CN107127749A - Revolute robot and its linear actuator - Google Patents
Revolute robot and its linear actuator Download PDFInfo
- Publication number
- CN107127749A CN107127749A CN201710570338.4A CN201710570338A CN107127749A CN 107127749 A CN107127749 A CN 107127749A CN 201710570338 A CN201710570338 A CN 201710570338A CN 107127749 A CN107127749 A CN 107127749A
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- China
- Prior art keywords
- linear actuator
- push rod
- screw rod
- shell
- motor
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 5
- 239000004696 Poly ether ether ketone Substances 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- 229920002530 polyetherether ketone Polymers 0.000 claims description 6
- 239000004677 Nylon Substances 0.000 claims description 4
- 229920001778 nylon Polymers 0.000 claims description 4
- 239000010935 stainless steel Substances 0.000 claims description 4
- 229910001220 stainless steel Inorganic materials 0.000 claims description 4
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 3
- 229910052799 carbon Inorganic materials 0.000 claims description 3
- 239000000969 carrier Substances 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a kind of revolute robot and its linear actuator, including shell, it is arranged on the motor in shell and being sequentially arranged, decelerator, screw rod and push rod, wherein, the output shaft of motor is connected with decelerator, the output shaft connection of screw rod and decelerator is simultaneously rotated with the output shaft synchronous of decelerator, the axis of the screw rod is conllinear with the output shaft of motor, above-mentioned push rod is connected with screw flight and moved along a straight line along the axis of screw rod, the push rod along screw rod move when conductive component resistance value change, sensor is used for the resistance value for obtaining conductive component, and be connected by control module with motor signal.Linear actuator in the application, the rotation of screw rod is driven by the work of motor, realize the linear motion of push rod, complete linear drives, the resistance value of conductive component is obtained so that it is determined that the position of push rod by sensor, and the feedback of signal is realized by control module, so as to improve the control performance of linear actuator.
Description
Technical field
The present invention relates to domestic robot technical field, specifically, it is related to a kind of revolute robot and its straight line drives
Dynamic device.
Background technology
Current revolute robot quickly grows, and apery type domestic robot is as home entertaining, spending on education product, largely
Flood the market.Existing linear actuator is usually using large module gear, and stock size is larger, and lacks sensor feedback fortune
Dynamic information, so as to cause control performance poor.
Therefore it provides a kind of linear actuator of revolute robot, is those skilled in the art to improve control performance
The current technical issues that need to address.
The content of the invention
In view of this, the invention provides a kind of linear actuator of revolute robot, to improve control performance.This hair
It is bright to additionally provide a kind of revolute robot with above-mentioned linear actuator.
To achieve the above object, the present invention provides following technical scheme：
A kind of linear actuator of revolute robot, it includes：
Shell；
Motor, decelerator, screw rod and the push rod in the shell and being sequentially arranged are arranged on, wherein, the driving
The output shaft of motor is connected with the decelerator, the screw rod be connected with the output shaft of the decelerator and with the decelerator
Output shaft synchronous is rotated, and the axis of the screw rod is conllinear with the output shaft of the motor, the push rod and the screw rod spiral shell
Line connection simultaneously along the screw rod axis move along a straight line, the push rod along the screw rod move when conductive component resistance value occur
Change；
Sensor for obtaining the conductive component resistance value；
The control module being connected with the motor and the sensor signal.
It is preferred that, in above-mentioned linear actuator, the decelerator is planetary reduction gear.
It is preferred that, in above-mentioned linear actuator, the material of the gear of the planetary reduction gear and the push rod is poly-
Ether ether ketone, stainless steel or nylon.
It is preferred that, in above-mentioned linear actuator, the screw rod is spindle rotationally arranged in the deep-groove ball of the enclosure
In bearing.
It is preferred that, in above-mentioned linear actuator, the conductive component include brush and slide plate resistance, and the brush and
The slide plate resistance one is arranged on the push rod, and another one is arranged on the outer casing inner wall.
It is preferred that, in above-mentioned linear actuator, the brush is fixed on the push rod, and the slide plate resistance is arranged on
The outer casing inner wall.
It is preferred that, in above-mentioned linear actuator, the sensor is arranged between the push rod and the shell.
It is preferred that, in above-mentioned linear actuator, the sensor is fixed carbon resister formula sensor.
It is preferred that, in above-mentioned linear actuator, the control module is integrated on surface-mounted integrated circuit, and the integrated electricity
Road plate is arranged on the enclosure.
A kind of revolute robot, including linear actuator, wherein, the linear actuator is described in any one as described above
Linear actuator, the linear actuator be waterproof linear actuator.
Understood via above-mentioned technical scheme, the invention discloses a kind of linear actuator of revolute robot, including
Shell, motor, decelerator, screw rod and the push rod for being arranged in shell and being sequentially arranged, wherein, the output shaft of motor
It is connected with decelerator, the output shaft connection of screw rod and decelerator is simultaneously rotated, the axis of the screw rod with the output shaft synchronous of decelerator
Conllinear with the output shaft of motor, above-mentioned push rod is connected with screw flight and moved along a straight line along the axis of screw rod, the push rod
The resistance value of conductive component changes when being moved along screw rod, and sensor is used for the resistance value for obtaining conductive component, and passes through control
Molding block is connected with motor signal.Linear actuator in the application, turning for screw rod is driven by the work of motor
It is dynamic, the linear motion of push rod is realized, linear drives are completed, in addition, obtaining the resistance value of conductive component by sensor so as to really
Determine the position of push rod, and the feedback of signal is realized by control module, so as to improve the control performance of linear actuator.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is the structural representation of the shell of linear actuator provided in an embodiment of the present invention；
Structural representation when Fig. 2 inside contracts for the inside push rod of linear actuator provided in an embodiment of the present invention；
Fig. 3 is the part-structure schematic diagram of linear actuator provided in an embodiment of the present invention；
Fig. 4 is the decelerator disassemblying structure schematic diagram of linear actuator provided in an embodiment of the present invention；
Fig. 5 is the overhanging structural representation of push rod of linear actuator provided in an embodiment of the present invention.
Embodiment
The core of the present invention is to provide a kind of linear actuator of revolute robot, to improve control performance.The present invention
Another core there is provided a kind of revolute robot with above-mentioned linear actuator.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
As Figure 1-Figure 5, the invention discloses a kind of linear actuator of revolute robot, including shell 1, setting
In the shell 1 and the motor 2, decelerator 3, screw rod 4 and the push rod 5 that are sequentially arranged, wherein, the output shaft of motor 2 with
Decelerator 3 is connected, and screw rod 4 is connected with the output shaft of decelerator 3 and rotated with the output shaft synchronous of decelerator 3, the axle of the screw rod 4
Line is conllinear with the output shaft of motor 2, and above-mentioned push rod 5 is threadedly coupled with screw rod 4 and moved along a straight line along the axis of screw rod 4,
The push rod 5 along screw rod 4 move when conductive component resistance value change, sensor is used to obtain the resistance value of conductive component,
And be connected by control module with the signal of motor 2.Linear actuator in the application, is driven by the work of motor
The rotation of screw rod, realizes the linear motion of push rod 5, completes linear drives, in addition, obtaining the resistance of conductive component by sensor
Value realizes by control module the feedback of signal so that it is determined that the position of push rod 5, so as to improve the control of linear actuator
Performance.
The axis of the axis of screw rod 4 and the output shaft of motor 2 is set to can collinearly to reduce linear actuator longitudinal direction
Width.
Above-mentioned all parts are individually illustrated：
Shell 1 includes rear end cap 101, motor housing 102, shell of reduction box 103 and push rod shell 104 and drive end bearing bracket
105.Wherein, rear end cap 101, motor housing 102, shell of reduction box 103, push rod shell 104 pass sequentially through outer with drive end bearing bracket 105
The coaxially connected formation tubular structure of screw, the rear end of motor housing 102 is threadedly coupled with rear end cap 101, sealed by rear end cap 101,
So as to form the overall structure of shell 1, the inside of shell 1 has 51mm x 15mm x 10mm cubic space.Rear end cap
101st, waterproof sealing ring is respectively provided between motor housing 102, shell of reduction box 103, push rod shell 104 and drive end bearing bracket 105,
So that shell 1 has water-proof function, it is easy to revolute robot to carry out underwater operation.It is provided with inside above-mentioned motor housing 102
It is provided with motor 2, shell of reduction box 103 in decelerator 3, push rod shell 104 and push rod 5 is installed.Shell of reduction box 103
Left end is designed with locating shoulder for Locating driver motor 2, and the front end of push rod shell 104 is threadedly coupled with drive end bearing bracket 105, and front end
Through hole is provided with the end face of lid 105, is push rod telescopic hole, and is that the stretching motion of push rod 5 is oriented to for circumferentially positioned push rod 5, it is real
Existing axis of the push rod 5 along screw rod 4 is moved.
In addition, one end of the motor 2 in the application is fitted with rear end cap 101, the axially position of motor 2 is realized,
The input shaft of the output shaft connection reducer 3 of motor 2.Motor 2 in the application can be have brush hollow-cup motor,
Brushless hollow-cup motor, there are brush iron core motor or brushless iron core motor.
In specific embodiment, in order to ensure the output shaft of motor 2 and the axis collinear of screw rod 4, driven while reducing
The rotating speed of dynamic motor 2, planetary reduction gear is set to by decelerator 3.Specifically, the planetary reduction gear in the application can be with one
Level or multilevel hierarchy identical planetary gear teeth train (decelerator has two-stage planet train in the present embodiment), with deceleration
Device 3 uses the increase of planetary gear train quantity, can make the output shaft movement velocity fall of motor 2 and increase, enter
And make the final power output of push rod 4 increase.A sun gear 301, three planetary gears are specifically included for primary planet pinion train
302 and a planet carrier 303；Internal tooth arrangement 304 is designed with the internal circumferential of shell of reduction box 103 simultaneously, decelerator 3 is used as
Internal gear.Above-mentioned planetary gear is designed using micro-planetary gear design method, used modulus can be 0.1,0.12,
0.15th, 0.16,0.18,0.2 or 0.25 mould.
When Design of Speed Reducer has primary planet pinion train, specific mounting means is：Three planetary gears 302 are circumferential
Cloth, is installed on the trailing flank of planet carrier 303 by rotating shaft；Planet carrier leading flank is co-axially mounted screw rod 4.Sun gear 301 fixes peace
On output shaft loaded on motor 2；And sun gear 301 is engaged with three planetary gears equal 302, while three planetary gears 302 are equal
Engaged with the internal circumferential internal tooth arrangement 304 of shell of reduction box 103.Thus, the output shaft motion of motor 2 can drive sun gear
301 rotate, and drive three planetary gears 302 to rotate by sun gear 301, and then drive planet carrier 303 to be rotated with screw rod 4；Finally make
Moving across after planetary gear train is slowed down for the output shaft of motor 2 is transferred to screw rod 4.
When decelerator 3, which is designed, has planetary gear train more than one-level, specific mounting means is：Planetary gears at different levels
Train is set by rear to preceding.For purposes of illustration only, order by rear to preceding planetary gear trains at different levels be respectively 1,2,3 ...,
I ..., n grades of planetary gear trains；Wherein sun gear be respectively 1,2,3 ..., i ..., n grades of sun gears；Planetary gear is distinguished
For 1,2,3 ..., i ..., n planetary gears；Planet carrier is respectively 1,2,3 ..., i ..., n grades of planet carriers.Then 1 grade of planet
In gear wheel-train, three 1 grade of planetary gears are circumferentially uniform, are installed on by rotating shaft on 1 grade of planet carrier trailing flank；Before 1 grade of planet carrier
Side is co-axially mounted 2 grades of sun gears.1 grade of sun gear is fixedly installed on the output shaft of motor 2；And 1 grade of sun gear and three
Individual 1 grade of planetary gear engagement.During n grades of planetary gear wheels are inhaled, three n grades of planetary gears are circumferentially uniform, and n grades of planets are installed on by rotating shaft
On frame trailing flank；N grades of planet carrier leading flanks are co-axially mounted screw rod 4.And for the connection side between adjacent two-stage planet train
Formula is：In i+1 grades of planetary gear trains, i+1 grades of sun gears are coaxially disposed with shell, are fixedly installed in i grades of planet carrier front end faces
On, and engaged with three i grades of planetary gears.Three planetary gears in above-mentioned gear wheel-train at different levels with inside shell of reduction box 103
Circumferential internal tooth arrangement 304 is engaged.Thus, the output shaft motion of motor can drive 1 grade of sun gear rotation, by 1 grade of sun gear
Drive three 1 grade of planetary gears to rotate, and then drive 1 grade of planet carrier and 2 grades of sun gears to rotate, three 2 grades are driven by 2 grades of sun gears
Planetary gear is rotated, final to drive 2 grades of planetary wheel carriers to rotate, and the kind of drive of 3~n grades of planetary reducers is between 1 grade and 2 grades
The kind of drive, therefore eventually drive n grades of planet carriers rotated with screw rod 4, finally make moving across for the output shaft of motor 2
N grades of planetary gear trains are transferred to screw rod 4 after slowing down.
The planetary gear number of every one-level of above-mentioned decelerator 3 can also be 4, be similarly uniform arrangement.
The material of the gear of planetary reduction gear is PEEK (polyether-ether-ketone) in the application, and the anti-wear performance of polyether-ether-ketone is good,
The service life of linear actuator can be extended.In addition, the material of the gear of the planetary reduction gear can also be stainless steel or nylon.
Similarly, the material of push rod 5 can be also configured as polyether-ether-ketone, meanwhile, this push away cylinder 5 material or stainless steel or
Nylon.
The rear end of screw rod 4 is connected for 104 weeks with push rod shell upwardly through bearing 6, and the left and right positioning of the outer ring of bearing 6 passes through respectively
The shoulder designed on the front end of shell of reduction box 103 and the rear end inwall circumference of push rod shell 104 is realized；The left and right of the inner ring of bearing 6
Positioning is realized by the location nut 7 being socketed on 2 grades of planet carrier leading flanks and screw rod 4 respectively.The output end of screw rod 4 is outer spiral shell
Line section, screw thread is socketed between the push rod 5 and the output end of screw rod 4 of insulating materials, makes to form worm drive between screw rod 4 and push rod 5.Bearing
6 be deep groove ball bearing, can realize radial direction and axle box bidirectional-movement.
The rear end of push rod 5 is designed as square-section, while will be designed as in push rod shell 104 identical with end section after push rod 5
Rectangular channel, from there through between the rear end of push rod 5 and the internal face of push rod shell 104 coordinate, the section of the rear end of push rod 5 can also be
It is designed as in other non-circular shapes (not limiting shape), push rod shell 104 and end section identical passage after push rod 5, limitation
Rotational motion of the push rod 5 in push rod shell 104, the thus rotation of screw rod 4 can only drive push rod 5 to be transported along the axial straight line of housing
It is dynamic, push rod telescopic hole of the push rod 5 on drive end bearing bracket 105 is stretched.And when push rod 5 is in contraction state, the front end end of push rod 5
Face is flushed with the front end face of drive end bearing bracket 105, as shown in Figure 2；Push rod 5 is in as shown in Figure 5 during stretching state.
Sensor is carried with the linear actuator that position is fed back, can be for feedback position information.Specific sensor can
Think fixed carbon resister formula sensor, can also be in capacitive sensor, grating sensor or magnetic-grid-type sensor, the application
Sensor be arranged between push rod 5 and push rod shell 104.Described sensor can also be directly installed on motor 2
On output shaft, the movable information of direct monitoring driving motor 2.
In one is embodied, above-mentioned conductive component includes brush 8 and slide plate resistance 9, and is installed by following form：On
State and brush 8 is installed on the rear end lateral wall of push rod 5, while the slide plate resistance 9 of bar shaped is installed on the inwall of push rod shell 104,
Slide plate resistance 9 is axially arranged along push rod shell 104, ensures that brush 8 is contacted with slide plate resistance 9 after installation.Thus, moved in push rod 5
During dynamic, brush 8 can on the surface of slide plate resistance 9 sliding axially along shell 1, and the pin resistance of brush 8 can become
Change, so as to reflect the position of push rod 5, eventually through reading, stretching of the resistance change of brush 8 to monitor push rod 5 is long
Degree.
Sensor connects surface-mounted integrated circuit, and above-mentioned controller is integrated on surface-mounted integrated circuit, and surface-mounted integrated circuit is arranged at
In shell 1, control to the position of push rod 5 is realized, without linear actuator external circuitses plate again；Surface-mounted integrated circuit is flexible board,
Small volume, it is easy for installation, allow deformation, to reduce the volume of linear actuator, reduce the volume of revolute robot.
In addition, disclosed herein as well is a kind of revolute robot, including linear actuator, wherein, the linear actuator
For the linear actuator disclosed in above-described embodiment, therefore, the revolute robot with the linear actuator also has above-mentioned
All technique effects, this is no longer going to repeat them, wherein, the linear actuator is waterproof linear actuator.
The embodiment of each in this specification is described by the way of progressive, and what each embodiment was stressed is and other
Between the difference of embodiment, each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (10)
1. a kind of linear actuator of revolute robot, it is characterised in that including：
Shell (1)；
It is arranged in the shell (1) and is sequentially arranged motor (2), decelerator (3), screw rod (4) and push rod (5), wherein,
The output shaft of the motor (2) is connected with the decelerator (3), the screw rod (4) and the output shaft of the decelerator (3)
Connect and simultaneously rotated with the output shaft synchronous of the decelerator (3), the axis of the screw rod (4) is defeated with the motor (2)
Shaft is conllinear, and the push rod (5) is threadedly coupled with the screw rod (4) and moved along a straight line along the axis of the screw rod (4), described to push away
Resistance value of the bar (5) along conductive component during the screw rod (4) movement changes；
Sensor for obtaining the conductive component resistance value；
The control module being connected with the motor (2) and the sensor signal.
2. linear actuator according to claim 1, it is characterised in that the decelerator (3) is planetary reduction gear.
3. linear actuator according to claim 2, it is characterised in that the gear of the planetary reduction gear and the push rod
(5) material is polyether-ether-ketone, stainless steel or nylon.
4. linear actuator according to claim 1, it is characterised in that the screw rod (4) is spindle rotationally arranged in described
In the internal deep groove ball bearing of shell (1).
5. linear actuator according to claim 1, it is characterised in that the conductive component includes brush (8) and slide plate
Resistance (9), and the brush (8) and the slide plate resistance (9) one be arranged on the push rod (5), another one is arranged on institute
State shell (1) inwall.
6. linear actuator according to claim 5, it is characterised in that the brush (8) is fixed on the push rod (5)
On, the slide plate resistance (9) is arranged on the shell (1) inwall.
7. linear actuator according to claim 1, it is characterised in that the sensor be arranged on the push rod (5) and
Between the shell (1).
8. the linear actuator according to claim any one of 1-7, it is characterised in that the sensor is fixed carbon resister formula
Sensor.
9. the linear actuator according to claim any one of 1-7, it is characterised in that the control module is integrated integrated
On circuit board, and the surface-mounted integrated circuit is arranged on the shell (1) inside.
10. a kind of revolute robot, including linear actuator, it is characterised in that the linear actuator is such as above-mentioned right
It is required that the linear actuator described in any one of 1-9, the linear actuator is waterproof linear actuator.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710570338.4A CN107127749A (en) | 2017-07-13 | 2017-07-13 | Revolute robot and its linear actuator |
| PCT/CN2018/093218 WO2019011128A1 (en) | 2017-07-13 | 2018-06-28 | Articulated robot and linear actuator thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710570338.4A CN107127749A (en) | 2017-07-13 | 2017-07-13 | Revolute robot and its linear actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107127749A true CN107127749A (en) | 2017-09-05 |
Family
ID=59737880
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710570338.4A Pending CN107127749A (en) | 2017-07-13 | 2017-07-13 | Revolute robot and its linear actuator |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107127749A (en) |
| WO (1) | WO2019011128A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019011128A1 (en) * | 2017-07-13 | 2019-01-17 | 北京因时机器人科技有限公司 | Articulated robot and linear actuator thereof |
| CN112518733A (en) * | 2020-11-17 | 2021-03-19 | 深圳市优必选科技股份有限公司 | Linear servo steering engine and robot |
| CN112901443A (en) * | 2020-12-30 | 2021-06-04 | 苏州瑞迈康健医疗科技有限公司 | Reciprocating push rod air source driver with position feedback function |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204794553U (en) * | 2015-06-26 | 2015-11-18 | 上海宇航系统工程研究所 | Driving device |
| CN106678283A (en) * | 2017-01-17 | 2017-05-17 | 北京因时机器人科技有限公司 | Small linear driver with position feedback function |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2837033B1 (en) * | 2002-03-05 | 2004-09-24 | Moving Magnet Tech Mmt | LINEAR ACTUATOR COMPRISING AN ELECTRIC POLYPHASE MOTOR |
| KR101308738B1 (en) * | 2011-10-26 | 2013-09-16 | (주)로보티즈 | Apparatus for position feedback of cycloid reducer |
| CN203605898U (en) * | 2013-12-24 | 2014-05-21 | 宁波市北仑机械电器有限公司 | Slide-bar-type miniature linear displacement sensor |
| CN103840601A (en) * | 2014-03-06 | 2014-06-04 | 北京精密机电控制设备研究所 | Electric-mechanical actuator |
| CN107127749A (en) * | 2017-07-13 | 2017-09-05 | 北京因时机器人科技有限公司 | Revolute robot and its linear actuator |
-
2017
- 2017-07-13 CN CN201710570338.4A patent/CN107127749A/en active Pending
-
2018
- 2018-06-28 WO PCT/CN2018/093218 patent/WO2019011128A1/en active Application Filing
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204794553U (en) * | 2015-06-26 | 2015-11-18 | 上海宇航系统工程研究所 | Driving device |
| CN106678283A (en) * | 2017-01-17 | 2017-05-17 | 北京因时机器人科技有限公司 | Small linear driver with position feedback function |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019011128A1 (en) * | 2017-07-13 | 2019-01-17 | 北京因时机器人科技有限公司 | Articulated robot and linear actuator thereof |
| CN112518733A (en) * | 2020-11-17 | 2021-03-19 | 深圳市优必选科技股份有限公司 | Linear servo steering engine and robot |
| CN112901443A (en) * | 2020-12-30 | 2021-06-04 | 苏州瑞迈康健医疗科技有限公司 | Reciprocating push rod air source driver with position feedback function |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019011128A1 (en) | 2019-01-17 |
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Application publication date: 20170905 |