 can be rotated freely；When break down power down when, electric magnet 401 is released
Put, after the spacing lever of extremely brake catch is contacted with electromagnetism iron, stopped by electromagnetism iron, and then will be locked for brake catch 402,
Which is prevented from freely rotating, so that quill shaft 303 is stalled, the purpose of brake is reached.Because brake principle be by power on/off when
Electromagnetism push rod stretches to stop that brake catch reaches the function of brake, and during braking, electromagnetism push rod caloric value is big, to electromagnetism push rod
Dynamic response requirement is very high, easily occur push rod brake catch directly over phenomenon, during pusher retracted, brake catch fail in time
Braking, also needs to continue to rotate to an angle just brake.And brake force is mainly determined by electromagnetism iron and brake catch intensity,
Brake force is limited.The push rod intensity of electromagnetism push rod there are certain requirements, when brake force is larger, the easy bending of push rod or folding
Disconnected.This braking principle, is to be contacted with brake catch with electric magnet iron, reaches braking function.Application position is not 360 ° of full sides
To, there is very big gap.
In addition, without force feedback function or by current monitoring mode feedback moment, need not make as cooperation robot
Isolated with safe fence, so having very high requirement to its force feedback sensitivity, precision.In existing product technology
In, rarely have ripe scheme.
In view of above-mentioned defect, the design people, positive research and innovation in addition, to founding a kind of cooperation of new structure
Robot modularized series connection joint so as to more the value in industry.
Utility model content
For solving above-mentioned technical problem, the purpose of this utility model is to provide a kind of joint position brake accuracy foot, braking
Power be enough to and feedback sensitivity of force height, the robot modularized series connection joint of the cooperation of compact conformation.
The robot modularized series connection joint that cooperates of the present utility model, including joint housing and hollow electricity disposed within
Machine, harmonic speed reducer, input shaft, output shaft, torque sensor, brake, absolute value encoder, driver, the harmonic wave subtract
Fast device, hollow motor, brake, absolute value encoder and driver are sequentially connected in series on the input shaft, wherein
The forward flange and rear flange for supporting input shaft, input shaft and forward flange and rear flange is provided with-the joint housing
Between connected by rolling bearing；
The stator of-the hollow motor is connected with joint housing, rotor and input shaft connect；
The input of-the harmonic speed reducer is connected with input shaft, outfan and output shaft connect；
One end of-output shaft connection the harmonic speed reducer connects the torque sensor, the other end and passes through sliding bearing
It is connected with the input shaft；
- the brake is electromagnetic brake, including brake yoke, spring leaf, armature, flange, wherein brake magnetic
On the rear flange, spring leaf, armature are connected with the input shaft yoke by flange；
The inner ring of-the absolute value encoder is connected with the input shaft, outer ring is on the rear flange；
- the driver on the rear flange, for the hollow motor, brake, absolute value encoder,
Torque sensor is powered, and the hollow motor and brake are controlled, while to absolute value encoder and moment sensing
Device carries out signal processing.
Further, the Hall element coordinated with the hollow motor is additionally provided with the input shaft.
Further, sealing device is additionally provided between the forward flange and the input shaft.
Further, joint housing side wall is provided with for connecting the output flange in the joint.
Further, the joint housing is provided with bonnet away from the end of the torque sensor.
Further, the torque sensor is strain beam flange-type structure, its inner ring fixing screw hole and outer ring flange
Four strain-ga(u)ge transducers are uniformly distributed between fixing screw hole.
Further, the joint housing, hollow motor, harmonic speed reducer, brake, encoder, driver are mesopore
Structure.
Further, the input shaft is hollow axle with output shaft.
By such scheme, this utility model at least has advantages below：
1st, electromagnetic brake is used, and the magnetic force produced using switching electricity, spring leaf are produced using friction by adhesive and folding
The locked input shaft of raw torque, reaches the effect of braking, and brake force is big, brakeless back clearance, can 360 ° of full angle distance brakings, system
Dynamic response is fast, and compact conformation is easy for installation；
2nd, the torque sensor that with next joint output flange be connected is connected in output the tip of the axis, and moment feedback is closed
Section loading moment, compact conformation, high precision feed back sensitive, raising cooperation robot security's barrier propterty；
3rd, articulation structure is modular series connection structure, and compact, dexterous, good reliability freely can expand, be combined into 4～7 from
By degree mechanical arm, structure is more flexible, more adapts to complex work environmental demand；
4th, torque sensor, harmonic speed reducer, hollow motor, brake, encoder, driver are sequentially connected in series, are adopted
Hollow cabling arrangement, greatly reduces outside dimension and length dimension, dexterousr in the application, is suitable for complicated ring
Border.
Described above is only the general introduction of technical solutions of the utility model, in order to better understand skill of the present utility model
Art means, and being practiced according to the content of description, with preferred embodiment of the present utility model and coordinate accompanying drawing detailed below
Describe in detail bright as after.
Description of the drawings
Fig. 1 is traditional joint of mechanical arm structural representation；
Fig. 2 is dimensional structure diagram of the present utility model；
Fig. 3 is sectional view of the present utility model；
Fig. 4 is joint housing structural representation in this utility model；
Fig. 5 is rear cover structure schematic diagram in this utility model；
Fig. 6 is rear flange structural representation in this utility model；
Fig. 7 is forward flange structural representation in this utility model；
Fig. 8 is torque sensor structural representation in this utility model；
Fig. 9 is output shaft structural representation in this utility model；
Figure 10 is input shaft structure schematic diagram in this utility model；
Figure 11 is 3 joint splicing schematic diagrams.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Embodiment is used for this utility model to be described, but is not limited to scope of the present utility model.
Referring to Fig. 2 to Figure 10, the robot modularized series connection of one kind cooperation described in one preferred embodiment of this utility model is closed
Section, including joint housing 2 and hollow motor 1 disposed within, harmonic speed reducer 4, input shaft 18, output shaft 8, moment sensing
Device 5, brake 17, absolute value encoder 15, driver 14, and harmonic speed reducer 4, hollow motor 1, brake 17, absolute value
Encoder 15 is sequentially connected in series on input shaft 18 with driver 14.Wherein the front method for supporting input shaft 18 is provided with joint housing 2
Orchid 3 and rear flange 11, are connected by rolling bearing 6,12 between input shaft 18 and forward flange 3 and rear flange 11；Hollow motor 1
Stator is connected with joint housing 2, rotor and input shaft 18 connect；The input of harmonic speed reducer 4 is connected with input shaft 18, is exported
End is connected with output shaft 8；One end coupling torque sensor 5, other end of the connection harmonic speed reducer 4 of output shaft 8 passes through sliding axle
Hold 13 to be connected with input shaft 18；Brake 17 is electromagnetic brake, including brake yoke, spring leaf, armature, flange, wherein
On rear flange 11, spring leaf, armature are connected with input shaft 18 brake yoke by flange；Absolute value encoder 15
Inner ring be connected with input shaft 18, outer ring is on the rear flange 11；Driver 14 is arranged on rear flange 11, for hollow
Motor 1, brake 17, absolute value encoder 15, torque sensor 5 are powered, and hollow motor 1 is controlled with brake 17
System, while carry out signal processing to absolute value encoder 15 and torque sensor 5.
For further improving response sensitivity, it is additionally provided with input shaft of the present utility model 18 and the cooperation of hollow motor 1
Hall element 9.
For improving the service life in series connection joint of the present utility model, this utility model forward flange 3 and input shaft 18 it
Between be additionally provided with sealing device 7.
For so that series connection joint of the present utility model freely can be expanded, being combined into multiple degree-of-freedom manipulators, this practicality is new
Type is provided with for connecting the output flange 10 in next joint on 2 side wall of joint housing.
For so that joint outward appearance of the present utility model is more attractive in appearance, this utility model is in joint housing 2 away from moment sensing
The end of device 5 is provided with bonnet 16.
This utility model provides driving force by hollow motor 1, and input shaft 18 connects harmonic speed reducer 4, through harmonic reduction
After device 4 slows down, by output shaft 8, the output of torque sensor 5 to next joint.Total joint positional information, velocity information,
Precision is fed back by absolute value encoder 15.Total joint structure front end design moment sensor 5, with force feedback function, feedback
Joint torque, force feedback performance sensitive and high precision, have fully ensured that the safety during the use of joint.When joint is stopped
Only or in case of emergency, electromagnetic brake 17 is provided and is kept and brake function.
The robot modularized series connection joint that cooperates of the present utility model, using modularized design, the structure of series connection will be hollow
Motor 1, harmonic speed reducer 4, brake 17, absolute value encoder 15, driver 14 are connected, using the knot of hollow interior cabling
Structure, articulation structure is compacter, weight lighter, performance is more reliable and more stable, autgmentability is more preferable.
This utility model passes through to fix solid to the stator of hollow motor 1 and joint housing 2 stator and rotor with input shaft 18, ties
Structure is compact, and output torque is big, and dynamic response is high；Input shaft 18 is connected with 4 input of harmonic speed reducer, exports and arrive after deceleration
Output shaft 8, mounting torque sensor 5 on output shaft 8, torque sensor 5 are connected with defeated next joint output flange, and the moment feeds back
Joint loads torque, compact conformation, high precision are fed back sensitive.When overload or emergency is run into, driver sending signal is tight
Anxious braking, improves cooperation robot security's barrier propterty.
When brake 17 is powered when hollow motor 1 works, the spring card adhesive of brake 17, input shaft 18 freely turn
Dynamic, during power-off, the spring card pressing of brake 17, there is provided braking retentivity, input shaft 18 are locked so that flange and input shaft
18 produce moment of friction, and input shaft 18 freely cannot be rotated, and reach the function of braking.
In this utility model, absolute value encoder 15 is hollow magnetic coder, and output signal is A, B, Z differential signal, has
One absolute position, for feeding back velocity information and the positional information of output shaft 8,15 inner ring of absolute value encoder and input shaft 18
Connection, outer ring is fixedly mounted on rear flange 11.
In this utility model, driver 14 is servo-drive integrated circuit, is built in joint housing 2, is installed by screw
Between rear flange 11 and bonnet 16, for powering and signal-data processing, respectively hollow motor 1 is powered, brake 17 is supplied
Electricity, absolute value encoder 15 is powered, torque sensor 5 is powered, and controls hollow 1 motor with brake 17 and to absolute encoder
Device 15 carries out signal processing with torque sensor 5.
This utility model hollow motor 1 be big hollow shaft motor, 4 mesopore of harmonic speed reducer be hollow structure, brake 17,
Absolute value encoder 15 and driver 14 are central hole structure, intra articular cabling can pass through intraarticular mesopore, it is to avoid outside joint
Portion's wiring issue so that overall structure is compacter, outward appearance is more attractive in appearance.
Above-mentioned harmonic speed reducer 4 is ultrathin shape, hollow structure, with compact, high torque (HT) capacity, high rigidity,
Without backlash and excellent positioning precision and running accuracy a little.The firm wheel of harmonic speed reducer is fixed on joint shell by screw
On body, wave producer is connected by screw input shaft, and flexbile gear is exported, and is connected by screw and output shaft, and harmonic speed reducer is by height
Output shaft is arrived in output after the input shaft of the hollow motor 1 that speed is rotated slows down.
Above-mentioned torque sensor 5 is strain beam flange-type structure, inner ring fixing screw hole and outer ring flange fixing screw hole
Between be uniformly distributed four strain-ga(u)ge transducers, by strain-ga(u)ge transducer detect strain deformation, feed back joint torque, warp
Device of overdriving carries out data processing, judges whether state is safe.
Above-mentioned brake is electromagnetic brake, and during energization, its flange is free to rotate, and during power-off, flange is in spring leaf
Under pressure, moment of friction becomes big, and flange is fixed, it is not possible to rotated.When power-off or brake hard, input shaft 18 is in electromagnetic system
In the presence of dynamic device, not free to rotate；When energized, input shaft is free to rotate.This electromagnetic brake simple structure, installs
Convenient, dependable performance, low cost, life-span length.
Above-mentioned absolute value encoder 15 is multi-turn absolute value encoder, and each position determined by mechanical location is only
One, it need not find reference point, and without counting always, when when need location aware without the need for memory
Just go to read its position.Therefore, the anti-interference of the absolute value encoder, data reliability are higher.
Above-mentioned hollow motor 1 is big mesopore motor, and including stator and rotor, stator is glued with joint housing by epoxy glue
Knot, rotor are bondd with input shaft by epoxy glue.The central hole structure mode can carry out intra articular mesopore cabling, solve cabling
Problem.This motor load density is with weight than larger, compact conformation.And the hollow motor is furnished with Hall element, reduces into
This, and structure is compacter.
Above-mentioned output shaft 8 is hollow axle, for transmitting power output, is connected with harmonic speed reducer outfan by screw, defeated
Go out driving force, hollow cabling.
Above-mentioned input shaft 18 be hollow axle, be connected with rotor by epoxy glue, input shaft leading portion pass through screw with humorous
Ripple decelerator wave producer connects, and transmits power, and end connects absolute value encoder, feedback position information, velocity information.
Above-mentioned sealing device 7 be skeleton sealing structure, good airproof performance, long service life, low cost.It is installed on forward flange
And input shaft between.
Overall structure dexterity in joint of the present utility model, modularity, integrated, there is outfan in joint with external connection structure
And input, ring flange of the input for torque sensor 5, connecting next joint, there is provided power output, outfan is output method
Blue 10, connect a upper joint.Multigroup joint and connecting rod can be passed through, constitute different degree of freedom cooperation robots, as shown in figure 11.
It can be seen that, this utility model adopts modular series connection structure, and compact conformation, dexterity solve cooperation joint of robot
Heavy, the problems such as interchangeability is bad, integrated level is not high, structure is not compact enough；By adopting electromagnetic brake, braking response is solved
Slowly, caloric value is big, application position holding precision is not enough, brake force deficiency problem；By in joint tip designs torque sensor,
The shortcomings of solving not enough force feedback precision, low-response.Therefore, articulation structure of the present utility model is compacter, low cost, safety
Reliability is higher, dexterous, and modularity is integrated；Brake structure is simple, is easily installed, braking ability reliability, stable；Force feedback
Systematic function is sensitive, stable, reliability high；In addition, cabling arrangement adopts mesopore cabling so that wiring more reasonable, cabling is more
Plus it is convenient.
The above is only preferred implementation of the present utility model, is not limited to this utility model, it is noted that
For those skilled in the art, on the premise of without departing from this utility model know-why, can also do
Go out some improvement and modification, these improvement and modification also should be regarded as protection domain of the present utility model.
Claims (8)
1. the robot modularized series connection joint of a kind of cooperation, it is characterised in that：Including joint housing and disposed within hollow
Motor, harmonic speed reducer, input shaft, output shaft, torque sensor, brake, absolute value encoder, driver, the harmonic wave
Decelerator, hollow motor, brake, absolute value encoder and driver are sequentially connected in series on the input shaft, wherein
The forward flange and rear flange for supporting input shaft is provided with-the joint housing, between input shaft and forward flange and rear flange
Connected by rolling bearing；
The stator of-the hollow motor is connected with joint housing, rotor and input shaft connect；
The input of-the harmonic speed reducer is connected with input shaft, outfan and output shaft connect；
One end of-output shaft connection the harmonic speed reducer connects the torque sensor, the other end by sliding bearing and institute
State input shaft connection；
- the brake is electromagnetic brake, including brake yoke, spring leaf, armature, flange, wherein brake yoke peace
It is mounted on the rear flange, spring leaf, armature are connected with the input shaft by flange；
The inner ring of-the absolute value encoder is connected with the input shaft, outer ring is on the rear flange；
- the driver is arranged on the rear flange, for the hollow motor, brake, absolute value encoder, torque
Sensor power, and the hollow motor and brake are controlled, while entering with torque sensor to absolute value encoder
Row signal processing.
2. the robot modularized series connection joint of cooperation according to claim 1, it is characterised in that：Also set on the input shaft
There is the Hall element coordinated with the hollow motor.
3. the robot modularized series connection joint of cooperation according to claim 1, it is characterised in that：The forward flange with described
Sealing device is additionally provided between input shaft.
4. the robot modularized series connection joint of cooperation according to claim 1, it is characterised in that：Joint housing side wall
It is provided with for connecting the output flange in the joint.
5. the robot modularized series connection joint of cooperation according to claim 1, it is characterised in that：The joint housing is remote
End from the torque sensor is provided with bonnet.
6. the robot modularized series connection joint of cooperation according to claim 1, it is characterised in that：The torque sensor is
Strain beam flange-type structure, is uniformly distributed four foil gauges and passes between its inner ring fixing screw hole and outer ring flange fixing screw hole
Sensor.
7. the robot modularized series connection joint of cooperation according to any one of claim 1-6, it is characterised in that：The joint
Housing, hollow motor, harmonic speed reducer, brake, encoder, driver are central hole structure.
8. the robot modularized series connection joint of cooperation according to claim 7, it is characterised in that：The input shaft and output
Axle is hollow axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620958502.XU CN206011131U (en) | 2016-08-26 | 2016-08-26 | A kind of robot modularized series connection joint that cooperates |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620958502.XU CN206011131U (en) | 2016-08-26 | 2016-08-26 | A kind of robot modularized series connection joint that cooperates |
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| Publication Number | Publication Date |
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| CN206011131U true CN206011131U (en) | 2017-03-15 |
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ID=58251337
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620958502.XU Active CN206011131U (en) | 2016-08-26 | 2016-08-26 | A kind of robot modularized series connection joint that cooperates |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217405A (en) * | 2016-08-26 | 2016-12-14 | 苏州元谋智能机器人系统有限公司 | A kind of robot modularized series connection joint that cooperates |
| CN107901075A (en) * | 2017-11-28 | 2018-04-13 | 天津扬天科技有限公司 | The joint module that the hollow cooperation mechanical arm of multiple degrees of freedom uses |
| CN108789486A (en) * | 2017-04-28 | 2018-11-13 | 广明光电股份有限公司 | Method for releasing brake of robot arm |
| CN109421040A (en) * | 2017-08-21 | 2019-03-05 | 苏州德旺宝机器人智能科技有限公司 | Six degree of freedom intelligence cooperation robot |
| CN111037598A (en) * | 2019-12-31 | 2020-04-21 | 意优智能科技(无锡)有限公司 | Integrated flexible intelligent joint actuator |
| CN112743569A (en) * | 2021-02-02 | 2021-05-04 | 珞石（北京）科技有限公司 | Compact light-weight high-performance force-controlled robot servo joint |
| CN113172547A (en) * | 2021-03-31 | 2021-07-27 | 上海工程技术大学 | An industrial manipulator constant force flexible grinding device |
| CN113386169A (en) * | 2021-06-18 | 2021-09-14 | 哈尔滨工业大学（深圳） | Full-angle rotating robot joint |
| CN114952928A (en) * | 2021-02-23 | 2022-08-30 | 上海乐白机器人有限公司 | Integrated robot joint drive device |
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2016
- 2016-08-26 CN CN201620958502.XU patent/CN206011131U/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217405A (en) * | 2016-08-26 | 2016-12-14 | 苏州元谋智能机器人系统有限公司 | A kind of robot modularized series connection joint that cooperates |
| CN108789486A (en) * | 2017-04-28 | 2018-11-13 | 广明光电股份有限公司 | Method for releasing brake of robot arm |
| CN109421040A (en) * | 2017-08-21 | 2019-03-05 | 苏州德旺宝机器人智能科技有限公司 | Six degree of freedom intelligence cooperation robot |
| CN107901075A (en) * | 2017-11-28 | 2018-04-13 | 天津扬天科技有限公司 | The joint module that the hollow cooperation mechanical arm of multiple degrees of freedom uses |
| CN107901075B (en) * | 2017-11-28 | 2023-12-01 | 天津扬天科技有限公司 | Joint module adopted by multi-degree-of-freedom hollow cooperative mechanical arm |
| CN111037598A (en) * | 2019-12-31 | 2020-04-21 | 意优智能科技(无锡)有限公司 | Integrated flexible intelligent joint actuator |
| CN112743569A (en) * | 2021-02-02 | 2021-05-04 | 珞石（北京）科技有限公司 | Compact light-weight high-performance force-controlled robot servo joint |
| CN114952928A (en) * | 2021-02-23 | 2022-08-30 | 上海乐白机器人有限公司 | Integrated robot joint drive device |
| CN113172547A (en) * | 2021-03-31 | 2021-07-27 | 上海工程技术大学 | An industrial manipulator constant force flexible grinding device |
| CN113172547B (en) * | 2021-03-31 | 2022-03-25 | 上海工程技术大学 | Flexible grinding device of industry arm constant force |
| CN113386169A (en) * | 2021-06-18 | 2021-09-14 | 哈尔滨工业大学（深圳） | Full-angle rotating robot joint |
| CN113386169B (en) * | 2021-06-18 | 2023-06-23 | 哈尔滨工业大学（深圳） | A robot joint with full angle rotation |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Dai Jun Inventor after: Wang Hongjun Inventor before: Nie Peng Inventor before: Dai Jun Inventor before: Wang Hongjun Inventor before: Lin Rui Inventor before: Li Maohai |
|
| CB03 | Change of inventor or designer information | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211231 Address after: Room 707A, Guanghong building, No. 287, Dongping street, Dushuhu, Suzhou Industrial Park, Jiangsu 215000 Patentee after: Suzhou New Optimization Investment Consulting Co.,Ltd. Address before: 215000 unit 6-701 / 702, creative industry park, 328 Xinghu street, Suzhou, Jiangsu Patentee before: SUZHOU UMORE ROBOTICS Co.,Ltd. |
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| TR01 | Transfer of patent right |