CN109808790A - A kind of Novel power system driving legged type robot for electricity - Google Patents
A kind of Novel power system driving legged type robot for electricity Download PDFInfo
- Publication number
- CN109808790A CN109808790A CN201910117902.6A CN201910117902A CN109808790A CN 109808790 A CN109808790 A CN 109808790A CN 201910117902 A CN201910117902 A CN 201910117902A CN 109808790 A CN109808790 A CN 109808790A
- Authority
- CN
- China
- Prior art keywords
- magnetic
- friction disk
- electromagnet
- wheel
- electricity
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
- 230000005611 electricity Effects 0.000 title claims abstract description 32
- 230000005540 biological transmission Effects 0.000 claims abstract description 23
- 230000001360 synchronised effect Effects 0.000 claims abstract description 20
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 6
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical group C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 claims description 3
- 229910052742 iron Inorganic materials 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000008859 change Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000005183 dynamical system Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
Landscapes
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Novel power systems that legged type robot is driven for electricity, including permanent magnet synchronous motor, the fuselage being connected with permanent magnet synchronous motor, pinion gear, small transmission wheel, gear wheel and large drive wheel, pinion gear and small transmission wheel are fixed on the motor shaft of permanent magnet synchronous motor, pinion gear is engaged with gear wheel, small transmission wheel and large drive wheel pass through transmission band connection, gear wheel is coaxial with large drive wheel, the first magnetic-friction disk and the second magnetic-friction disk are respectively fixed on large drive wheel and gear wheel, third magnetic-friction disk is fixed on fuselage, the first electromagnet is separately installed on the mechanical arm of robot, second electromagnet and third electromagnet, three electromagnet respectively with the first magnetic-friction disk, second magnetic-friction disk and third magnetic-friction disk are correspondingly arranged.The present invention commutates by using mechanical commutation instead of electric-machine directly-driven, can greatly improve cruising ability, reduces the unstability of circuit, reduces production cost.
Description
Technical field
The present invention relates to robot power technology field more particularly to a kind of new type powers that legged type robot is driven for electricity
System.
Background technique
Legged type robot has many advantages, such as good terrain trafficability, is the research that robot field is very popular in recent years
Direction.Large-scale legged type robot often uses hydraulic power, but its volume is excessive, and the legged type robot minimized then must be using electricity
Machine driving.Existing commercial small size legged type robot generallys use the side of the direct driving machine tool limbs of high-power torque motor
Formula, such as the spot series for coming card dog, Boston power of space tree science and technology.In the prior art, using it is more be using nothing
Brush motor (BLDC), is driven by electron speed regulator, is exported automatic adjustable torque, is directly driven after train of reduction gears is slowed down
Dynamic mechanical limb, when limbs swing back and forth, needs motor frequently to do positive and negative rotation；When robot is static, by motor electromagnetic
Torque keeps posture.The prior art has the disadvantage in that 1) power consumption height, and continue a journey short: motor itself has biggish inertia, machine
The mechanical arm inertia of people also should not be underestimated, and when acceleration and deceleration move back and forth, overcome volume made by motor body inertia and mechanical arm
External power is larger, and the utilization rate of the energy greatly reduced shortens cruise duration；2) huge circuit fluctuation: electromagnetism is generated
The peak current generated when braking is easy to burn out electronic component, is unfavorable for the stability of circuit system, needs bearing capacity bigger
Circuit design；3) at high cost: to need the stronger electric machine controller of withstanding current capability and more powerful motor, increase into
This.
Summary of the invention
The object of the present invention is to provide a kind of Novel power systems that legged type robot is driven for electricity, solve in the prior art
Motor direct-drive power consumption is high, continuation of the journey is short, at high cost, and the problem of the stability difference of circuit system.
In order to solve the above technical problems, the present invention adopts the following technical scheme:
A kind of Novel power system that legged type robot is driven for electricity of the invention, including permanent magnet synchronous motor, with it is described
Permanent magnet synchronous motor connected fuselage, pinion gear, small transmission wheel, gear wheel and large drive wheel, the electricity of the permanent magnet synchronous motor
The pinion gear and the small transmission wheel are fixed on arbor, the pinion gear is engaged with the gear wheel, the small transmission wheel
With the large drive wheel by transmission band connection, the gear wheel is coaxial with the large drive wheel to be arranged and turns on the contrary, described
The first magnetic-friction disk and the second magnetic-friction disk are respectively fixed on large drive wheel and the gear wheel, the fuselage leans on
The side of the nearly gear wheel is fixed with third magnetic-friction disk, is separately installed with the first electromagnetism on the mechanical arm of robot
Iron, the second electromagnet and third electromagnet, first electromagnet, second electromagnet and the third electromagnet respectively with
The first magnetic-friction disk, the second magnetic-friction disk and the third magnetic-friction disk are correspondingly arranged and are arranged
There is gap.
Further, the first magnetic-friction disk, the second magnetic-friction disk and the third magnetic-friction
The coaxial setting of disk and be that discoid, size is identical.
Further, the first magnetic-friction disk is fixed on the large drive wheel close to the side of the gear wheel,
The second magnetic-friction disk is fixed on the gear wheel close to the side of the fuselage.
Further, the first magnetic-friction disk is arranged in close to the one of the gear wheel in first electromagnet
The second magnetic-friction disk is arranged in close to the side of the fuselage, the third electromagnet in side, second electromagnet
The side of the third magnetic-friction disk far from the fuselage is set.
Further, the fuselage is in F type, and the fuselage includes two transverse slats and a riser, two transverse slats
Left part and the right side of the riser be connected, the permanent magnet synchronous motor is arranged between two transverse slats, described the
Three magnetic-friction disks are connected in the middle and lower part of the riser left side.
Compared with prior art, advantageous effects of the invention:
The Novel power system for driving legged type robot for electricity of the invention is commutated by mechanical commutation instead of electric-machine directly-driven,
It has the advantage that 1. raising energy utilization rates, reduces the power consumption under leveling tasks intensity, save airborne power supply, improve continuation of the journey
Ability；2. weakening peak current, the probability of circuit damage is reduced, improves the stability of circuit, extends circuit life；3. can
To use the lower electronic component of parameter, production cost is reduced.
The Novel power system for driving legged type robot for electricity of the invention is a kind of novel drive mechanism, can be cooperated
Position sensor and efficient algorithm are more efficiently run so that electricity drives legged type robot dynamical system.It is unidirectional by motor
The change of limb motion state can be realized in rotation, does not need the frequent acceleration and deceleration of motor and positive and negative rotation to change the fortune of mechanical limb
Dynamic state.
Detailed description of the invention
The invention will be further described for explanation with reference to the accompanying drawing.
Fig. 1 is the schematic perspective view for the Novel power system that the present invention drives legged type robot for electricity；
Fig. 2 is the schematic view of the front view for the Novel power system that the present invention drives legged type robot for electricity；
Fig. 3 is the overlooking structure diagram for the Novel power system that the present invention drives legged type robot for electricity；
Fig. 4 is the stereochemical structure signal of another angle for the Novel power system that the present invention drives legged type robot for electricity
Figure.
Description of symbols: 1, permanent magnet synchronous motor；2, fuselage；3, pinion gear；4, small transmission wheel；41, transmission belt；5, big
Gear；6, large drive wheel；7, the first magnetic-friction disk；8, the second magnetic-friction disk；9, third magnetic-friction disk；10,
Mechanical arm；11, the first electromagnet；12, the second electromagnet；13, third electromagnet.
Specific embodiment
As shown in Figures 1 to 4, a kind of Novel power system driving legged type robot for electricity, including permanent magnet synchronous motor
1, with the permanent magnet synchronous motor 1 be connected fuselage 2, pinion gear 3, small transmission wheel 4, gear wheel 5 and large drive wheel 6, it is described forever
The pinion gear 3 and the small transmission wheel 4, the pinion gear 3 and the gear wheel are fixed on the motor shaft of magnetic-synchro motor 1
5 engagements, the small transmission wheel 4 are connect with the large drive wheel 6 by transmission belt 41, the gear wheel 5 and the large drive wheel 6
It is coaxial to be arranged and turn on the contrary, being respectively fixed with 7 He of the first magnetic-friction disk on the large drive wheel 6 and the gear wheel 5
Second magnetic-friction disk 8, the fuselage 2 are fixed with third magnetic-friction disk 9, machine close to the side of the gear wheel 5
The first electromagnet 11, the second electromagnet 12 and third electromagnet 13, first electromagnetism are separately installed on the mechanical arm 10 of people
Iron 11, second electromagnet 12 and the third electromagnet 13 respectively with the first magnetic-friction disk 7, second magnetic
Property friction disc 8 and the third magnetic-friction disk 9 are correspondingly arranged and are provided with gap.
When in use, motor shaft drives small the Novel power system for electricity drive legged type robot of the present embodiment when rotating
Driving wheel 4 and pinion gear 3 rotate, since pinion gear 3 is engaged with gear wheel 5, small transmission wheel 4 with large drive wheel 6 passes through transmission belt
41 connections, therefore can drive gear wheel 5 and large drive wheel 6 to rotate respectively, at this time gear wheel 5 and 6 rotation direction of large drive wheel on the contrary,
It wherein is respectively fixed with the first magnetic-friction disk 7 and the second magnetic-friction disk 8 on large drive wheel 6 and gear wheel 5, it is big to be driven
Rotation can drive the first magnetic-friction disk 7 and the second magnetic-friction disk 8 to rotate respectively on wheel 6 and gear wheel 5, mechanical arm 10
Three electromagnet of upper installation respectively with the first magnetic-friction disk 7, the second magnetic-friction disk 8, third magnetic-friction disk 9
It is correspondingly arranged and is equipped between electromagnet and friction disc gap, electromagnet moves a small distance after being powered on the direction of axis
Afterwards, three electromagnet are in close contact the linkage that mechanical arm 10 can be realized with three magnetic-friction disks respectively；It can also be each pair of
Reset spring is installed, when non-energized, electromagnet retracts original position by reset spring, realizes between electromagnet and magnetic-friction disk
With the separation of magnetic-friction disk.
Also, the Novel power system for electricity drive legged type robot of the present embodiment further includes angular transducer, wherein
Angular transducer reads the location information of mechanical arm 10 in real time, and according to the difference of position current value and instruction value, which determines
The revolving speed of electromagnet closure and permanent magnet synchronous motor 1, to control the position of mechanical arm 10.When mechanical arm 10 needs to commutate
When, the first electromagnet 11 or the second electromagnet 12 are first unclamped, third electromagnet 13 is then closed, to consume 10 kinetic energy of mechanical arm,
The second electromagnet 12 or the first electromagnet 11 are reclosed to realize commutation；When mechanical arm 10 needs to brake, third electromagnet 13
Normal open electricity.
The Novel power system for driving legged type robot for electricity of the present embodiment mainly applies to gear drive, driving wheel passes
The transmission principle of frictional force transmission dynamic and between electromagnet and magnetic-friction disk, when the pinion gear 3 being connected with motor shaft and
Small transmission wheel 4 is all when rotating clockwise, and according to drive connection, gear wheel 5 and the second magnetic-friction disk 8 are to rotate counterclockwise
, large drive wheel 6 and the first magnetic-friction disk 7 rotate clockwise.
The present embodiment drives the Novel power system of legged type robot by the way that coaxial double steering magnetic-friction is arranged for electricity
Disc structure, and by the clutch of magnetic-friction disk and electromagnet, it can be achieved that mechanical braking, mechanical commutation, permanent magnet synchronous electric
Machine 1 only needs single direction rotation, and without moving back and forth, the commutation of mechanical arm 10 can be realized.The present embodiment drives sufficient formula machine for electricity
The application of the Novel power system of device people can make legged type robot continuation of the journey lasting, low in cost, widely used.
Specifically, the first magnetic-friction disk 7, the second magnetic-friction disk 8 and the third magnetic-friction
The coaxial setting of disk 9 and be that discoid, size is identical.
In the present embodiment, by the identical magnetic-friction disk of setting size, it can be easily installed, replace, reduction is produced into
This.
Specifically, the first magnetic-friction disk 7 is fixed on the large drive wheel 6 close to the side of the gear wheel 5,
The second magnetic-friction disk 8 is fixed on the gear wheel 5 close to the side of the fuselage 2.
Specifically, the first magnetic-friction disk 7 is arranged in close to the one of the gear wheel 6 in first electromagnet 11
The second magnetic-friction disk 8 is arranged in close to the side of the fuselage 2, the third electricity in side, second electromagnet 12
The side of the third magnetic-friction disk 9 far from the fuselage 2 is arranged in magnet 13.
Specifically, the fuselage 2 is in F type, the fuselage 2 includes two transverse slats and a riser, two transverse slats
Left part and the right side of the riser are connected, and the permanent magnet synchronous motor 1 is arranged between two transverse slats, the third
Magnetic-friction disk 9 is connected in the middle and lower part of the riser left side.
The Novel power system for driving legged type robot for electricity of the invention is a kind of novel drive mechanism, can be cooperated
Position sensor and efficient algorithm are more efficiently run so that electricity drives legged type robot dynamical system.It passes through permanent-magnet synchronous
The change of limb motion state can be realized in 1 single direction rotation of motor, does not need the frequent acceleration and deceleration of permanent magnet synchronous motor 1 and positive and negative rotation
To change the motion state of mechanical limb.
The Novel power system for driving legged type robot for electricity of the invention replaces permanent magnet synchronous motor 1 by mechanical commutation
It is straight to drive commutation, it can be improved energy utilization rate, reduce the power consumption under leveling tasks intensity, save airborne power supply, improve continuation of the journey energy
Power；Meanwhile, it is capable to weaken peak current, the probability of circuit damage is reduced, improves the stability of circuit, extends circuit and uses the longevity
Life, by using the lower electronic component of parameter, can reduce production cost.
Embodiment described above is only that preferred embodiment of the invention is described, and is not carried out to the scope of the present invention
It limits, without departing from the spirit of the design of the present invention, those of ordinary skill in the art make technical solution of the present invention
Various changes and improvements, should all fall into claims of the present invention determine protection scope in.
Claims (5)
1. it is a kind of for electricity drive legged type robot Novel power system, it is characterised in that: including permanent magnet synchronous motor, with it is described
Permanent magnet synchronous motor connected fuselage, pinion gear, small transmission wheel, gear wheel and large drive wheel, the electricity of the permanent magnet synchronous motor
The pinion gear and the small transmission wheel are fixed on arbor, the pinion gear is engaged with the gear wheel, the small transmission wheel
With the large drive wheel by transmission band connection, the gear wheel is coaxial with the large drive wheel to be arranged and turns on the contrary, described
The first magnetic-friction disk and the second magnetic-friction disk are respectively fixed on large drive wheel and the gear wheel, the fuselage leans on
The side of the nearly gear wheel is fixed with third magnetic-friction disk, is separately installed with the first electromagnetism on the mechanical arm of robot
Iron, the second electromagnet and third electromagnet, first electromagnet, second electromagnet and the third electromagnet respectively with
The first magnetic-friction disk, the second magnetic-friction disk and the third magnetic-friction disk are correspondingly arranged and are arranged
There is gap.
2. the Novel power system according to claim 1 for driving legged type robot for electricity, it is characterised in that: described first
Magnetic-friction disk, the second magnetic-friction disk and the third magnetic-friction disk it is coaxial setting and be it is discoid,
Size is identical.
3. the Novel power system according to claim 1 for driving legged type robot for electricity, it is characterised in that: described first
Magnetic-friction disk is fixed on the large drive wheel close to the side of the gear wheel, and the second magnetic-friction disk is fixed on
The gear wheel is close to the side of the fuselage.
4. the Novel power system according to claim 3 for driving legged type robot for electricity, it is characterised in that: described first
The first magnetic-friction disk is arranged in close to the side of the gear wheel in electromagnet, and second electromagnet is arranged described
For second magnetic-friction disk close to the side of the fuselage, the third electromagnet setting is remote in the third magnetic-friction disk
Side from the fuselage.
5. driving the Novel power system of legged type robot described in any one of -4 for electricity according to claim 1, feature exists
In: the fuselage is in F type, and the fuselage includes two transverse slats and a riser, and the left part of two transverse slats is erected with described
The right side of plate is connected, and the permanent magnet synchronous motor is arranged between two transverse slats, and the third magnetic-friction disk is solid
It is connected in the middle and lower part of the riser left side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910117902.6A CN109808790A (en) | 2019-02-15 | 2019-02-15 | A kind of Novel power system driving legged type robot for electricity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910117902.6A CN109808790A (en) | 2019-02-15 | 2019-02-15 | A kind of Novel power system driving legged type robot for electricity |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109808790A true CN109808790A (en) | 2019-05-28 |
Family
ID=66606702
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910117902.6A Pending CN109808790A (en) | 2019-02-15 | 2019-02-15 | A kind of Novel power system driving legged type robot for electricity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109808790A (en) |
Citations (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0050944A2 (en) * | 1980-10-29 | 1982-05-05 | Automotive Products Public Limited Company | Control means for rotary power transmission |
| JPS57114034A (en) * | 1980-12-30 | 1982-07-15 | Shinko Electric Co Ltd | Speed change magnetic clutch device |
| GB9616431D0 (en) * | 1995-08-05 | 1996-09-25 | Iveco Magirus | Fire fighting robot |
| JPH10324177A (en) * | 1997-05-22 | 1998-12-08 | Nissan Motor Co Ltd | Starting device for hybrid system vehicle |
| US20030045389A1 (en) * | 2001-08-31 | 2003-03-06 | Honda Giken Kogyo Kabushiki Kaisha | Power transmission apparatus for a hybrid vehicle and a method for controlling the apparatus |
| US20060097683A1 (en) * | 2004-11-11 | 2006-05-11 | Yuji Hosoda | Mobile robot |
| CN102290770A (en) * | 2011-04-25 | 2011-12-21 | 四川电力科学研究院 | Split-phase electrified deicing device |
| DE102011010088A1 (en) * | 2011-02-01 | 2012-08-02 | Audi Ag | Planetary gear arrangement for internal combustion engine of motor car, has movable coupling element placed between pulley and planetary gear, where pulley is coupled with sun wheel or ring gear in respective coupling state |
| CN202985576U (en) * | 2012-11-13 | 2013-06-12 | 陈文� | Drive joint of robot second arm |
| WO2013177783A1 (en) * | 2012-05-31 | 2013-12-05 | Robert Bosch Gmbh | Two-speed transmission and electric vehicle |
| CN103640639A (en) * | 2013-11-20 | 2014-03-19 | 浙江大学宁波理工学院 | Under-actuated walking robot |
| WO2014087999A1 (en) * | 2012-12-04 | 2014-06-12 | 公立大学法人大阪市立大学 | Mobile robot |
| CN204184487U (en) * | 2014-06-26 | 2015-03-04 | 北京林业大学 | A kind of novel wheel-leg combined type mobile robot traveling gear |
| DE102013110316A1 (en) * | 2013-09-19 | 2015-03-19 | Claas Tractor Sas | PTO transmission for an agricultural machine |
| CN104440912A (en) * | 2014-12-15 | 2015-03-25 | 兰州理工大学 | Mechanism for mechanical steering control of steering gear |
| CN105202131A (en) * | 2015-08-20 | 2015-12-30 | 安徽江淮汽车股份有限公司 | Automobile generator transmission and control method thereof |
| US20160052382A1 (en) * | 2014-08-20 | 2016-02-25 | GM Global Technology Operations LLC | Powertrain with transmission-based motor/generator for engine starting and regenerative braking modes |
| CN105643618A (en) * | 2016-03-29 | 2016-06-08 | 北京九星智元科技有限公司 | Robot trolley driving device and method |
| KR101724489B1 (en) * | 2015-12-01 | 2017-04-18 | 현대자동차 주식회사 | Power transmission apparatus for vehicle |
| JP2017087302A (en) * | 2015-11-02 | 2017-05-25 | セイコーエプソン株式会社 | Control device, robot and robot system |
| US20170204941A1 (en) * | 2016-01-15 | 2017-07-20 | Industrial Technology Research Institute | Two-speed transmission having two clutches |
| CN106976081A (en) * | 2016-01-18 | 2017-07-25 | 广明光电股份有限公司 | Method for releasing brake by mechanical arm |
| CN107175657A (en) * | 2017-05-11 | 2017-09-19 | 东北大学 | A kind of permanent magnetism variation rigidity drive module for flexible robot |
| CN206780439U (en) * | 2017-05-11 | 2017-12-22 | 华志微创医疗科技（北京）有限公司 | A kind of mechanical arm that clutch is used for joint locking |
| CN107623407A (en) * | 2017-09-11 | 2018-01-23 | 中国矿业大学 | A kind of the high reliability transmission system and sensorless strategy method of magneto driving |
| CN109099121A (en) * | 2018-09-18 | 2018-12-28 | 赵山山 | A kind of electromagnetic driven electrodeless planetary gear continuous change system automatically |
| WO2019136356A1 (en) * | 2018-01-08 | 2019-07-11 | Petoi, Llc | Legged robots and methods for controlling legged robots |
| CN209441471U (en) * | 2019-02-15 | 2019-09-27 | 东北大学秦皇岛分校 | A kind of Novel power system driving legged type robot for electricity |
| CN114538334A (en) * | 2022-03-31 | 2022-05-27 | 徐州徐工特种工程机械有限公司 | Power control system of single-motor electric balancing weight forklift |
-
2019
- 2019-02-15 CN CN201910117902.6A patent/CN109808790A/en active Pending
Patent Citations (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0050944A2 (en) * | 1980-10-29 | 1982-05-05 | Automotive Products Public Limited Company | Control means for rotary power transmission |
| JPS57114034A (en) * | 1980-12-30 | 1982-07-15 | Shinko Electric Co Ltd | Speed change magnetic clutch device |
| GB9616431D0 (en) * | 1995-08-05 | 1996-09-25 | Iveco Magirus | Fire fighting robot |
| JPH10324177A (en) * | 1997-05-22 | 1998-12-08 | Nissan Motor Co Ltd | Starting device for hybrid system vehicle |
| US20030045389A1 (en) * | 2001-08-31 | 2003-03-06 | Honda Giken Kogyo Kabushiki Kaisha | Power transmission apparatus for a hybrid vehicle and a method for controlling the apparatus |
| US20060097683A1 (en) * | 2004-11-11 | 2006-05-11 | Yuji Hosoda | Mobile robot |
| DE102011010088A1 (en) * | 2011-02-01 | 2012-08-02 | Audi Ag | Planetary gear arrangement for internal combustion engine of motor car, has movable coupling element placed between pulley and planetary gear, where pulley is coupled with sun wheel or ring gear in respective coupling state |
| CN102290770A (en) * | 2011-04-25 | 2011-12-21 | 四川电力科学研究院 | Split-phase electrified deicing device |
| CN104364109A (en) * | 2012-05-31 | 2015-02-18 | 罗伯特·博世有限公司 | Two-speed transmission and electric vehicle |
| WO2013177783A1 (en) * | 2012-05-31 | 2013-12-05 | Robert Bosch Gmbh | Two-speed transmission and electric vehicle |
| CN202985576U (en) * | 2012-11-13 | 2013-06-12 | 陈文� | Drive joint of robot second arm |
| WO2014087999A1 (en) * | 2012-12-04 | 2014-06-12 | 公立大学法人大阪市立大学 | Mobile robot |
| DE102013110316A1 (en) * | 2013-09-19 | 2015-03-19 | Claas Tractor Sas | PTO transmission for an agricultural machine |
| CN103640639A (en) * | 2013-11-20 | 2014-03-19 | 浙江大学宁波理工学院 | Under-actuated walking robot |
| CN204184487U (en) * | 2014-06-26 | 2015-03-04 | 北京林业大学 | A kind of novel wheel-leg combined type mobile robot traveling gear |
| US20160052382A1 (en) * | 2014-08-20 | 2016-02-25 | GM Global Technology Operations LLC | Powertrain with transmission-based motor/generator for engine starting and regenerative braking modes |
| CN104440912A (en) * | 2014-12-15 | 2015-03-25 | 兰州理工大学 | Mechanism for mechanical steering control of steering gear |
| CN105202131A (en) * | 2015-08-20 | 2015-12-30 | 安徽江淮汽车股份有限公司 | Automobile generator transmission and control method thereof |
| JP2017087302A (en) * | 2015-11-02 | 2017-05-25 | セイコーエプソン株式会社 | Control device, robot and robot system |
| KR101724489B1 (en) * | 2015-12-01 | 2017-04-18 | 현대자동차 주식회사 | Power transmission apparatus for vehicle |
| US20170204941A1 (en) * | 2016-01-15 | 2017-07-20 | Industrial Technology Research Institute | Two-speed transmission having two clutches |
| CN106976081A (en) * | 2016-01-18 | 2017-07-25 | 广明光电股份有限公司 | Method for releasing brake by mechanical arm |
| CN105643618A (en) * | 2016-03-29 | 2016-06-08 | 北京九星智元科技有限公司 | Robot trolley driving device and method |
| CN107175657A (en) * | 2017-05-11 | 2017-09-19 | 东北大学 | A kind of permanent magnetism variation rigidity drive module for flexible robot |
| CN206780439U (en) * | 2017-05-11 | 2017-12-22 | 华志微创医疗科技（北京）有限公司 | A kind of mechanical arm that clutch is used for joint locking |
| CN107623407A (en) * | 2017-09-11 | 2018-01-23 | 中国矿业大学 | A kind of the high reliability transmission system and sensorless strategy method of magneto driving |
| WO2019136356A1 (en) * | 2018-01-08 | 2019-07-11 | Petoi, Llc | Legged robots and methods for controlling legged robots |
| CN109099121A (en) * | 2018-09-18 | 2018-12-28 | 赵山山 | A kind of electromagnetic driven electrodeless planetary gear continuous change system automatically |
| CN209441471U (en) * | 2019-02-15 | 2019-09-27 | 东北大学秦皇岛分校 | A kind of Novel power system driving legged type robot for electricity |
| CN114538334A (en) * | 2022-03-31 | 2022-05-27 | 徐州徐工特种工程机械有限公司 | Power control system of single-motor electric balancing weight forklift |
Non-Patent Citations (7)
| Title |
|---|
| HONGBING LI: "A cable-pulley transmission mechanism for surgical robot with backdrivable capability", ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, vol. 49 * |
| 仝如琳: "一种轮腿式复合机器人", 北京信息科技大学学报(自然科学版), vol. 33, no. 04 * |
| 冯仪;黄树槐;李军超;熊晓红;: "永磁交流同步电机驱动的电动螺旋压力机研究", 锻压技术, no. 06 * |
| 刘赵龙;焦志伟;张莉彦;杨卫民;: "电磁力致动软体机器人气囊结构力学特性的研究", 制造业自动化, no. 11 * |
| 朱健林: "悬挂行走式高压线除冰越障机器人的设计", 机电产品开发与创新, vol. 24, no. 06 * |
| 杜天宇;: "基于"三自由度关节型机械手"对回转关节的研究与设计", 科技资讯, no. 33 * |
| 王贵明;王金懿;: "兼有电动、发电回馈和电磁制动功能的电动汽车轮毂式电机", 上海汽车, no. 04 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8278771B2 (en) | Kinetic energy collection device | |
| CN111852770A (en) | Blade speed-limiting protection braking device for wind power generation | |
| CN209441471U (en) | A kind of Novel power system driving legged type robot for electricity | |
| CN208100398U (en) | A kind of ball shape robot structure | |
| CN109808790A (en) | A kind of Novel power system driving legged type robot for electricity | |
| CN205921503U (en) | Energy collecting device and seismic surveillance system, wearable system of passive intelligence | |
| CN204332751U (en) | A kind of contactor mechanical interlock | |
| CN208546355U (en) | A kind of fan blade with retractable structure | |
| CN216765186U (en) | Directional multistage weft searching device for tatting | |
| CN201578861U (en) | Front steering structure of remote control toy car | |
| CN203722403U (en) | Crane buffering and decelerating brake motor | |
| CN202399935U (en) | Electric automobile driven by using inner rotor permanent magnetic hub motor | |
| CN103423112B (en) | Hydrostatic pressure rotating disk is brought back to life charging energy saving device | |
| CN102937151A (en) | Stepless speed controlling method and stepless speed controller | |
| CN112018946A (en) | Flywheel energy storage device with zero standby power consumption | |
| CN207896798U (en) | A kind of servo motor structure for wind electricity change paddle | |
| CN202280348U (en) | Intelligent door window control device | |
| CN201777757U (en) | Brushless DC driving device for elevator | |
| CN104578979A (en) | Permanent magnetic force transmission device for wind driven generator | |
| CN203323331U (en) | Control device for fresh air door of automobile air conditioner | |
| CN104061669A (en) | Vertical air conditioner | |
| CN204006560U (en) | Floor air conditioner | |
| CN104859622A (en) | Electric brake and hydraulic brake coordination control system of electromobile | |
| CN214258314U (en) | Anti-locking electric rotary disc | |
| CN203307749U (en) | Efficient, safe and low-noise wing gate device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |