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WO2018121695A1 - Moteur de direction assistée et robot - Google Patents

Moteur de direction assistée et robot Download PDF

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Publication number
WO2018121695A1
WO2018121695A1 PCT/CN2017/119556 CN2017119556W WO2018121695A1 WO 2018121695 A1 WO2018121695 A1 WO 2018121695A1 CN 2017119556 W CN2017119556 W CN 2017119556W WO 2018121695 A1 WO2018121695 A1 WO 2018121695A1
Authority
WO
WIPO (PCT)
Prior art keywords
gear
power
servo steering
shaft
planetary
Prior art date
Application number
PCT/CN2017/119556
Other languages
English (en)
Chinese (zh)
Inventor
熊友军
杜旭超
丁宏钰
Original Assignee
深圳市优必选科技有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 深圳市优必选科技有限公司 filed Critical 深圳市优必选科技有限公司
Publication of WO2018121695A1 publication Critical patent/WO2018121695A1/fr

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Classifications

    • 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
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/2809—Toothed gearings for conveying rotary motion with gears having orbital motion with means for equalising the distribution of load on the planet gears
    • F16H1/2827—Toothed gearings for conveying rotary motion with gears having orbital motion with means for equalising the distribution of load on the planet gears by allowing limited movement of the planet carrier, e.g. relative to its shaft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • 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
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • 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
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • 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
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/028—Gearboxes; Mounting gearing therein characterised by means for reducing vibration or noise
    • 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
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F16H57/082—Planet carriers

Definitions

  • the invention belongs to the field of robot technology, and in particular relates to a servo steering gear and a robot having the same.
  • the servo steering gear is usually realized by parallel shaft gear transmission, which has a single-stage reduction ratio and is not compact enough.
  • the object of the present invention is to provide a servo steering gear, which aims to solve the technical problem that the servo steering gear of the prior art adopts parallel shaft gear transmission and causes a reduction ratio.
  • a servo steering gear includes:
  • a driving device for providing power and having a first output shaft for outputting power, wherein the first output shaft is mounted with a power input gear;
  • a speed reduction mechanism for changing a power output direction of the driving device, and including a power gear that cooperates with the power input gear, a first coaxially disposed with the power gear, and rotates synchronously with the power gear a transmission gear, a speed reduction assembly driven by the first transmission gear;
  • the power output mechanism is driven by the speed reduction mechanism, and includes a second output shaft driven by the output end of the speed reduction assembly and connected to an external component;
  • an axial direction of the first output shaft is perpendicular to an axial direction of the power gear.
  • the power input gear and the power gear are intermeshing worm gears, crossed helical gears or hypoid helical gears.
  • the speed reduction assembly includes a fixed shaft disposed axially parallel to the power gear, a second transmission gear intermeshing with the first transmission gear, and a coaxial arrangement with the second transmission gear and a planetary gear set connected to the power output mechanism, the second transmission gear and the planetary gear set being mounted on the fixed shaft, the second transmission gear comprising a first gear and a second gear coaxially disposed and fixed to each other The first gear meshes with the first transmission gear, and the second gear meshes with the planetary gear set.
  • the planetary gear set includes three planetary gears disposed outside the second gear and meshing with the second gear, a planet carrier for mounting the planetary gears and mounted on the fixed shaft And a fixed gear that is sleeved on the periphery of the planet carrier and meshes with each of the planet gears to restrict the planetary gear from being idling, and the power output mechanism is coaxially mounted on the fixed shaft with the planetary gear set.
  • the power output mechanism further includes an end cover fixedly coupled to the second output shaft and fixedly coupled to the carrier, the end cover being located between the second output shaft and the planet carrier;
  • the carrier includes a lower jaw fixedly coupled to the end cap and a planet shaft fixedly coupled to each of the planet gears, and an installation between the end cap and the lower plate for mounting each of the planet gears is formed An opening, the planetary shaft is disposed in the mounting opening, and one end is inserted into the end cover and the other end is inserted into the lower clamping plate.
  • the servo steering gear further includes a base provided with a first accommodating cavity, and a side cover fixedly connected to the base and forming a second accommodating cavity with the base,
  • the driving device Mounted in the first accommodating cavity the cradle includes a fixing plate protruding from a cavity wall of the first accommodating cavity and for mounting the fixed shaft and the power gear, and the The side cover abuts the fixed casing portion, the speed reduction mechanism is installed in the second accommodating cavity, and the casing portion is provided with a first fixing hole for fixedly mounting the power output mechanism, the fixed gear Fixed to the housing portion and the side cover.
  • the servo steering gear further includes a mounting assembly fixedly mounted on a side of the housing portion facing the fixing plate to be coaxially disposed with the second output shaft, the housing portion being provided with a seat a second fixing hole opposite to the first fixing hole, the mounting assembly includes a connecting plate fixedly mounted on the fixing plate, and is fixedly mounted on the connecting plate through the second fixing hole and has a connecting shaft The connecting column of the hole.
  • the power output mechanism includes a fixed bearing ringed around the periphery of the end cover and a snap ring that is disposed between the hole wall of the first fixing hole and the periphery of the fixed bearing.
  • the invention also provides a robot comprising the above servo steering gear.
  • the technical effect of the present invention is that the servo steering gear is powered by the speed reduction mechanism, and the power gear is meshed with the power input gear and the power gear is driven by the speed reduction mechanism.
  • the first transmission gear and the speed reduction assembly perform power transmission, and the structure is simple and the single-stage transmission ratio is large; and the power input gear and the power gear are interlaced to reduce the cooperation between the gears of each stage. Noise, and increase the reduction ratio of the speed reduction mechanism.
  • FIG. 1 is a structural diagram of a servo steering gear according to an embodiment of the present invention.
  • Figure 2 is a cross-sectional view of the servo steering gear of Figure 1 in one direction;
  • Figure 3 is a cross-sectional view of the servo steering gear of Figure 1 in another direction;
  • Figure 4 is an exploded view of the servo steering gear of Figure 1;
  • FIG. 5 is an exploded view of a driving device, a speed reduction mechanism, and a power output mechanism according to an embodiment of the present invention
  • Fig. 6 is a structural view showing the driving device, the speed reducing mechanism, and the power output mechanism of Fig. 5.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” and “second” may include one or more of the features either explicitly or implicitly.
  • the meaning of "a plurality” is two or more unless specifically and specifically defined otherwise.
  • the terms “installation”, “connected”, “connected”, “fixed” and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless explicitly stated and defined otherwise. , or integrated; can be mechanical connection, or can be electrical connection; can be directly connected, or can be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction of two elements.
  • installation can be understood on a case-by-case basis.
  • the servo steering gear provided by the embodiment of the present invention includes:
  • the driving device 10 is configured to provide power and has a first output shaft 12 for outputting power, and the first output shaft 12 is mounted with a power input gear 14;
  • a speed reduction mechanism 20 for changing a power output direction of the driving device 10, and including a power gear 21 cooperating with the power input gear 14, coaxially disposed with the power gear 21, and a first transmission gear 22 of the power gear 21 synchronously rotating, a deceleration assembly 24 driven by the first transmission gear 22 to rotate thereof;
  • the power output mechanism 30 is driven by the speed reduction mechanism 20, and includes a second output shaft 32 driven by the output end of the speed reduction assembly 24 and connected to an external component;
  • the power input gear 14 and the power gear 21 are interlaced.
  • the servo steering gear provided by the embodiment of the present invention is powered by the speed reduction mechanism 20, and the power gear 21 of the speed reduction mechanism 20 is meshed with the power input gear 14 and the power gear 21 drives the first A transmission gear 22 and the reduction assembly 24 perform power transmission, and the structure is simple and the single-stage transmission ratio is large; and the power input gear 14 and the power gear 21 are interlaced to reduce the gear coordination of each stage. The noise between them is increased, and the reduction ratio of the speed reduction mechanism 20 is increased.
  • the driving device 10 is a driving motor, and different types of driving motors can be selected according to actual required output power.
  • the speed reduction mechanism 20 further includes a mounting shaft (not shown) for mounting the power gear 21 and the first transmission gear 22, the mounting shaft being perpendicular to the first output shaft 12, and the power gear 21 mounted on the mounting shaft is interlaced with the power input gear 14 mounted on the first output shaft 12, and the power input gear 14 interlaced with each other and the
  • the power gear 21 can effectively reduce the noise of the servo steering gear and can increase the single-stage reduction ratio of the servo steering gear.
  • the axial direction of the first output shaft 12 is perpendicular to the axial direction of the power gear 21 .
  • the axial direction of the first output shaft 12 is perpendicular to the axial direction of the mounting shaft to form a stagger to change the power output direction of the driving device 10.
  • the first output shaft 12 is vertically disposed with the mounting shaft, and the power input gear 14 is interlaced with the power gear 21 to improve the single-stage reduction ratio of the entire servo servo and reduce noise. .
  • the power input gear 14 and the power gear 21 are worm gears, crossed helical gears or hypoid helical gears that mesh with each other. It can be understood that the servo steering gear performs power input by using a worm gear, a crossed helical gear or a hypoid helical gear that mesh with each other, and changes the power transmission direction of the driving device 10 to pass through the power output mechanism 30.
  • the second output shaft 32 transmits power to the external components.
  • the teeth of the power input gear 14 are spirally disposed along the axis of the first output shaft 12
  • the teeth of the power gear 21 are inclined along the outer circumferential surface of the power gear 21, and
  • the tilting direction is inclined along the axis of the mounting shaft.
  • the mounting shaft and the second output shaft 32 are disposed parallel to each other, that is, the first output shaft 12 is perpendicular to the second output shaft 32.
  • the gear outer diameter of the power gear 21 is larger than the outer diameter of the first transmission gear 22, and the number of teeth of the power gear 21 is greater than the number of teeth of the first transmission gear 22.
  • the first transmission gear 22 and the power gear 21 are disposed together on the same gear base, that is, the first transmission gear 22 rotates as the power gear 21 rotates.
  • the speed reduction assembly 24 includes a fixed shaft 240 disposed axially parallel to the power gear 21 , a second transmission gear 242 meshing with the first transmission gear 22 , and
  • the second transmission gear 242 is coaxially disposed and coupled to the power output mechanism 30, and the second transmission gear 242 and the planetary gear set 246 are mounted on the fixed shaft 240.
  • the second transmission gear 242 includes a first gear 244 and a second gear 245 that are coaxially disposed and fixed to each other, the first gear 244 intermeshing with the first transmission gear 22, the second gear 245 and the planet The wheel sets 246 are in mesh with each other.
  • the servo steering gear meshes with the planetary gear set 246 by providing the second transmission gear 242 in the speed reduction mechanism 20 to provide the servo steering gear with a sufficient deceleration effect.
  • the fixed shaft 240 is disposed coaxially with the second output shaft 32 and is disposed in parallel with the mounting shaft.
  • the number of teeth of the second transmission gear 242 is greater than the number of teeth of the first transmission gear 22 to achieve a corresponding reduction ratio requirement.
  • the second transmission gear 242 is rotated by the first transmission gear 22, and the first gear 244 and the second gear 245 are disposed on the same gear base 40 and rotate synchronously, the first transmission gear 22 engages with the first gear 244 and rotates as the first gear 244 rotates.
  • the second gear 245 is in mesh with the planetary gear set 246 to drive the planetary gear set 246 to rotate.
  • the second gear 245 protrudes along the disk surface of the first gear 244 and is provided with teeth that mesh with the planetary gear set 246.
  • the first gear 244 and the second gear 245 are integrally formed, and the second gear 245 rotates with the rotation of the first gear 244 and has the same rotational speed to drive The planetary gear set 246 rotates.
  • the planetary gear set 246 includes three planetary gears 2460 disposed outside the second gear 245 and meshing with the second gear 245 for mounting the planet. a gear 2460 and a carrier 2462 mounted on the fixed shaft 240, and a fixed gear 248 that is sleeved around the periphery of the carrier 2462 and meshes with each of the planetary gears 2460 to restrict the planetary gear 2460 from idling.
  • the output mechanism 30 is mounted coaxially with the planetary gear set 246 on the fixed shaft 240.
  • Each of the planetary gears 2460 meshes with the second gear 245 and drives the carrier 2462 to rotate, thereby driving the power output mechanism 30 to rotate.
  • the carrier 2462 is provided with a through hole, and the external teeth of the second gear 245 mesh with the external teeth of each of the planetary gears 2460 to drive the planetary gear 2460 to rotate.
  • the planet gears 2460 drive the planet carrier 2462 to rotate and drive the power take-off mechanism 30 to rotate with the planet carrier 2462.
  • the servo steering gear divides the power by three of the planetary gears 2460 in the planetary gear set 246, and the power is shunted by the three of the planetary gears 2460, so that the load-carrying capacity of the speed reduction mechanism 20 is high.
  • the servo steering gear is driven by the planetary gear 2460 by the speed reducing mechanism 20, and the single-stage deceleration is relatively large. Therefore, the entire servo steering gear only needs the power gear 21, the first transmission gear 22, and the second transmission.
  • the gear 242 and the planetary gear set 246 can meet the overall reduction ratio requirements.
  • the servo steering gear adopts the planetary gear 2460, the number of gears used by the servo steering gear is greatly reduced, the assembly procedure of the servo steering gear is relatively reduced, and the cost is saved, and at the same time, since the planetary gear 2460 is used for transmission,
  • the structure of the speed reduction mechanism 20 is very compact and has high load carrying capacity.
  • the fixed gear 248 is provided with inner teeth that mesh with each of the planetary gears 2460. It can be understood that the inner gear teeth of the fixed gear 248 mesh with the outer teeth of the planetary gears 2460 to prevent the planetary gears 2460 from idling, and to ensure the normal operation of each of the planetary gears 2460.
  • the power output mechanism 30 further includes an end cover 31 fixedly coupled to the second output shaft 32 and fixedly coupled to the carrier 2462.
  • the end cover 31 is located at the end.
  • the carrier 2462 includes a lower jaw 2464 fixedly coupled to the end cap 31 and a planet shaft 2466 fixedly coupled to each of the planet gears 2460,
  • a mounting opening 2468 for mounting each of the planetary gears 2460 is formed between the end cover 31 and the lower clamping plate 2464.
  • the planetary shaft 2466 is disposed in the mounting opening 2468 and one end is inserted into the end cover 31. And the other end is inserted into the lower clamping plate 2464.
  • the servo steering gear realizes the installation of each of the planetary gears 2460 by providing the end cover 31 and the lower clamping plate 2464, and has a compact structure and convenient assembly and disassembly.
  • the end cap 31 and the second output shaft 32 are integrally formed.
  • the servo steering gear mounts each of the planetary gears 2460 by the end cover 31 and the lower clamping plate 2464, and a planetary shaft 2466 is disposed between the end cover 31 and the lower clamping plate 2464 to place each of the planets A gear 2460 is fixedly mounted on the planet shaft 2466.
  • each of the planet shafts 2466 When installed, each of the planet shafts 2466 is inserted into the corresponding planet gears 2460 and fixedly engaged with the planet gears 2460, and one end of the planet shafts 2466 is inserted into the lower jaws 2464, the ends A cover 31 is disposed relative to the lower jaw 2464 and the other end of the planet shaft 2466 is inserted into the end cap 31 and the end cap 31 and the lower jaw 2464 are secured together by a locking screw, thereby The planet shaft 2466 is mounted in the mounting opening 2468 along with the planetary gears 2460. Under the engagement of the second gear 245, the planetary gears 2460 drive the end caps 31 and the lower portions fixed to each other. The splint 2464 is rotated.
  • the lower clamping plate 2464 includes a seat body (not labeled) and a plurality of raised columns (not labeled) protruding along the surface of the seat body toward the end cover 31 side.
  • Each of the protruding pillars is spaced apart, and a planetary gear 2460 is disposed between two adjacent convex pillars, and the base body is provided with a through hole for the second gear 245 to pass through ( Not shown) and a first mounting slot (not shown) between two adjacent raised posts, one end of the planet shaft 2466 is inserted into the first mounting slot.
  • the end cover 31 is provided with a second mounting slot (not labeled) opposite to the first mounting slot, and the other end of the planet shaft 2466 is inserted into the second mounting slot.
  • the end cover 31 is disposed opposite to the lower clamping plate 2464 and the first mounting groove is opposite to the second mounting groove, and passes through the end cap 31 and is locked by the locking screw
  • the raised posts of the splint 2464 are such that adjacent ones of the raised posts enclose the end cap 31 to form the mounting opening 2468 in which the planet gears 2460 are mounted.
  • the seat body, the protruding column and the end cover 31 are enclosed to form the receiving cavity for receiving the second gear 245, the receiving cavity is communicated with the mounting opening 2468, and the second gear 245 And being engaged in the receiving cavity and engaging with each of the planetary gears 2460 installed in the mounting opening 2468, so that the planetary gears 2460 drive the end cover 31 and the lower clamping plate 2464 to rotate, thereby driving the The second output shaft 32 rotates to transmit power.
  • both ends of each of the planetary shafts 2466 are respectively mounted in the first mounting groove and the second mounting groove by bearings, so that each of the planetary gears 2460 drives the end cover 31 and The lower jaw 2464 rotates.
  • each of the planetary gears 2460 is equally spaced along the circumference of the fixed shaft 240.
  • the servo steering gear sets the planetary gears 2460 at equal intervals to uniformly transmit loads at the same time, so that the power is evenly split.
  • the servo steering gear further includes a base 40 provided with a first receiving cavity 42 and fixedly connected with the base 40 and forming a second with the base 40 .
  • the side cover 50 of the cavity 52 is received.
  • the driving device 10 is mounted in the first accommodating cavity 42.
  • the base 40 includes a wall protruding from the cavity of the first accommodating cavity 42.
  • a fixing plate 44 for mounting the fixed shaft 240 and the power gear 21, and a housing portion 45 fixed to the side cover 50, wherein the speed reducing mechanism 20 is mounted to the second receiving cavity 52.
  • the housing portion 45 is provided with a first fixing hole 450 for fixing the power output mechanism 30, and the fixing gear 248 is fixed to the housing portion 45 and the side cover 50.
  • the base 40 and the side cover 50 form an appearance member of the servo steering gear, and constitute an outer casing structure of the servo steering gear, and protect the power input device and the speed reduction mechanism 20.
  • the circumference of the fixed gear 248 is fixed to the base 40 and the side cover 50 and is received in the second receiving cavity 52.
  • the servo steering gear further includes an installation fixedly mounted on a side of the housing portion 45 facing the fixing plate 44 to be coaxial with the second output shaft 32 .
  • the housing portion 45 is provided with a second fixing hole 452 opposite to the first fixing hole 450.
  • the mounting assembly 60 includes a connecting plate 62 fixedly mounted on the fixing plate 44 and a through hole.
  • the second fixing hole 452 is fixedly mounted on the connecting plate 62 and has a connecting post 64 connecting the shaft holes.
  • the servo steering gear is coupled to the external component by providing the connecting plate 62 and the connecting post 64, and the connecting post 64 is disposed coaxially with the second output shaft 32 to facilitate mounting on the external component.
  • the power output mechanism 30 further includes a fixed bearing 34 disposed around the periphery of the end cover 31 and a hole wall and the fixed bearing of the first fixing hole 450 .
  • the servo steering gear fixes the power output mechanism 30 by providing the fixed bearing 34 on the power output mechanism 30 to add a primary bearing outside the servo steering gear, so that the servo steering mechanism structure is more stable, which is beneficial to the servo steering mechanism.
  • the angle output by the power output mechanism 30 is more precise.
  • the servo steering gear is fitted to the base 40 by stably fitting the snap ring 36 around the fixed bearing 34 to prevent it from traveling in the radial direction.
  • the fixed bearing 34 includes an inner ring (not shown) that is sleeved on the second output shaft 32, and an outer ring that is coaxial with and spaced apart from the inner ring (not shown). And a rolling element (not shown) disposed between the inner ring and the outer ring.
  • the outer ring is locked in the snap ring 36, and is fixed between the outer ring and the base 40 by the snap ring 36, thereby fixing the fixed bearing 34 to the base. 40, to reduce the rotational friction between the second output shaft 32 and the snap ring 36.
  • the robot provided by the embodiment of the present invention includes the above servo steering gear.
  • the servo steering gear in this embodiment has the same structure as the servo steering gear in the above embodiments, and functions the same, and will not be described herein.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Retarders (AREA)
  • Power Steering Mechanism (AREA)

Abstract

L'invention concerne un moteur de direction assistée, comprenant : un dispositif d'entraînement (10), comprenant un premier arbre de sortie (12), un engrenage d'entrée de puissance (14) étant monté sur le premier arbre de sortie (12) ; un mécanisme de réduction (20), comprenant un engrenage de puissance (21) apparié à un engrenage d'entrée de puissance (14), un premier engrenage de transmission (22) disposé de manière coaxiale avec l'engrenage de puissance (21) et tournant de manière synchrone avec l'engrenage de puissance (21), et un composant de réduction (24) entraîné par le premier engrenage de transmission (22) à tourner ; et un mécanisme de sortie de puissance (30), entraîné par le mécanisme de réduction (20) à tourner, et comprenant un second arbre de sortie (32). L'engrenage d'entrée de puissance (14) est décalé par rapport à l'engrenage de puissance (21) et mis en prise avec ce dernier. La présente invention concerne également un robot comprenant le moteur de direction assistée.
PCT/CN2017/119556 2016-12-29 2017-12-28 Moteur de direction assistée et robot WO2018121695A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201611248256.XA CN107246461B (zh) 2016-12-29 2016-12-29 伺服舵机及机器人
CN201611248256.X 2016-12-29

Publications (1)

Publication Number Publication Date
WO2018121695A1 true WO2018121695A1 (fr) 2018-07-05

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PCT/CN2017/119556 WO2018121695A1 (fr) 2016-12-29 2017-12-28 Moteur de direction assistée et robot

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CN (1) CN107246461B (fr)
WO (1) WO2018121695A1 (fr)

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CN110450084A (zh) * 2019-05-14 2019-11-15 成都生活家网络科技有限公司 一种衣柜安装固定装置
CN111750040A (zh) * 2020-06-18 2020-10-09 广州强强科技股份有限公司 一种同轴多输出减速驱动装置
CN111817500A (zh) * 2020-06-29 2020-10-23 中国空气动力研究与发展中心 一种水空两用防水舵机
CN113858175A (zh) * 2021-09-30 2021-12-31 达闼机器人有限公司 T型执行器、机械臂及机器人
CN117682057A (zh) * 2024-01-31 2024-03-12 北京大学 一种驱动机构、舵机及航行器

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CN107246461B (zh) * 2016-12-29 2024-02-02 深圳市优必选科技有限公司 伺服舵机及机器人
CN106763515B (zh) * 2016-12-31 2020-03-27 深圳市优必选科技有限公司 一种舵机
CN107856054B (zh) * 2017-11-28 2023-08-04 深圳市优必选科技有限公司 一种舵机传动结构、机器人骨架结构及机器人
CN107863847B (zh) * 2017-11-29 2023-07-18 深圳市优必选科技有限公司 一种舵机装置及具有其的云台设备
CN108679203B (zh) * 2018-07-03 2023-09-22 曹林 一种微型舵机传动机构
CN113942018A (zh) * 2020-07-15 2022-01-18 Oppo广东移动通信有限公司 舵机及充电设备
CN113843776A (zh) * 2021-09-30 2021-12-28 达闼机器人有限公司 一种模块化执行器、机械臂及机器人
CN114427808A (zh) * 2022-01-19 2022-05-03 湖北三江航天红峰控制有限公司 一种折叠式舵机

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