CN114789761A - 一种电驱动关节及三自由度仿生机器人关节集成模组 - Google Patents
一种电驱动关节及三自由度仿生机器人关节集成模组 Download PDFInfo
- Publication number
- CN114789761A CN114789761A CN202210506006.0A CN202210506006A CN114789761A CN 114789761 A CN114789761 A CN 114789761A CN 202210506006 A CN202210506006 A CN 202210506006A CN 114789761 A CN114789761 A CN 114789761A
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- Prior art keywords
- motor
- joint
- assembly
- speed reducer
- unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
- H02K3/28—Layout of windings or of connections between windings
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K9/00—Arrangements for cooling or ventilating
- H02K9/02—Arrangements for cooling or ventilating by ambient air flowing through the machine
- H02K9/04—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium
- H02K9/06—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium with fans or impellers driven by the machine shaft
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K9/00—Arrangements for cooling or ventilating
- H02K9/22—Arrangements for cooling or ventilating by solid heat conducting material embedded in, or arranged in contact with, the stator or rotor, e.g. heat bridges
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN202210506006.0A CN114789761B (zh) | 2022-05-10 | 2022-05-10 | 一种电驱动关节及三自由度仿生机器人关节集成模组 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CN202210506006.0A CN114789761B (zh) | 2022-05-10 | 2022-05-10 | 一种电驱动关节及三自由度仿生机器人关节集成模组 |
Publications (2)
Publication Number | Publication Date |
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CN114789761A true CN114789761A (zh) | 2022-07-26 |
CN114789761B CN114789761B (zh) | 2023-03-03 |
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CN202210506006.0A Active CN114789761B (zh) | 2022-05-10 | 2022-05-10 | 一种电驱动关节及三自由度仿生机器人关节集成模组 |
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CN (1) | CN114789761B (zh) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN116117857A (zh) * | 2022-09-30 | 2023-05-16 | 广东天太机器人有限公司 | 机器人关节模组 |
CN116767381A (zh) * | 2023-08-15 | 2023-09-19 | 深圳逐际动力科技有限公司 | 双足机器人、人形机器人及其运动控制方法、系统、介质 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101741153A (zh) * | 2008-11-10 | 2010-06-16 | 株式会社日立产机系统 | 电枢铁心、使用了该电枢铁心的电动机、轴向间隙型旋转电动机、及其制造方法 |
CN102624108A (zh) * | 2012-03-14 | 2012-08-01 | 上海海马汽车研发有限公司 | 轴向间隙型电动机的定子及轴向间隙型电动机 |
US20160347387A1 (en) * | 2015-05-29 | 2016-12-01 | Oregon State University | Leg configuration for spring-mass legged locomotion |
US20180172121A1 (en) * | 2016-12-15 | 2018-06-21 | Google Inc. | Screw Actuator for a Legged Robot |
CN110861120A (zh) * | 2019-12-24 | 2020-03-06 | 中国科学院宁波材料技术与工程研究所 | 基于双定子无框力矩电机的驱动关节及其应用 |
CN113001533A (zh) * | 2021-03-15 | 2021-06-22 | 哈尔滨工业大学 | 一种四足机器人关节动力单元 |
WO2022001296A1 (zh) * | 2020-06-28 | 2022-01-06 | 中国科学院宁波材料技术与工程研究所 | 一种驱动关节及机器人 |
-
2022
- 2022-05-10 CN CN202210506006.0A patent/CN114789761B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101741153A (zh) * | 2008-11-10 | 2010-06-16 | 株式会社日立产机系统 | 电枢铁心、使用了该电枢铁心的电动机、轴向间隙型旋转电动机、及其制造方法 |
CN102624108A (zh) * | 2012-03-14 | 2012-08-01 | 上海海马汽车研发有限公司 | 轴向间隙型电动机的定子及轴向间隙型电动机 |
US20160347387A1 (en) * | 2015-05-29 | 2016-12-01 | Oregon State University | Leg configuration for spring-mass legged locomotion |
US20180172121A1 (en) * | 2016-12-15 | 2018-06-21 | Google Inc. | Screw Actuator for a Legged Robot |
CN110861120A (zh) * | 2019-12-24 | 2020-03-06 | 中国科学院宁波材料技术与工程研究所 | 基于双定子无框力矩电机的驱动关节及其应用 |
WO2022001296A1 (zh) * | 2020-06-28 | 2022-01-06 | 中国科学院宁波材料技术与工程研究所 | 一种驱动关节及机器人 |
CN113001533A (zh) * | 2021-03-15 | 2021-06-22 | 哈尔滨工业大学 | 一种四足机器人关节动力单元 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN116117857A (zh) * | 2022-09-30 | 2023-05-16 | 广东天太机器人有限公司 | 机器人关节模组 |
CN116117857B (zh) * | 2022-09-30 | 2023-08-15 | 广东天太机器人有限公司 | 机器人关节模组 |
CN116767381A (zh) * | 2023-08-15 | 2023-09-19 | 深圳逐际动力科技有限公司 | 双足机器人、人形机器人及其运动控制方法、系统、介质 |
CN116767381B (zh) * | 2023-08-15 | 2023-10-27 | 深圳逐际动力科技有限公司 | 双足机器人、人形机器人及其运动控制方法、系统、介质 |
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CN114789761B (zh) | 2023-03-03 |
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Inventor after: Liang Zhenjie Inventor after: Qiu Tianqi Inventor after: Su Bo Inventor after: Lei Yongshun Inventor after: Jiang Lei Inventor after: Liu Yufei Inventor after: Wang Zhirui Inventor after: Xing Boyang Inventor after: Dang Ruina Inventor after: Xu Wei Inventor after: Zhao Jianxin Inventor after: Yan Tong Inventor before: Liang Zhenjie Inventor before: Qiu Tianqi Inventor before: Su Bo Inventor before: Lei Yongshun Inventor before: Jiang Lei Inventor before: Liu Yufei Inventor before: Wang Zhirui Inventor before: Xing Boyang Inventor before: Dang Ruina Inventor before: Xu Wei Inventor before: Zhao Jianxin Inventor before: Yan Tong |
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