CN104314929B - Rotary connection unit and modular robot monomer - Google Patents
Rotary connection unit and modular robot monomer Download PDFInfo
- Publication number
- CN104314929B CN104314929B CN201410432168.XA CN201410432168A CN104314929B CN 104314929 B CN104314929 B CN 104314929B CN 201410432168 A CN201410432168 A CN 201410432168A CN 104314929 B CN104314929 B CN 104314929B
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- Prior art keywords
- tenon
- base portion
- magnets
- rotary
- swivelling
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- 239000000178 monomer Substances 0.000 title abstract description 5
- 210000001503 joint Anatomy 0.000 claims description 3
- 230000006978 adaptation Effects 0.000 claims description 2
- 238000007493 shaping process Methods 0.000 claims description 2
- 230000008878 coupling Effects 0.000 claims 5
- 238000010168 coupling process Methods 0.000 claims 5
- 238000005859 coupling reaction Methods 0.000 claims 5
- 238000000465 moulding Methods 0.000 claims 1
- 239000000725 suspension Substances 0.000 abstract description 17
- 230000002093 peripheral effect Effects 0.000 abstract description 3
- 230000000704 physical effect Effects 0.000 description 2
- 230000001846 repelling effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A45—HAND OR TRAVELLING ARTICLES
- A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
- A45C13/00—Details; Accessories
- A45C13/10—Arrangement of fasteners
- A45C13/12—Arrangement of fasteners of press-button or turn-button fasteners
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B1/00—Devices for securing together, or preventing relative movement between, constructional elements or machine parts
- F16B1/02—Means for securing elements of mechanisms after operation
- F16B1/04—Means for securing elements of mechanisms after operation disengaged by movement of the actuating member of the element
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/02—Permanent magnets [PM]
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a rotary connection unit and a modular robot monomer. Two said swivelling joint units dock in order to realize connecting, and this swivelling joint unit includes trip portion and base portion. The clamping tenon portion is formed on the outer peripheral side of the base portion, the clamping tenon portion comprises at least two tenons, the base portion correspondingly comprises at least two inlet portions and at least two rotary clamping grooves, the base portion further comprises a suspension portion and a limiting portion, the suspension portion is adjacent to the limiting portion, the rotary clamping grooves are formed through the suspension portion and the limiting portion, and the limiting portion is matched with the tenons in shape. The rotary connection unit of the present invention achieves reliable connection with a simple structure. The rotary connection unit of the invention can be applied to various industries, such as the fields of electronics, household appliances, mechanical equipment, building structures and the like.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to a rotary connection unit and a modular robot monomer.
[ background of the invention ]
Rotating connection units such as rotating buckles are parts that are commonly used in various industries. The two parts are detachably connected together through the butt joint of the two rotary connecting units. The known swivel connection unit is complicated and the connection is not sufficiently reliable.
[ summary of the invention ]
The invention aims to provide a rotary connection unit which is simple in structure and reliable in connection.
The invention is realized by the following technical scheme: the utility model provides a swivelling joint unit, two swivelling joint unit butt joint is in order to realize connecting, swivelling joint unit includes trip part and base portion, trip part shaping is in the periphery side of base portion, trip part includes along circumference evenly distributed's two at least tenons, base portion correspondingly includes along circumference evenly distributed's two at least income departments and two at least rotary clamping grooves, each tenon of two at least tenons with each rotary clamping groove looks adaptation of two at least rotary clamping grooves, base portion still includes suspension portion and spacing portion, suspension portion with spacing portion is adjacent to be set up, rotary clamping groove passes through suspension portion with spacing portion forms, spacing portion and each tenon shape are matcing each other.
As a further improvement of the above technical solution, the thickness of the suspension part is larger to limit the position of the tenon entering the rotary slot and guide the movement of the tenon; the thickness of the limiting part is thinner so as to lock the tenon entering the limiting part at the limiting part.
As a further improvement of the technical scheme, each tenon, the inlet part and the rotary clamping groove are sequentially and adjacently arranged along the circumferential direction.
As a further improvement of the above technical solution, each tenon of the at least two tenons is located outside each inlet portion of the at least two inlet portions, and each rotary slot of the at least two rotary slots is located inside each inlet portion of the at least two inlet portions.
As a further improvement of the above technical solution, an even number of first magnets and an even number of second magnets are provided on the base portion, the first magnets and the second magnets have opposite polarities, and the first magnets and the second magnets are evenly distributed along the circumferential direction of the base portion in a staggered manner.
As a further improvement of the above technical solution, the base portion is provided with two first magnets and two second magnets, the first magnets have a polarity of S, the second magnets have a polarity of N, the two first magnets are opposed to each other, and the two second magnets are opposed to each other.
As a further improvement of the above technical solution, the tenon portion includes a first tenon and a second tenon, and the base portion includes a first inlet portion and a second inlet portion, respectively, the first tenon and the second tenon are opposed, and the first inlet portion and the second inlet portion are opposed.
As a further improvement of the technical scheme, the clamping tenon part and the base part are both annular parts.
The invention also provides a modular robot monomer which comprises a plurality of the rotary connecting units.
The invention has the beneficial effects that: the rotary connecting unit comprises a clamping tenon part and a base part, wherein the clamping tenon part is formed on the outer peripheral side of the base part, the clamping tenon part comprises at least two tenons, the base part correspondingly comprises at least two inlet parts and at least two rotary clamping grooves, the base part further comprises a suspension part and a limiting part, the suspension part and the limiting part are arranged adjacently, the rotary clamping grooves are formed by the suspension part and the limiting part, and the limiting part and the tenons are matched in shape.
[ description of the drawings ]
Fig. 1 is a perspective view of a rotary joint unit according to a first embodiment of the present invention;
fig. 2 is a schematic plan view of a rotary joint unit according to a first embodiment of the present invention;
FIG. 3 is a side schematic view of a swivel connection unit according to a first embodiment of the present invention;
fig. 4 is a schematic plan view of a base member of a swivel connection unit according to a first embodiment of the present invention;
fig. 5 is a rear perspective view of a rotary joint unit according to a first embodiment of the present invention;
fig. 6 is a schematic plan view of a rotary joint unit according to a second embodiment of the present invention;
fig. 7 is another schematic plan view of a rotary joint unit according to a second embodiment of the present invention;
FIG. 8 is a further plan view of a rotary joint unit according to a second embodiment of the present invention;
fig. 9 is a further schematic plan view of a rotary joint unit according to a second embodiment of the present invention;
fig. 10 is a further schematic plan view of a rotary joint unit according to a second embodiment of the present invention;
fig. 11 is a perspective view of a rotary joint unit according to a second embodiment of the present invention;
fig. 12 is another perspective view of a rotary joint unit according to a second embodiment of the present invention;
fig. 13 is a further perspective view of a swivel joint unit according to a second embodiment of the present invention;
fig. 14 is a further perspective view of the rotary joint unit according to the second embodiment of the present invention.
[ detailed description ] embodiments
The following further describes embodiments of the present invention with reference to the drawings.
First, a first embodiment of the present invention will be described with reference to fig. 1 to 5. In the first embodiment, the rotary joint unit 100 includes a tenon portion 10 and a base portion 20. In this embodiment, the tenon portion 10 and the base portion 20 are two different discrete components, and the tenon portion 10 and the base portion 20 are both plastic molded parts. However, the tenon portion and the base portion may be an integral piece. In this embodiment, the tenon portion 10 and the base portion 20 are both ring-shaped members. Of course, the tenon portion and the base portion may have other shapes.
Specifically, the tenon portion 10 is formed on the outer peripheral side of the base portion 20. Wherein the tenon portion 10 preferably includes at least two tenons uniformly distributed along the circumferential direction. The base portion 20 accordingly preferably comprises at least two inlet portions and at least two rotary bayonet slots, which are evenly distributed in the circumferential direction. Each tenon of the at least two tenons corresponds to the shape of each entrance part of the at least two entrance parts, each tenon of the at least two tenons is positioned on the outer side of each entrance part of the at least two entrance parts, and each rotary clamping groove of the at least two rotary clamping grooves is positioned on the inner side of each entrance part of the at least two entrance parts. In the above description, the terms "outer" and "inner" refer to the thickness direction of the rotary joint unit (the left-right direction in fig. 3), "outer" refers to the right in fig. 3, and "inner" refers to the left in fig. 3.
In detail, as shown in fig. 1 to 5, the latch part 10 includes a first tenon 12 and a second tenon 14. The first and second tenons 12 and 14 are eagle-hook shaped protruding members. The base portion 20 includes a first inlet 22 and a second inlet 24, respectively. The first tenon 12 and the second tenon 14 are uniformly distributed along the circumference of the tenon portion 10, that is, the first tenon 12 and the second tenon 14 are opposite. The first inlet 22 and the second inlet 24 are evenly distributed along the circumference of the base portion 20, i.e., the first inlet 22 and the second inlet 24 are opposed.
The first rabbet 12 is adjacent the first access portion 22 in the circumferential direction A, and the second rabbet 14 is adjacent the second access portion 24 in the circumferential direction A. Of course, the first rabbet 12 may be spaced a predetermined distance from the first inlet portion 22 in the circumferential direction a. The second rabbet 14 may be spaced a predetermined distance from the second inlet portion 24 in the circumferential direction a.
In the present embodiment, as shown in fig. 1 to 5, the base portion 20 further includes a suspension portion and a limiting portion. In the present embodiment, the base portion 20 includes two suspension portions (the suspension portion 26 and the suspension portion 28) and two stopper portions. The two suspension portions have the same structure. Moreover, the two limiting parts have the same structure. Only the suspension portion 26 and the stopper portion 27 will be described. The step portion 26 is relatively thick to define a location for the tenon to enter the rotary catch 30, guiding the movement of the tenon. And the thickness of the limiting part 27 is thinner, so that the tenon entering the limiting part 27 can be locked at the limiting part 27. Specifically, the overhang pattern portion 26 is provided adjacent to the stopper portion 27, and the rotation lock groove 30 is formed by the overhang pattern portion 26 and the stopper portion 27. The shape of the limiting portion 27 is matched with that of the first tenon 12 and that of the second tenon 14, in this embodiment, the first tenon 12 and that of the second tenon 14 both have curved heads, and the limiting portion 27 correspondingly has a curved bottom.
In other embodiments, the base portion may include only a cantilever portion, and the rotary card slot is formed only by the cantilever portion.
An exemplary example of the manner of use of the rotary joint unit 100 is described below. When it is necessary to connect, for example, two modular robot cells using the rotary joint unit 100, first, a first tenon of one rotary joint unit (hereinafter, referred to as a first rotary joint unit) of the two rotary joint units is aligned with a first entrance of the other rotary joint unit (hereinafter, referred to as a second rotary joint unit) of the two rotary joint units, the first tenon of the first rotary joint unit is inserted into the first entrance of the second rotary joint unit and rotated in a circumferential direction, the first tenon of the first rotary joint unit enters a rotary slot of the second rotary joint unit, and finally, the first rotary joint unit is rotated and positioned at a position-limiting portion of the second rotary joint unit. Meanwhile, the second tenon of the first rotary connecting unit enters the rotary clamping groove of the second rotary connecting unit through the second inlet part of the second rotary connecting unit, and is finally positioned at the limiting part of the second rotary connecting unit. Correspondingly, a first tenon of the second rotary connecting unit enters the rotary clamping groove of the first rotary connecting unit through the first inlet part of the first rotary connecting unit and is finally positioned at the limiting part of the first rotary connecting unit; and a second tenon of the second rotary connecting unit enters the rotary clamping groove of the first rotary connecting unit through a second inlet part of the first rotary connecting unit and is finally positioned at the limiting part of the first rotary connecting unit. In this way, the two rotary connection units are connected to each other, and the two modular robot cells are connected to each other.
Although the above describes an example in which the rotary connection unit is applied to the connection of two modular robot cells, the rotary connection unit of the present invention may be applied to various industries, such as the fields of electronics, home appliances, mechanical devices, building structures, and the like.
As shown in fig. 4 and 5, in the present embodiment, two first magnets 42 and two second magnets 46 are provided on the base portion 20. The first magnet 42 has a polarity S, the second magnet 46 has a polarity N, the two first magnets 42 are opposite to each other, and the two second magnets 46 are opposite to each other.
On the radial center side of the first and second inlet portions 22, 24, the base portion 20 is provided with a blind hole 44 that receives the first magnet 42, and a blind hole 48 that receives the second magnet 46.
As shown in FIG. 4, two first magnets 42 are adjacent the first and second access portions 22, 24, respectively, and two second magnets 46 are adjacent the first and second tenons 12, 14, respectively. Therefore, the rapid alignment of the tenons and the shapes of the inlet parts can be assisted by the physical properties of like poles repelling each other and opposite poles attracting each other of the magnets, and the tenons are finally locked at the limiting parts. Specifically, the suspension portion 26 has a large thickness, and the stopper portion 27 has a small thickness, so that the first and second tenons 12 and 14 can be pushed upward in the stopper portion 27 by repulsive force, and the tenons entering the stopper portion 27 can be locked at the stopper portion 27.
According to this structure, when it is necessary to align the first tenon of one of the two rotary joint units (hereinafter, referred to as a first rotary joint unit) with the first entrance of the other of the two rotary joint units (hereinafter, referred to as a second rotary joint unit), the first tenon of the first rotary joint unit is quickly aligned with the first entrance of the second rotary joint unit by the attractive force between the first magnet of the first rotary joint unit and the second magnet of the second rotary joint unit. And when the first tenon of the first rotary connection unit enters the rotary clamping groove of the second rotary connection unit and finally rotates to be positioned at the limiting part of the second rotary connection unit, the first tenon of the first rotary connection unit is upwards pushed and pressed at the limiting part under the action of repulsive force between the first magnet of the first rotary connection unit and the first magnet of the second rotary connection unit, and is locked at the limiting part of the second rotary connection unit.
Of course, an even number of the first magnetic bodies of 2 or more and an even number of the second magnetic bodies of 2 or more may be provided on the base portion. Wherein the first magnet and the second magnet have opposite polarities, and the first magnet and the second magnet are staggered and uniformly distributed along the circumferential direction of the base part.
A second embodiment of the present invention will be described with reference to fig. 6 to 14. Note that elements similar to those shown in fig. 1 to 5 are denoted by similar reference numerals, and common parts already described are omitted or simplified.
As shown in fig. 6 to 14, in the second embodiment, the rotary connection unit 200 includes a tenon portion 210 and a base portion 220. In this embodiment, the tenon portion 210 and the base portion 220 are integrally formed. The tenon portion 210 includes four tenons, namely a third tenon 212, a fourth tenon 214, a fifth tenon 216, and a sixth tenon 218; the base portion 220 includes four inlet portions, a third inlet portion 222, a fourth inlet portion 224, a fifth inlet portion 226, and a sixth inlet portion 228, respectively. The third tenon 212, the fourth tenon 214, the fifth tenon 216 and the sixth tenon 218 are uniformly distributed along the periphery of the base portion 220, wherein the third tenon 212 is opposite to the fifth tenon 216, and the fourth tenon 214 is opposite to the sixth tenon 218. Likewise, the third inlet 222, the fourth inlet 224, the fifth inlet 226, and the sixth inlet 228 are evenly distributed along the outer periphery of the base portion 220.
The base portion 220 is provided with two first magnets 242 and two second magnets 246. The first magnet 242 has a polarity S, the second magnet 246 has a polarity N, the two first magnets 242 are opposite to each other, and the two second magnets 246 are opposite to each other. On the radially central side of the third and fifth inlet portions 222, 226, the base portion 220 is provided with a blind bore 244 that receives the first magnet 242, and a blind bore 248 that receives the second magnet 246. Through the physical properties of like poles repelling each other and opposite poles attracting each other, the rapid alignment of the shapes of the tenons and the inlet parts is facilitated, and the tenons are locked at the limiting parts.
As shown in fig. 11, the base portion 220 includes a cantilever portion 236, and the rotary card slot 230 is formed by the cantilever portion 236. In the present embodiment, the length of the overhang portion 236 in the circumferential direction is shorter than that in the first embodiment.
According to another aspect of the present invention, there is also provided a modular robot cell comprising a plurality of the above-described rotary connection units 100, 200. The modular robot units are connected with each other through the rotary connecting unit to form the modular robot.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. The utility model provides a swivelling joint unit, two swivelling joint unit butt joint is in order to realize connecting, its characterized in that, swivelling joint unit includes trip part and base portion, trip part shaping is in the periphery side of base portion, trip part includes along circumference evenly distributed's two at least tenons, base portion correspondingly includes along circumference evenly distributed's two at least entry portions and two at least rotation draw-in grooves, each tenon of two at least tenons with each rotation draw-in groove looks adaptation of two at least rotation draw-in grooves, the base portion still includes overhang portion and spacing portion, overhang portion with spacing portion adjacent setting, rotation draw-in groove passes through overhang portion with spacing portion forms, spacing portion and each tenon shape are matchd each other.
2. The swivelling coupling unit of claim 1, wherein the thickness of the depending portion is relatively large to define the location of the tenon entering the swivelling catch, guiding the movement of the tenon; the thickness of the limiting part is thinner so as to lock the tenon entering the limiting part at the limiting part.
3. The swivelling coupling unit of claim 1, wherein each of said tenon, said inlet portion and said swivelling catch are disposed circumferentially adjacent to one another.
4. The swivelling coupling unit of claim 1, wherein each of the at least two tangs is located outside each of the at least two inlet ports and each of the at least two swivel slots is located inside each of the at least two inlet ports.
5. The rotary connection unit of claim 3, wherein an even number of first magnets and an even number of second magnets are provided on the base portion, the first and second magnets being of opposite polarity, and the first and second magnets being staggered evenly along the circumference of the base portion.
6. The rotary connection unit of claim 5, wherein the base portion is provided with two first magnets and two second magnets, the first magnets having a polarity of S and the second magnets having a polarity of N, the two first magnets being opposed to each other and the two second magnets being opposed to each other.
7. The swivelling joint unit of any one of claims 1 to 6, wherein the bayonet portion comprises a first and a second tenon, the base portion comprising a first and a second inlet respectively, the first and the second tenon being opposed, the first and the second inlet being opposed.
8. The swivelling coupling unit of claim 7, wherein the latch portion and the base portion are both ring-shaped members.
9. The swivelling coupling unit of any one of claims 1 to 6 wherein the detent portion is an integral moulding with the base portion.
10. A modular robotic cell, characterized by comprising a plurality of swivelling joint units as claimed in any one of claims 1 to 6.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410432168.XA CN104314929B (en) | 2014-08-28 | 2014-08-28 | Rotary connection unit and modular robot monomer |
| PCT/CN2015/088431 WO2016029880A1 (en) | 2014-08-28 | 2015-08-28 | Rotary connector unit and modularized robot unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410432168.XA CN104314929B (en) | 2014-08-28 | 2014-08-28 | Rotary connection unit and modular robot monomer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104314929A CN104314929A (en) | 2015-01-28 |
| CN104314929B true CN104314929B (en) | 2021-02-09 |
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ID=52370211
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410432168.XA Active CN104314929B (en) | 2014-08-28 | 2014-08-28 | Rotary connection unit and modular robot monomer |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104314929B (en) |
| WO (1) | WO2016029880A1 (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104314929B (en) * | 2014-08-28 | 2021-02-09 | 北京可以科技有限公司 | Rotary connection unit and modular robot monomer |
| CN104329332B (en) * | 2014-08-28 | 2020-04-03 | 北京可以科技有限公司 | Rotary connection unit and modular robot monomer |
| CN105299002B (en) * | 2015-10-12 | 2017-10-27 | 北京可以科技有限公司 | A kind of revolving joint |
| CN106346448B (en) * | 2016-10-11 | 2019-05-03 | 重庆市牛迪科技发展有限公司 | A kind of auxiliary support apparatus |
| CN107696059B (en) * | 2017-09-19 | 2023-09-01 | 佛山博文机器人自动化科技有限公司 | A modular robot interface with anti-exit function |
| CN109533954B (en) * | 2019-01-28 | 2024-01-26 | 中船华海船用设备有限公司 | Box taking mechanism and container simulation test bed |
| CN110757494B (en) * | 2019-10-12 | 2021-04-30 | 哈尔滨工业大学（深圳） | Connectors, Manipulators and Robots |
| US11731263B2 (en) | 2020-09-22 | 2023-08-22 | Shanghai Flexiv Robotics Technology Co., Ltd. | Brake apparatus, robot joint and robot including the same |
| CN112123337B (en) * | 2020-09-22 | 2022-02-22 | 上海非夕机器人科技有限公司 | Locking brake mechanism and robot joint and robot comprising same |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4906123A (en) * | 1988-03-02 | 1990-03-06 | Wes-Tech, Inc. | Quick changecoupling system for robotic attachments |
| JPH06127U (en) * | 1992-06-15 | 1994-01-11 | 有限会社古山商事 | Stoppers such as necklaces |
| ES2637269T3 (en) * | 2009-01-23 | 2017-10-11 | Fidlock Gmbh | Closing device to connect two parts |
| CA2745106A1 (en) * | 2011-06-29 | 2012-12-29 | Xavier Abou Nassar | Self-actuating magnetic locking system |
| CN104314929B (en) * | 2014-08-28 | 2021-02-09 | 北京可以科技有限公司 | Rotary connection unit and modular robot monomer |
| CN204164093U (en) * | 2014-08-28 | 2015-02-18 | 杨健勃 | A kind of rotary connection unit and modularization robot monomer |
| CN104329332B (en) * | 2014-08-28 | 2020-04-03 | 北京可以科技有限公司 | Rotary connection unit and modular robot monomer |
| CN204164092U (en) * | 2014-08-28 | 2015-02-18 | 杨健勃 | Rotary connection unit and modularization robot monomer |
-
2014
- 2014-08-28 CN CN201410432168.XA patent/CN104314929B/en active Active
-
2015
- 2015-08-28 WO PCT/CN2015/088431 patent/WO2016029880A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2016029880A1 (en) | 2016-03-03 |
| CN104314929A (en) | 2015-01-28 |
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Effective date of registration: 20160504 Address after: 100190, room 1, building 103, building 3, building 45, West Wudaokou, Beijing, Haidian District Applicant after: BEIJING KEYI TECHNOLOGY CO., LTD. Address before: 100083 Beihang University, Haidian District, Xueyuan Road, 37, Beijing Applicant before: Yang Jianbo |
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