CN206313598U - A kind of linear drive apparatus of the high power mass density for simplifying structure - Google Patents
A kind of linear drive apparatus of the high power mass density for simplifying structure Download PDFInfo
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- CN206313598U CN206313598U CN201720038604.4U CN201720038604U CN206313598U CN 206313598 U CN206313598 U CN 206313598U CN 201720038604 U CN201720038604 U CN 201720038604U CN 206313598 U CN206313598 U CN 206313598U
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Classifications
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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
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
-
- 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
- H02K7/106—Structural association with clutches, brakes, gears, pulleys or mechanical starters with dynamo-electric brakes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/2015—Means specially adapted for stopping actuators in the end position; Position sensing means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
- F16H25/2204—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2205/00—Specific aspects not provided for in the other groups of this subclass relating to casings, enclosures, supports
- H02K2205/03—Machines characterised by thrust bearings
Abstract
The utility model discloses a kind of linear drive apparatus of the high power mass density for simplifying structure, belong to joint of robot linear drives equipment technical field.The feed screw nut structure of driving unit of prior art is more complicated, and number of parts is more, and high cost, power mass density is low, and response speed is slow, it is impossible to be applied on the robot product of high movement property energy.The utility model includes the power modular converter of driving source and the driving source connection for providing power, the driving source is external rotor electric machine, and the power modular converter includes the ball-screw of the ball-screw nut and ball-screw nut threaded engagement being fixedly connected with driving source runner assembly.The driving source that the utility model is used is external rotor electric machine, and compared to inner rotor motor, mechanical structure and wire winding are simple, and output torque mass density is big.The hollow shaft inner space of the utility model driving source runner assembly is a part for ball-screw space, so as to substantially reduce the axial dimension of whole drive device, improves the integrated level of device.
Description
Technical field
The utility model is related to a kind of linear drive apparatus of the high power mass density for simplifying structure, belongs to robot pass
Section linear drives equipment technical field.
Background technology
In current robot field, various drive devices are widely used, with robot increasingly
Need to realize man-machine interaction and high movement property energy more, and more requirements are proposed to joint performs device, including：1）Ring
Answer speed fast, power mass density is high, lightweight, it is possible to achieve the side-jet control of joint of robot；2）Simple structure cost
It is low, convenient processing and manufacturing；3）Joint drive unit dimensional structure is compact, the space availability ratio of hoisting machine people；4）It is reliable and stable.
Typical ball-screw nut structure of driving unit is more complicated at present, and number of parts is more, high cost, power matter
Metric density is low, and response speed is slow, and dimensional structure is not compact enough.Though existing have partial monopoly（Such as CN201410135715）Using sky
Heart axle inner rotor motor, motor-hollow axle is passed through by ball-screw, improves integrated level, but be limited to inner rotor motor coiling work
The problems such as skill is complicated, integral mechanical structure is complicated heavy, the robot that this kind of structure is not particularly suited for high power mass density is closed
Section driver element, and can be only applied on conventional industrial automation equipment.Due to typical ball feed screw nut driver element
Disadvantages mentioned above, current robot product seldom uses ball-screw nut drive system.
Utility model content
For the defect of prior art, the purpose of this utility model is to provide a kind of with the Gao Gong for simplifying mechanical structure
The reliability of the use motor direct-drive ball-screw nut of rate mass density is high, easy to maintain, can be used for robot product
Linear drive apparatus.
To achieve the above object, the technical solution of the utility model is：
A kind of linear drive apparatus of the high power mass density for simplifying structure, including for provide power driving source,
The power modular converter being fixedly connected with driving source runner assembly, the driving source is external rotor electric machine, and it is included with cored
And winding stator module, be arranged the runner assembly of stator module, the power modular converter includes and driving source runner assembly
The ball-screw nut and the ball-screw of ball-screw nut threaded engagement being fixedly connected, the runner assembly of the driving source
For hollow shaft structure and it is arranged ball-screw.The driving source that the utility model is used is external rotor electric machine, compared to internal rotor electricity
Machine, mechanical structure and wire winding are simple, and output torque mass density is big, and the runner assembly hollow shaft inside of the driving source is empty
Between turn into ball-screw space, substantially reduce the axial dimension of whole drive device, improve the integrated level of device.
Further, the stator module of the driving source include stator core and winding, through fixed stator iron core and around
The stator base of group.
Further, the runner assembly rotor steel ring of permanent magnet group is distributed with including inwall, for same ball-screw
The rotor pedestal that nut is fixedly connected, the rotor steel ring is fixedly connected with rotor pedestal coaxial line, and the rotor pedestal has
Rotating shaft, the rotating shaft is hollow shaft structure.The rotor pedestal is installed with bearing three by bearing one with stator base coaxial line
Revolute is constituted together so that runner assembly being capable of accurate fit with stator module；On the other hand the rotor pedestal rotating shaft
Hollow shaft structure for ball-screw provide axial movement space.The utility model is operationally primarily subjected to axial force.In axle
It is not king-sized application scenario to power, its middle (center) bearing one, bearing three can directly bear axial force.And in axial force than larger
Occasion, mainly undertake axial force of the present utility model using additional thrust bearing one, thrust bearing two.Wherein thrust force method
Orchid is fixedly and coaxially connected with rotor pedestal, and the coaxial line of thrust bearing one is placed between stator base and thrust flange；Wherein push away
Power end cap is fixedly connected with stator base coaxial line, and the coaxial line of thrust bearing two is placed between thrust flange and thrust end cap.
Thus, when the rotation pair of external rotor electric machine of the present utility model bears axial tensile force, mainly undertaken by thrust bearing one, and
When axial compressive force is born, undertaken by thrust bearing two.Simple and practical, scheme is practical, can be applied to various
Complex environment.
Further, the stator base wears a support plate, and the support plate is fixedly mounted with rotor steel ring coaxial line；
The support plate constitutes revolute by bearing two with stator base.
Further, ball-screw nut is directly fixedly connected with rotor pedestal or is fixedly connected by increasing journey set；Institute
State the hollow shaft space of runner assembly and increase journey set inner space and constitute the part that ball-screw moves working space；Make
The impulse stroke space of ball-screw can be increased with the increasing journey set, be adapted to the occasion of the big stroke applications of needs.
Further, the runner assembly hollow shaft wears thrust bearing one, thrust bearing two.
Further, the shaft end card of rotor pedestal sets the shaft end for preventing rotor pedestal and the axial float of stator base
Jump ring, is fixed with the electromagnetic brake for braking support plate on stator base end cap flange.The driving source passes through electromagnetic brake
The skidding to driving source runner assembly is realized, simple and practical, technical scheme is practical.
Further, ball-screw end is provided with and installs the headstock being connected, ball wire with external equipment for ball-screw
One end of the adjacent headstock of thick stick is provided with limited block one, and the ball-screw other end is provided with limited block two.The limited block one and limited block
Two are made up of elastomeric material, the effective working space for limiting ball-screw, and are used to absorb ball-screw and move to simultaneously
Impact energy when spacing, reduces ball-screw motion noise and extends the use longevity of the parts of ball-screw and cooperation
Life.Tailstock is fixed with the stator base, is connected for being installed with external equipment.
Further, the driving source connection one is used for the drive control module for controlling driving source to rotate, the driving control
Molding block is included for gathering the encoder magnet and corresponding magnetic coder of runner assembly information and for controlling runner assembly
The motor driving plate of rotation.The magnetic coder matched with the encoder magnet is fixedly mounted on the end cap flange of stator base
On, realize the collection to external rotor electric machine runner assembly corner.The motor driving plate is fixed on the end cap flange of stator base
On, the motor driving plate can also not be resided on the end cap flange of stator base, and only passes through wire and the outer rotor
Motor is connected, can be according to specific situation selection technique scheme.
Compared with prior art, the utility model has the advantages that：
The driving source that the utility model is used is external rotor electric machine, compared to inner rotor motor, mechanical structure and coiling work
Skill is simple, and output torque mass density is big, and hollow shaft inner space turns into a part for the space of ball-screw, contracts significantly
The short axial dimension of whole drive device, improves the integrated level of device, and power mass density is high.
The utility model simple structure, technical scheme is practical, reliable using ball-screw nut straight spur unit
Property high, low cost, easy to maintain, be very suitable for the cooperation robot or the bionical mobile machine of sufficient formula for having abundant man-machine interaction
People.
Brief description of the drawings
Fig. 1 is the utility model overall schematic；
Fig. 2 is the utility model sectional view；
Fig. 3 is the utility model explosive view；
Fig. 4 is the utility model runner assembly explosive view；
Fig. 5 is the utility model stator module explosive view；
Fig. 6 is the utility model containing the sectional view for increasing journey set embodiment；
Fig. 7 is sectional view of the utility model containing thrust bearing embodiment；
Fig. 8 is explosive view of the utility model containing thrust bearing embodiment；
Fig. 9 is that the utility model covers the sectional view containing thrust bearing embodiment containing journey is increased；
Figure 10 is a kind of Application Example of the utility model.
Description of reference numerals：
1- linear drive apparatus, 2- limited blocks one, 3- ball-screws, 4- ball-screw nuts, 5- limited blocks two, 6- power
Modular converter, 7- external rotor electric machines, 8- shaft ends jump ring, 9- tailstocks, 10- motor driving plates, 11- rotor pedestals, 12- encoder magnetic
Iron, 13- rotor steel rings, 14- permanent magnet groups, 15- bearings one, 16- stator cores and winding, 17- bearings two, 18- support plates,
19- electromagnetic brakes, 20- stator bases, 21- bearings three, 22- increases journey set, and 23- upper connecting rods, 24- lower links, 31- headstocks, 32- is pushed away
Force method is blue, 33- thrust bearings one, 34- thrust bearings two, 35- thrust end caps.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and implementation
Example, is further elaborated to the utility model.It should be appreciated that specific embodiment described herein is only used to explain
The utility model, is not used to limit the utility model.
Conversely, the utility model cover it is any be defined by the claims do in spirit and scope of the present utility model
Replacement, modification, equivalent method and scheme.Further, it is right below in order that the public has a better understanding to the utility model
It is detailed to describe some specific detail sections in detailed description of the present utility model.Do not have for a person skilled in the art
The description of these detail sections can also completely understand the utility model.
The specific embodiment as shown in Fig. 1 ~ 5, a kind of linear drive apparatus of the high power mass density for simplifying structure, including
The power modular converter 6 that is fixedly connected with driving source rotor pedestal 11 for the driving source for providing power and for driving and control
The drive control module of motor processed.
The driving source is external rotor electric machine, and it includes stator module and runner assembly.The runner assembly includes：Rotor
Pedestal 11, rotor steel ring 13, permanent magnet group 14.The rotor pedestal 11 is by bearing 1 and bearing 3 21 and stator base 20
Coaxial line is installed together composition revolute.The rotor pedestal 11 is fixedly connected with ball-screw nut 4.The rotor steel ring
13 are fixedly connected with the coaxial line of rotor pedestal 11, and permanent magnet group 14 is distributed with the inwall of rotor steel ring 13.The rotor pedestal
11 shaft end card sets the shaft end jump ring 8 for preventing rotor pedestal 11 and the axial float of stator base 20.
The stator module includes bearing one 15, stator core and winding 16, bearing 2 17, support plate 18, electromagnetic brake
19th, stator base 20, bearing 3 21, tailstock 9.The stator base 20 wears a support plate 18, the support plate 18 and rotor
The coaxial line of steel ring 13 is fixedly mounted.The support plate 18 constitutes revolute by bearing 2 17 with stator base 20.Stator base
The electromagnetic brake 19 for braking support plate 18 is fixed with 20 end cap flange.The electromagnetic brake 19 is by braking support plate
18 realize the skidding to whole external rotor electric machine.The tailstock 9 is fixedly connected with stator base 20, for being set with outside
Standby installation connects.
The driving source that the utility model is used is external rotor electric machine, compared to inner rotor motor, mechanical structure and coiling work
Skill is simple, and output torque mass density is big.
The power modular converter 6 includes the ball-screw nut 4 and ball-screw nut that are fixedly connected with runner assembly
The ball-screw 3 of 4 threaded engagements, the ball-screw 3 and ball-screw nut 4 constitute screw pair.The power modular converter 6
The rotary motion of motor is converted to the linear motion of ball-screw.The runner assembly is hollow shaft structure and is arranged ball wire
Thick stick 3, the runner assembly hollow shaft inner space turns into the space of ball-screw 3, substantially reduces whole drive device
Axial dimension, improve the integrated level of device.The end of ball-screw 3 is fixed with for installing the headstock being connected with external device (ED)
31, one end of the adjacent headstock 31 of ball-screw 3 is provided with limited block 1, and the other end of ball-screw 3 is provided with limited block 25.The limit
Position block 1 is made up with limited block 25 of elastomeric material, the effective working space for limiting leading screw, and is used to absorb silk simultaneously
Impact energy when thick stick moves to spacing.
The drive control module include for gather runner assembly information encoder magnet 12 and with encoder magnet
12 corresponding magnetic coders and the motor driving plate 10 for controlling external rotor electric machine 7.With the encoder magnet 12 pairing
Magnetic coder is fixedly mounted on the end cap flange of stator base 20, realizes the collection to external rotor electric machine runner assembly corner.Institute
State motor driving plate 10 to be fixed on the end cap flange of stator base 20, the motor driving plate 10 can also not reside at stator
On the end cap flange of pedestal 20, and only it is connected with the external rotor electric machine by wire.The drive control module is according to electricity
Magnetic coder on machine realizes the closed-loop control to motor, and realizes real-time response according to external control order controlled motor.Institute
State drive control module receive external control signal, realize to motor position, speed, output torque control.
As shown in fig. 6, the utility model is approximately equal to motor containing journey set embodiment, the effective travel of the ball-screw 3 is increased
The length of runner assembly axis, the stroke of ball-screw 3 is increased in some particular applications if desired, can be in ball wire
Increase journey set 22 between thick stick nut and rotor pedestal 11 to increase stroke, 22 are covered by the increasing journey for being adapted to different length, realize
Regulation to drive device stroke.
As shown in fig. 7, the utility model contains thrust bearing embodiment, the utility model is operationally primarily subjected to axial direction
Power.It is not king-sized application scenario in axial force, using in the above-mentioned scheme such as Fig. 2, bearing therein 1, bearing 3 21
Axial force can directly be born.And in axial force than larger occasion, as shown in Figure 8,9, using additional thrust bearing 1,
Thrust bearing 2 34 mainly undertakes axial force of the present utility model.The wherein fixation coaxial with rotor pedestal 11 of thrust flange 32 connects
Connect, thrust bearing 1 is coaxially disposed between stator base 20 and thrust flange 32.Wherein thrust end cap 35 and stator base
20 are fixedly and coaxially connected, and thrust bearing 2 34 is coaxially disposed between thrust flange 32 and thrust end cap 35.Thus, when this practicality
When the rotation pair of new external rotor electric machine 7 bears axial tensile force, mainly undertaken by thrust bearing 1, and work as and bear axial direction
During compression stress, undertaken by thrust bearing 2 34.As needed can also be simultaneously as shown in Figure 9 with thrust bearing using journey set is increased.
As shown in Figure 10, a kind of Application Example of the utility model：The utility model combines actual robot body
Connecting rod constitutes a complete joint of robot driver element with joint.The headstock 31 of wherein linear drive apparatus 1 is hinged on
On connecting rod 23, tailstock 9 is hinged on lower link 24.Rotation between upper connecting rod 23, lower link 24, upper connecting rod 23 and lower link 24
Joint and the utility model collectively form a complete joint of robot.By the rotation for controlling the utility model runner assembly
To drive the stretching motion of ball-screw 3, so as to realize the control to whole joint of robot rotary motion.
Preferred embodiment of the present utility model is the foregoing is only, is not used to limit the utility model, it is all at this
Any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (10)
1. a kind of linear drive apparatus of the high power mass density for simplifying structure, including for provide power driving source and
The power modular converter that driving source is rotatably connected（6）, it is characterised in that the driving source is external rotor electric machine, and it includes band
Cored and winding stator module, the runner assembly for being arranged stator module, the power modular converter（6）Including with rotating group
The ball-screw nut that part is fixedly connected（4）With ball-screw nut（4）The ball-screw of threaded engagement（3）, the rotating group
Part is hollow shaft structure and is arranged ball-screw（3）.
2. a kind of linear drive apparatus of the high power mass density for simplifying structure as claimed in claim 1, it is characterised in that
The stator module includes stator core and winding（16）And through stator core and winding（16）Stator base（20）.
3. a kind of linear drive apparatus of the high power mass density for simplifying structure as claimed in claim 2, it is characterised in that
The rotor steel ring of permanent magnet group is distributed with including inwall for the runner assembly（13）, for same ball-screw nut（4）It is fixed to connect
The rotor pedestal for connecing（11）, the rotor steel ring（13）With rotor pedestal（11）Coaxial line is fixedly connected.
4. a kind of linear drive apparatus of the high power mass density for simplifying structure as claimed in claim 3, it is characterised in that
The rotor pedestal（11）By bearing one（15）With bearing three（21）With stator base（20）Coaxial line is installed together composition
Revolute.
5. a kind of linear drive apparatus of the high power mass density for simplifying structure as claimed in claim 4, it is characterised in that
The stator base（20）Wear a support plate（18）, the support plate（18）With rotor steel ring（13）Coaxial line is fixedly mounted；
The support plate（18）By bearing two（17）With stator base（20）Constitute revolute.
6. a kind of linear drive apparatus of the high power mass density for simplifying structure as claimed in claim 5, it is characterised in that
Ball-screw nut（4）With rotor pedestal（11）Directly it is fixedly connected or by increasing journey set（22）It is fixedly connected；The rotation
The hollow shaft space and increasing journey set of component（22）Inner space constitutes ball-screw（3）Move a part for working space.
7. a kind of linear drive apparatus of the high power mass density for simplifying structure as claimed in claim 6, it is characterised in that
The runner assembly hollow shaft wears thrust bearing one（33）, thrust bearing two（34）, the thrust bearing one（33）Coaxially put
Put in stator base（20）With thrust flange（32）Between；The thrust bearing two（34）It is coaxially disposed within thrust flange（32）With
Thrust end cap（35）Between.
8. linear drive apparatus of a kind of high power mass density for simplifying structure as described in claim 1-7 is any, it is special
Levy and be, stator base（20）It is fixed with for braking support plate on end cap flange（18）Electromagnetic brake（19）.
9. linear drive apparatus of a kind of high power mass density for simplifying structure as described in claim 1-7 is any, it is special
Levy and be, ball-screw（3）End is fixed with the headstock installed with external equipment and be connected（31）, ball-screw（3）Adjacent headstock
（31）One end be provided with limited block one（2）, ball-screw（3）The other end is provided with limited block two（5）；The stator base（20）On
It is fixed with for installing the tailstock being connected with external equipment（9）.
10. a kind of linear drive apparatus of the high power mass density for simplifying structure as claimed in claim 9, its feature exists
In the driving source connection one is used for the drive control module for controlling driving source to rotate, and the drive control module includes being used for
Gather the encoder magnet of runner assembly information（12）And corresponding magnetic coder and the motor for controlling runner assembly to rotate
Driving plate（10）.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720038604.4U CN206313598U (en) | 2017-01-12 | 2017-01-12 | A kind of linear drive apparatus of the high power mass density for simplifying structure |
| DE212018000124.3U DE212018000124U1 (en) | 2017-01-12 | 2018-01-10 | Linear power device of high power and mass density with simplified structure |
| PCT/CN2018/072085 WO2018130154A1 (en) | 2017-01-12 | 2018-01-10 | High power mass density linear driving device of simplified structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720038604.4U CN206313598U (en) | 2017-01-12 | 2017-01-12 | A kind of linear drive apparatus of the high power mass density for simplifying structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206313598U true CN206313598U (en) | 2017-07-07 |
Family
ID=59248868
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720038604.4U Active CN206313598U (en) | 2017-01-12 | 2017-01-12 | A kind of linear drive apparatus of the high power mass density for simplifying structure |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN206313598U (en) |
| DE (1) | DE212018000124U1 (en) |
| WO (1) | WO2018130154A1 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107492963A (en) * | 2017-09-12 | 2017-12-19 | 慧灵科技（深圳）有限公司 | A kind of external rotor electric machine and mechanical arm that four shaft mechanical arms are put down applied to straight expelling water |
| CN108063519A (en) * | 2017-12-28 | 2018-05-22 | 广东东辉恒力电机有限公司 | Slotless electric machines and driving device |
| WO2018130154A1 (en) * | 2017-01-12 | 2018-07-19 | 杭州宇树科技有限公司 | High power mass density linear driving device of simplified structure |
| CN109623805A (en) * | 2018-12-29 | 2019-04-16 | 上海理工大学 | A kind of flexible linear driving device |
| CN112296989A (en) * | 2020-10-23 | 2021-02-02 | 青岛罗博飞海洋技术有限公司 | Underwater five-degree-of-freedom rotary manipulator |
| CN112421918A (en) * | 2019-08-22 | 2021-02-26 | 沈阳艾克申机器人技术开发有限责任公司 | Penetration type linear driving device based on outer rotor permanent magnet synchronous motor |
| CN115694058A (en) * | 2022-11-16 | 2023-02-03 | 上海狄兹精密机械股份有限公司 | Miniature electric linear transmission device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111975761B (en) * | 2020-08-11 | 2023-08-15 | 北京理工大学 | A high accuracy robot for precision assembly |
| CN113357330B (en) * | 2021-06-15 | 2023-08-25 | 山东建筑大学 | Ball screw pair transmission device and method capable of automatically pre-tightening |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101453145A (en) * | 2007-12-07 | 2009-06-10 | 联塑(杭州)机械有限公司 | Electric pushing device |
| CN201136276Y (en) * | 2007-12-07 | 2008-10-22 | 联塑(杭州)机械有限公司 | Electric mould-locking device |
| CN106272535A (en) * | 2016-10-21 | 2017-01-04 | 苏州绿的谐波传动科技有限公司 | A kind of robot integral type articulation structure |
| CN106313117B (en) * | 2016-10-25 | 2019-03-15 | 沈阳艾克申机器人技术开发有限责任公司 | A kind of integrated form slave wheel all-in-one machine |
| CN206313598U (en) * | 2017-01-12 | 2017-07-07 | 杭州宇树科技有限公司 | A kind of linear drive apparatus of the high power mass density for simplifying structure |
-
2017
- 2017-01-12 CN CN201720038604.4U patent/CN206313598U/en active Active
-
2018
- 2018-01-10 WO PCT/CN2018/072085 patent/WO2018130154A1/en active Application Filing
- 2018-01-10 DE DE212018000124.3U patent/DE212018000124U1/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018130154A1 (en) * | 2017-01-12 | 2018-07-19 | 杭州宇树科技有限公司 | High power mass density linear driving device of simplified structure |
| CN107492963A (en) * | 2017-09-12 | 2017-12-19 | 慧灵科技（深圳）有限公司 | A kind of external rotor electric machine and mechanical arm that four shaft mechanical arms are put down applied to straight expelling water |
| CN108063519A (en) * | 2017-12-28 | 2018-05-22 | 广东东辉恒力电机有限公司 | Slotless electric machines and driving device |
| CN108063519B (en) * | 2017-12-28 | 2024-04-02 | 山西东辉新能源汽车研究院有限公司 | Slotless motor and driving device |
| CN109623805A (en) * | 2018-12-29 | 2019-04-16 | 上海理工大学 | A kind of flexible linear driving device |
| CN112421918A (en) * | 2019-08-22 | 2021-02-26 | 沈阳艾克申机器人技术开发有限责任公司 | Penetration type linear driving device based on outer rotor permanent magnet synchronous motor |
| CN112296989A (en) * | 2020-10-23 | 2021-02-02 | 青岛罗博飞海洋技术有限公司 | Underwater five-degree-of-freedom rotary manipulator |
| CN115694058A (en) * | 2022-11-16 | 2023-02-03 | 上海狄兹精密机械股份有限公司 | Miniature electric linear transmission device |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018130154A1 (en) | 2018-07-19 |
| DE212018000124U1 (en) | 2019-08-29 |
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