CN106363659B - A kind of steering engine and robot - Google Patents
A kind of steering engine and robot Download PDFInfo
- Publication number
- CN106363659B CN106363659B CN201610969426.7A CN201610969426A CN106363659B CN 106363659 B CN106363659 B CN 106363659B CN 201610969426 A CN201610969426 A CN 201610969426A CN 106363659 B CN106363659 B CN 106363659B
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- steering engine
- holding section
- motor
- locating part
- shaft
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- 230000009467 reduction Effects 0.000 claims abstract description 24
- 230000005489 elastic deformation Effects 0.000 claims description 12
- 239000003302 ferromagnetic material Substances 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 abstract description 14
- 230000006641 stabilisation Effects 0.000 abstract description 2
- 238000011105 stabilization Methods 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000005611 electricity Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000002045 lasting effect Effects 0.000 description 2
- 230000005291 magnetic effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 230000005307 ferromagnetism Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001105 regulatory effect 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
Abstract
To overcome existing steering engine to deposit the problem of output shaft rotation occurs after a loss of power, influences robot stabilization, the present invention provides a kind of steering engines, including motor, train of reduction gears and capture configurations；The motor has shaft, and the train of reduction gears connects the shaft, and the deceleration for motor exports；The capture configurations limit the rotation of the shaft when motor is in off-position；The capture configurations release the limitation of the rotation to the shaft when motor is in energized state.Meanwhile the invention also discloses the robots of above-mentioned steering engine.By using technical solution of the present invention, lock-bit can be carried out to the shaft of motor after steering engine power-off, the movement for being conducive to robot is kept.
Description
Technical field
The invention belongs to decelerating through motor technical field of transmission equipment, and in particular to a kind of steering engine and robot.
Background technique
Steering engine is the critical elements for realizing joint of robot function, mainly includes motor, control circuit board, reduction gearing
The primary elements such as group, output shaft and sensor.Its control method are as follows: setting control signal, control signal pass through control circuit board
Be transferred to motor, the shaft for controlling motor is rotated, by after train of reduction gears deceleration transmission through output shaft output torque.?
After robot stop motion, the torque that existing steering engine keeps motor to generate by lasting input current, to make robot
Movement when movement being kept to stop, and in some cases, such as robot shutdown and steering engine power-off, motor internal loses electric power branch
It holds, so that enough torque can not be generated, at this time due to the lasting steering engine by external force, such as robot leg of robot
By robot self gravitation effect, steering engine output shaft can rotate because of stress, so as to cause robot in the steering engine position
Occur certain angle offset, robot cannot keep power-off before standing activities, or even can there is a phenomenon where robots to topple over, therefore
It is inadequate using the robot stop motion rear stability of existing steering engine, influence user experience.
Summary of the invention
It is deposited for the problem that existing steering engine and output shaft rotation occurs after a loss of power, influence robot stabilization, the present invention mentions
A kind of steering engine and robot have been supplied, lock-bit can have been carried out to the shaft of motor after steering engine power-off, be conducive to the movement of robot
It keeps.
It is as follows that the present invention solves technical solution used by above-mentioned technical problem:
A kind of steering engine is provided, including steering engine shell and the motor being set in the steering engine shell, train of reduction gears and
Capture configurations；
The motor has shaft, and the train of reduction gears connects the shaft, and the deceleration for motor exports；
The capture configurations limit the rotation of the shaft when motor is in off-position；
The capture configurations release the limitation of the rotation to the shaft when motor is in energized state.
Further, the capture configurations include revolving part, locating part and coil, the power on/off of the coil and the electricity
The on-off electric shaft of machine is arranged, and the revolving part is fixed in the shaft, and the revolving part is equipped with the first holding section, described
Locating part is equipped with the second holding section, the locating part at least partially ferromagnetic material, and the coil is located at locating part back
Side from second holding section；
The locating part elasticity is pressure bonded to the revolving part, the first holding section and the second holding section phase in coil blackout
Mutually engaging lock-bit；
The locating part is attracted when coil is powered by the coil, and the first holding section and the second holding section are detached from, described
Locating part and the revolving part are detached from.
Further, the steering engine further includes control circuit board, and the motor and coil are electrically connected to the control electricity
Road plate.
Further, the revolving part is turntable, and the outer rim of the turntable, the shaft is arranged in first holding section
It is connected to the center of the turntable.
Further, first holding section is fossaperturate, and second holding section is mutually to fit with the recess mouth-shaped
The protruding portion matched.
Further, the two sides of the revolving part are all provided with finite place piece and coil, and the coil is located at locating part back
Side from the revolving part, the coil is spaced apart from each other between locating part when motor is in off-position, described two
The first spring is connected between locating part, first spring is in elongation state；
The capture configurations further include sliding slot, and the sliding slot is fixed on the motor housing or the steering engine shell, institute
It states one end on locating part far from second holding section to be limited in the sliding slot, the locating part can be sliding along the sliding slot
Dynamic, the second holding section of the locating part is pressed together on the revolving part.
Further, the locating part is elastic deformation part, separate second holding section on the elastic deformation part
One end is fixed on the steering engine shell, and the second holding section of the elastic deformation part is pressed together on the revolving part.
Further, the capture configurations further include supporting element, and the supporting element is fixed on the motor housing or described
On steering engine shell, one end on the locating part far from second holding section is hinged on the supporting element, the locating part
Second spring is connected between supporting element, the second holding section of the locating part is pressed together on the revolving part.
Further, the steering engine further includes steering engine shell, and the motor and train of reduction gears are set to the steering gear shell
In body.
Further, the steering engine further includes the angular transducer for detecting train of reduction gears output shaft rotation angle.
A kind of robot, including steering engine as described above.
The steering engine provided according to the present invention is equipped with capture configurations in the shaft of motor, is arranged by linkage, turns in motor
When dynamic, the capture configurations release the lock-bit to shaft, and when motor, which powers off, to be stopped, the capture configurations lock shaft
Position avoids shaft that further rotation occurs, to avoid robot that further movement occurs, allows the robot to keep
Movement before power-off, prevent power-off after robot due to self gravitation effect or other external force generations movement deformation or
The case where person topples over avoids robot from falling down damage to a certain extent, and the user experience is improved.
Detailed description of the invention
Fig. 1 is the rotary state schematic diagram for the steering engine that the embodiment of the present invention 1 provides；
Fig. 2 is the halted state schematic diagram for the steering engine that the embodiment of the present invention 1 provides；
Fig. 3 is the structural schematic diagram for the motor that the embodiment of the present invention 1 provides；
Fig. 4 is the structural schematic diagram for the locating part that the embodiment of the present invention 1 provides；
Fig. 5 is the diagrammatic cross-section for the sliding slot that the embodiment of the present invention 1 provides；
Fig. 6 is the structural schematic diagram for the capture configurations that the embodiment of the present invention 2 provides；
Fig. 7 is the structural schematic diagram for the capture configurations that the embodiment of the present invention 3 provides.
Appended drawing reference in Figure of description is as follows:
1, motor；11, shaft；2, capture configurations；21, revolving part；211, the first holding section；22, locating part；221, second
Holding section；23, coil；24, the first spring；25, sliding slot；26, supporting element；3, control circuit board；4, steering engine shell.
Specific embodiment
In order to which the technical problems, technical solutions and beneficial effects solved by the present invention is more clearly understood, below in conjunction with
Accompanying drawings and embodiments, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used
To explain the present invention, it is not intended to limit the present invention.
Embodiment 1
Referring to the embodiment for shown in FIG. 1 to FIG. 3, present embodiments providing a kind of steering engine, the steering engine include motor 1,
Train of reduction gears (not shown) and capture configurations 2；
The motor 1 has shaft 11, and the train of reduction gears connects the shaft 11, and the deceleration for motor 1 exports；
The capture configurations 2 are set to 11 position of shaft, and the capture configurations 2 and the motor 1 linkage are arranged；
The capture configurations 2 limit the rotation of the shaft 11 when motor 1 is in off-position；
The capture configurations 2 release the limitation of the rotation to the shaft 11 when motor 1 is in energized state.
It is equipped with capture configurations 2 in the shaft 11 of motor 1, is arranged by linkage, when motor 1 rotates, the lock-bit knot
Structure 2 releases the lock-bit to shaft 11, and when motor 1, which powers off, to be stopped, the capture configurations 2 carry out lock-bit to shaft 11, avoids turning
Axis 11 occurs further to rotate, to avoid robot that further movement occurs.It should be noted that the capture configurations
2 can be the existing various mechanically or electrically control structures with lock-bit effect, it is therefore an objective to which the shaft 11 of motor 1 is revolved in realization
Twist lock is fixed；Those skilled in the art can also select other kinds of capture configurations 2 to be replaced as needed, should all be included in this
Within the protection scope of invention.
In the present embodiment, the preferred embodiment of the capture configurations 2 is also disclosed, it is specific as follows.
The capture configurations 2 include revolving part 21, locating part 22 and coil 23, power on/off and the electricity of the coil 23
The on-off electric shaft of machine 1 is arranged.
In the description of the present embodiment, it is to be understood that term " linkage setting " shall be understood in a broad sense, for example, at this
The on-off electric shaft of the power on/off of embodiment coil 232 and the motor 1 is arranged, and refers to by being directly electrically connected or setting
The indirect electric control of control module is set, it, can be by the change of its on-off electricity condition when the on-off electricity condition of motor 1 changes
Control condition as coil 232 current lead-through and disconnection.
The revolving part 21 is fixed in the shaft 11, and the rotation of the shaft 11 drives the revolving part 21 with described
Shaft 11 is the rotation of center axis, and the revolving part 21 is equipped with the first holding section 211, and the locating part 22 is equipped with the second card
Conjunction portion 221, the locating part 22 at least partially ferromagnetic material, the coil 23 are located at the locating part 22 away from described second
The side of holding section 221.
The present embodiment uses control module of the coil 23 as locating part 22, and action principle is similar with solenoid valve, coil
23, which are powered, forms electromagnetic field, has certain magnetic force sucking action to ferromagnetic material, and then the locating part 22 can be attracted to set
There is one end of the second holding section 221 to move towards the direction far from the revolving part 21, locating part 22 is detached under the effect of coil 23
Revolving part 21 has the advantages that rapid reaction, controllable, in other embodiments, can also be used and realizes that the locating part 22 moves
The structure in direction is replaced, such as solenoid valve.
For the locating part 22 when coil 23 powers off, elasticity is pressure bonded to the revolving part 21, the first holding section 211 and second
Holding section 221 is mutually clamped lock-bit, and the revolving part 21 is fixed, and then the shaft 11 of the motor 1 is avoided to rotate；
The locating part 22 is attracted, the first holding section 211 and the second holding section when coil 23 is powered by the coil 23
221 are detached from, and the locating part 22 is detached from the revolving part 21, and the revolving part 21 can be with 11 turns of shaft of the motor 1
Dynamic, the locating part 22 does not generate interference to revolving part 21.
In the present embodiment, the steering engine further includes control circuit board 3, and the motor 1 and coil 23 are electrically connected to institute
It states in control circuit board 3, the control circuit board 3 is used for transmission control signal to drive the motor 1 to be rotated, and works as outside
Master controller the input of control signal when, control circuit board 3 while controlling motor 1 according to control 1 power supply of signal conduction motor
Input voltage and input duration to control the rotation angle of steering engine output shaft connect institute while connecting 1 power supply of motor
The power supply of coil 23 is stated, to realize electromagnetic attraction of the above-mentioned coil 23 to locating part 22.
The revolving part 21 and the shaft 11 can be split type structure, connection type be interference fit, key connection,
It is threadedly coupled or other normal methods, the revolving part 21 is also possible to integrated formed structure with the shaft 11.
In the present embodiment, the revolving part 21 be turntable, the turntable have similar round exterior contour, described first
Holding section 211 is set to the outer rim of the turntable, and the shaft 11 is connected to the center of the turntable.
First holding section 211 is fossaperturate, and second holding section 221 is compatible with the recess mouth-shaped
Protruding portion, in other embodiments, first holding section 211 and the second holding section 221 are interchangeable, i.e. the first holding section 211
For protruding portion, the second holding section 221 is fossaperturate；First holding section 211 and the second holding section 221 are also possible to other shapes
The position limiting structure of formula, such as buckle structure.
When motor 1 is changed into off-position by operating status, the shaft 11 on motor 1 may continue to rotate, at this time line
The disconnection of 23 electric currents is enclosed, magnetic field disappears, and one end that the locating part 22 is provided with the second holding section 221 presses under the action of elasticity
To the outer rim of the revolving part 21, the revolving part 21 is rotated with the shaft 11, when the first holding section 211 on revolving part 21
When rotation to the second holding section 221, second holding section 221 is fallen into first holding section 211, the revolving part
21 since the limit of the second holding section 221 is stopped rotating, and the shaft 11 maximum possible slewing area after the stopping of motor 1 is 1
In order to reduce rotation angle of the shaft 11 after the power-off of motor 1 multiple first holding sections can be arranged in the outer rim of revolving part 21 in circle
211；In other embodiments, the revolving part 21 may be alternatively provided as gear-like structure.Subtract since the shaft 11 of motor 1 is connected with
Fast gear set, the transmission ratio between the shaft 11 and the output shaft of train of reduction gears of motor 1 is big, therefore even if the rotation of shaft 11 one
Circle, the corner of reality output also can very little.
As shown in figure 4, in the present embodiment, the two sides of the revolving part 21 are equipped with a locating part 22 and a coil 23,
The locating part 22 is rod-like structure, and the locating part 22 is equipped with the second holding section 221 close to one end of the revolving part 21, and
Towards the revolving part 21, the coil 23 is located at the side that locating part 22 deviates from the revolving part 21 for second holding section 221, and
Under 1 off-position of motor, be spaced apart from each other between the coil 23 and locating part 22, between the coil 23 and locating part 22 between
Gap is greater than the height of second holding section 221, is connected with the first spring 24, first bullet between described two locating parts 22
Spring 24 is in elongation state.
The capture configurations 2 further include sliding slot 25, and the sliding slot 25 is fixed on 1 shell of motor or steering engine shell 4,
One end on the locating part 22 far from second holding section 221 is limited in the sliding slot 25, and the locating part 22 can edge
The sliding slot 25 slides, and described two locating parts 22 are relatively arranged in same sliding slot 25 or are respectively arranged at different sliding slots 25
In, the first spring 24 has the trend shunk, and has the power inwardly stretched to the locating part 22 at both ends, so that being located at revolving part 21
The revolving part 21 of the locating part 22 of two sides towards the middle is mobile, and the second holding section 221 of the locating part 22 is pressed together on the rotation
Turn on part 21.
As shown in figure 5, the section of the sliding slot 25 is inverted " t " font, the locating part 22 is located in the sliding slot 25
End is also inverted " t " character form structure, and the end of locating part 22 is adapted with 25 shape of sliding slot, by the sliding slot 25 to locating part
22 bottoms are limited, and avoid locating part 22 from being detached from the sliding slot 25, while 25 extending directions can slide along the chute.
In the present embodiment, it is connected with train of reduction gears in the shaft 11 of the motor 1, to reduce the shaft 11
Revolving speed increases output torque simultaneously, and the torque after train of reduction gears is driven is exported by the output shaft of train of reduction gears, with control
The movement of the joint piece or other structures part that connect with the steering engine, the train of reduction gears are harmonic speed reducer, spur reduction
Device or planetary reduction gear, it should be noted that the present invention is not intended to limit the structure of the train of reduction gears, those skilled in the art
Other train of reduction gears structures suitable for steering engine can also be used to be replaced, all belong to the scope of protection of the present invention within.
The steering engine further includes steering engine shell 4, and the motor 1 and train of reduction gears are set in the steering engine shell 4.
The steering engine further includes the angular displacement sensor that angle is rotated for detecting the output shaft of train of reduction gears, passes through angle
Displacement sensor is able to detect the actual motion data of steering engine output shaft, by the actual motion data of output shaft to motor 1
Movement is regulated and controled.
Embodiment 2
It is shown in Figure 6, a kind of preferred embodiment of capture configurations 2 is present embodiments provided, the capture configurations 2 wrap
Revolving part 21, locating part 22 and coil 23 are included, the center of the revolving part 21 is fixedly connected in the shaft 11, the rotation
Part 21 is equipped with the first holding section 211, and the locating part 22 is equipped with the second holding section 221, and the coil 23 is located at the limit
Position part 22 deviates from the side of second holding section 221, and when steering engine be in off-position, the coil 23 and the locating part
There are displacement gaps between 22.
In the present embodiment, the locating part 22 is elastic deformation part, and the elastic deformation part can be used with ferromagnetism
Metal material be made, the elastic deformation part is bending plate, far from second holding section 221 on the elastic deformation part
One end be fixed on the steering engine shell 4, the second holding section 221 of the elastic deformation part is pressed together on the revolving part 21
On, when coil 23 is powered, the locating part 22 is attracted by coil 23 to be generated elastic deformation and bends toward 23 direction of coil, works as line
When 23 power-off of circle, the locating part 22 restores under the action of elastic deformation, and the second holding section 221 of locating part 22 is pressure bonded to rotation
Turn the outer rim of part 21, when the first holding section 211 on revolving part 21 rotation to the second holding section 221 is bound to each other to form limit and makees
With.
Embodiment 3
It is shown in Figure 7, a kind of preferred embodiment of capture configurations 2 is present embodiments provided, the capture configurations 2 wrap
Revolving part 21, locating part 22 and coil 23 are included, the center of the revolving part 21 is fixedly connected in the shaft 11, the rotation
Part 21 is equipped with the first holding section 211, and the locating part 22 is equipped with the second holding section 221, and the locating part 22 is at least partly
For ferromagnetic material, the coil 23 is located at the side that the locating part 22 deviates from second holding section 221, and steering engine is in disconnected
When electricity condition, there are displacement gaps between the coil 23 and the locating part 22.
In the present embodiment, the capture configurations 2 further include supporting element 26, and the supporting element 26 is fixed on the motor 1
Shell or steering engine shell 4 on, be hinged on the supporting element far from one end of second holding section 221 on the locating part 22
26, i.e. locating part 22 can be rotated around one end, and second spring 27, institute are connected between the locating part 22 and supporting element 26
It states second spring 27 and is in elongation state, 221 elasticity of the second holding section of the locating part 22 is pressed together on the revolving part 21,
When coil 23 is powered, the locating part 22 is attracted by coil 23 and is rotated toward 23 direction of coil, described when coil 23 powers off
Locating part 22 rotates backhaul under the action of second spring 27, and the second holding section 221 of locating part 22 is pressure bonded to revolving part 21
Outer rim, when the first holding section 211 rotation to the second holding section 221 on revolving part 21, are bound to each other to form position-limiting action.
Embodiment 4
A kind of robot is present embodiments provided, the robot includes a kind of steering engine as described in Example 1, the rudder
The quantity of machine be it is multiple, multiple steering engines are respectively arranged at the articulated position of robot.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (9)
1. a kind of steering engine, which is characterized in that including steering engine shell (4) and the motor being set in the steering engine shell (4)
(1), train of reduction gears and capture configurations (2)；
The motor (1) has shaft (11), and the train of reduction gears connects the shaft (11), is used for the deceleration of motor (1)
Output；
The capture configurations (2) limit the rotation of the shaft (11) when motor (1) is in off-position；
The capture configurations (2) release the limitation of the rotation to the shaft (11) when motor (1) is in energized state；
The capture configurations (2) include revolving part (21), locating part (22) and coil (23), the power on/off of the coil (23) with
The on-off electric shaft of the motor (1) is arranged, and the revolving part (21) is fixed on the shaft (11), the revolving part (21)
It is equipped with the first holding section (211), the locating part (22) is equipped with the second holding section (221), and the locating part (22) is at least
Part is ferromagnetic material, and the coil (23) is located at the side that the locating part (22) deviates from second holding section (221)；
The locating part (22) coil (23) power off when, elasticity is pressure bonded to the revolving part (21), the first holding section (211) and
Second holding section (221) is mutually clamped lock-bit；
The locating part (22) is attracted when coil (23) are powered by the coil (23), the first holding section (211) and the second card
Conjunction portion (221) is detached from, and the locating part (22) and the revolving part (21) are detached from.
2. steering engine according to claim 1, which is characterized in that the steering engine further includes control circuit board (3), the motor
(1) and coil (23) is electrically connected to the control circuit board (3).
3. steering engine according to claim 1, which is characterized in that the revolving part (21) is turntable, first holding section
(211) it is set to the outer rim of the turntable, the shaft (11) is connected to the center of the turntable.
4. steering engine according to claim 1, which is characterized in that first holding section (211) be fossaperturate, described second
Holding section (221) is protruding portion compatible with the recess mouth-shaped.
5. steering engine described according to claim 1~any one of 4, which is characterized in that the two sides of the revolving part (21) are equal
Equipped with locating part (22) and coil (23), the coil (23) is located at one that the locating part (22) deviates from the revolving part (21)
Side, the coil (23) are spaced apart from each other between locating part (22) when motor (1) is in off-position, described two locating parts
(22) it is connected between the first spring (24), first spring (24) is in elongation state；
The capture configurations (2) further include sliding slot (25), and the sliding slot (25) is fixed on the motor (1) shell or steering engine shell
(4) on, one end on the locating part (22) far from second holding section (221) is limited in the sliding slot (25), described
Locating part (22) can be slided along the sliding slot (25), and the second holding section (221) of the locating part (22) is pressed together on the rotation
On part (21).
6. steering engine described according to claim 1~any one of 4, which is characterized in that the locating part (22) is elastic shape
Become part, one end far from second holding section (221) is fixed on the steering engine shell (4) on the elastic deformation part, institute
The second holding section (221) elasticity for stating elastic deformation part is pressed together on the revolving part (21).
7. steering engine described according to claim 1~any one of 4, which is characterized in that the capture configurations (2) further include branch
Support member (26), the supporting element (26) are fixed on the motor (1) shell or the steering engine shell (4), the locating part
(22) one end on far from second holding section (221) is hinged on the supporting element (26), the locating part (22) and branch
It is connected between support member (26) second spring (27), the second holding section (221) elasticity of the locating part (22) is pressed together on described
On revolving part (21).
8. steering engine according to claim 1, which is characterized in that the steering engine further includes for detecting train of reduction gears output
The angular transducer of axis rotation angle.
9. a kind of robot, which is characterized in that including the steering engine as described in any one of claim 1~8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610969426.7A CN106363659B (en) | 2016-11-03 | 2016-11-03 | A kind of steering engine and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610969426.7A CN106363659B (en) | 2016-11-03 | 2016-11-03 | A kind of steering engine and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106363659A CN106363659A (en) | 2017-02-01 |
| CN106363659B true CN106363659B (en) | 2019-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610969426.7A Active CN106363659B (en) | 2016-11-03 | 2016-11-03 | A kind of steering engine and robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106363659B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111443308B (en) * | 2018-12-28 | 2022-09-23 | 深圳市优必选科技有限公司 | Magnetic type steering engine and hot plug detection circuit and orientation detection circuit thereof |
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| CN105270607A (en) * | 2015-11-09 | 2016-01-27 | 湖北航天技术研究院总体设计所 | Helm system locking device |
| CN206170122U (en) * | 2016-11-03 | 2017-05-17 | 深圳市优必选科技有限公司 | Steering wheel and robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012157169A1 (en) * | 2011-05-13 | 2012-11-22 | 川崎重工業株式会社 | Multijoint industrial robot |
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2016
- 2016-11-03 CN CN201610969426.7A patent/CN106363659B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200939354Y (en) * | 2006-04-26 | 2007-08-29 | 罗之洪 | Model steering engine |
| CN102068822A (en) * | 2010-12-31 | 2011-05-25 | 西安航天精密机电研究所 | Self-locking electric steering engine |
| CN103090730A (en) * | 2011-10-27 | 2013-05-08 | 北京精密机电控制设备研究所 | Electric steering engine locking device |
| CN103625638A (en) * | 2013-12-13 | 2014-03-12 | 北京航空航天大学 | Locking device capable of realizing power-off self-locking of set position of rotary steering engine |
| CN105270607A (en) * | 2015-11-09 | 2016-01-27 | 湖北航天技术研究院总体设计所 | Helm system locking device |
| CN206170122U (en) * | 2016-11-03 | 2017-05-17 | 深圳市优必选科技有限公司 | Steering wheel and robot |
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| CN106363659A (en) | 2017-02-01 |
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