WO2017209420A1 - Module d'entraînement adaptatif - Google Patents

Module d'entraînement adaptatif Download PDF

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Publication number
WO2017209420A1
WO2017209420A1 PCT/KR2017/005203 KR2017005203W WO2017209420A1 WO 2017209420 A1 WO2017209420 A1 WO 2017209420A1 KR 2017005203 W KR2017005203 W KR 2017005203W WO 2017209420 A1 WO2017209420 A1 WO 2017209420A1
Authority
WO
WIPO (PCT)
Prior art keywords
unit
drive shaft
output
output drive
sensing
Prior art date
Application number
PCT/KR2017/005203
Other languages
English (en)
Korean (ko)
Inventor
우현수
조장호
Original Assignee
한국기계연구원
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 한국기계연구원 filed Critical 한국기계연구원
Publication of WO2017209420A1 publication Critical patent/WO2017209420A1/fr

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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
    • B25J9/126—Rotary actuators
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • 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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • 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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives
    • 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

Definitions

  • the present invention relates to a compliant drive module, and more specifically, to reduce the size and weight while generating sufficient torque of the size required, the rotational force generated from the motor unit is harmonic unit, torque sensor unit, position sensor
  • the present invention relates to a unit and a compliant drive module to be delivered to the brake unit without loss.
  • a motor and a reducer or a motor and a harmonic drive are provided for driving the joint in the joint robot. This has led to the development of various drive modules with a minimum of size and weight while satisfactory function and performance.
  • Such a drive module has a structure in which components suitable for each robot to be targeted are selected, and the coupling is performed in such a manner as to maximize the characteristics of the components.
  • One aspect of the present invention is to reduce the size and weight while generating enough torque of the size required for driving, the torque generated from the motor unit is transmitted to the harmonic unit, torque sensor unit, position sensor unit, brake unit without loss It is to provide a compliant drive module to enable.
  • a compliant drive module for rotating the output drive shaft;
  • a harmonic unit coupled to one side of the output drive shaft to reduce and output a rotation speed of the output drive shaft;
  • a torque sensor unit coupled to the harmonic unit to measure the output torque decelerated from the harmonic unit;
  • a position sensor unit coupled to the motor unit to be radially spaced apart from the other side of the output drive shaft, and configured to sense an amount of rotation of the output drive shaft;
  • a brake unit coupled to the motor unit to be radially spaced apart from the other side of the output drive shaft, and configured to brake the output drive shaft;
  • a sensing shaft joint unit connecting the output driving shaft and the position sensor unit;
  • a braking shaft joint unit connecting the output driving shaft and the brake unit.
  • One end portion of the output drive shaft and the torque sensor unit, oil leakage blocking member for blocking the lubricant supplied to the harmonic unit; may be coupled.
  • the harmonic unit includes a flex spline coupled to a flex fixing member provided to be freely rotatable on the output driving shaft, the flex spline rotating at a lower speed than the rotation speed of the output driving shaft, wherein the leakage blocking member includes a first blocking member.
  • the first blocking member may be interposed between the flex fixing member and the output drive shaft.
  • the torque sensor unit includes an output flange coupled with the flex fixing member, the oil leakage blocking member further includes a second blocking member, and the second blocking member is interposed between the output flange and the flex fixing member. Can be.
  • the center of the output drive shaft, the harmonic unit and the center of the torque sensor unit may be coaxial with each other, and the center of the position sensor unit and the center of the brake unit may be disposed parallel to the output drive shaft, respectively.
  • the harmonic unit includes: a wave generator in which the output drive shaft is inserted and fixed; A circular spline into which the wave generator is inserted and fixedly inserted between the motor unit and the torque sensor unit; A harmonic bearing that surrounds the wave generator in a state of being inserted into the circular spline and rotatably supports the wave generator with respect to the circular spline; And one end is inserted and fixed between the circular spline and the harmonic bearing, the other end may be a flex spline is fixed to the center of the torque sensor unit.
  • the sensing shaft joint unit may include a first sensing timing gear provided at the output driving shaft; A second sensing timing gear provided in a position driving shaft provided in the position sensor unit; And a sensing timing belt configured to connect the first sensing timing gear and the second sensing timing gear to transmit the rotational force of the output driving shaft to the position driving shaft.
  • the braking shaft joint unit may include a first braking timing gear provided at the output driving shaft; A second braking timing gear provided on the braking drive shaft provided in the brake unit; And a braking timing belt which connects the first braking timing gear and the second braking timing gear to transfer the rotational force of the output driving shaft to the braking driving shaft.
  • the compliant drive module while reducing the size and weight, the torque of the size required for driving is sufficiently generated, and the rotational force generated from the motor unit is harmonic unit, torque sensor unit, position sensor Ensure no loss to the unit and the brake unit.
  • the risk to humans can be minimized according to the movement of the person, and the human can interact with the robot with smooth movement, and the stability and ease of use of the robot can be improved. You can.
  • the coupling state of the harmonic unit can be stabilized, and the deceleration state in the harmonic unit can be made clear.
  • connection between the output drive shaft, the position sensor unit and the brake unit can be made clear, the rotational movement of the output drive shaft can be measured, and the braking of the output drive shaft can be made clear.
  • FIG. 1 is a perspective view showing a compliant drive module according to an embodiment of the present invention.
  • FIG. 2 is an exploded view showing a compliant drive module according to an embodiment of the present invention.
  • FIG. 3 is a cross-sectional view of FIG. 2.
  • FIG. 4 is a cross-sectional view of FIG. 1.
  • Figure 5 is a cross-sectional view showing a coupling state of the motor unit in the compliant drive module according to an embodiment of the present invention.
  • Figure 6 is a cross-sectional view showing a coupling state of the harmonic unit in the compliant drive module according to an embodiment of the present invention.
  • Figure 7 is a cross-sectional view showing a coupling state of the torque sensor unit in the compliant drive module according to an embodiment of the present invention.
  • the compliant drive module generates a torque of a size necessary for driving while reducing the size and weight, and the rotational force generated by the motor unit 10 is harmonic unit 20 and the torque sensor unit. 30, the position sensor unit 40, and the brake unit 50 to be transmitted without loss.
  • the compliant drive module according to an embodiment of the present invention is a motor unit 10, harmonic unit 20, torque sensor unit 30, the position sensor unit 40 And a brake unit 50, a sensing shaft joint unit 60, and a brake shaft joint unit 70.
  • the motor unit 10 generates a rotational force by rotating the output drive shaft 11 by the applied power.
  • the motor unit 10 includes an output drive shaft 11 for transmitting rotational force, a motor rotor 12 fixedly coupled to the output drive shaft 11, and a motor rotor 12. And a motor stator 13 for rotating the motor rotor 12 with electromagnetic force by an applied power source, and a motor housing 14 in which the output drive shaft 11 is rotatably supported and the motor stator 13 is coupled and fixed. It may include.
  • FIG. 6 is a cross-sectional view of the motor unit 10 according to an embodiment of the present invention, the coupling relationship of the motor unit 10 is shown.
  • the output drive shaft 11 is made in the form of a hollow tube to facilitate the connection with the external device, it can contribute to light weight. Steps may be formed on the outer circumferential surface of the output drive shaft 11 for coupling with peripheral components.
  • the motor rotor 12 may be configured as a permanent magnet, and the motor stator 13 may be configured as an electromagnetic coil in which a coil is wound around a body surrounding the motor rotor 12.
  • the motor housing 14 has a first motor body 141 to which the motor stator 13 is coupled and fixed, and a second motor coupled to one side of the first motor body 141 and rotatably penetrated and supported by the output drive shaft 11.
  • the motor body 142 may include a third motor body 143 coupled to the other side of the first motor body 141 and having the output drive shaft 11 rotatably supported therethrough.
  • the first motor fixing rib 144 for fixing the support bearing coupled to the output drive shaft 11 at one side of the motor rotor 12 may protrude from the second motor body 142.
  • a second motor fixing rib 145 for fixing the support bearing coupled to the output drive shaft 11 on the other side of the motor rotor 12 may protrude from the third motor body 143.
  • rotation support ring 146 for supporting the support bearing is coupled to the third motor body 143 to prevent exposure of the support bearing and stabilize the coupling state between the support bearing and the output drive shaft 11.
  • the second motor body 142 may have a shaft mounting portion penetrated or recessed so that the sensing driving shaft 41 of the position sensor unit 40 and the brake driving shaft 51 of the brake unit 50 are rotatably coupled to each other.
  • the harmonic unit 20 is coupled to one side of the output drive shaft 11, and outputs by reducing the rotational speed of the output drive shaft (11).
  • 6 is a cross-sectional view showing a coupling state of the harmonic unit 20 in the compliant drive module according to an embodiment of the present invention.
  • the harmonic unit 20 includes a wave generator 21 into which the output drive shaft 11 is inserted and fixed, and a circular spline into which the wave generator 21 is inserted and inserted between the motor unit 10 and the torque sensor unit 30. 22), a harmonic bearing 23 that surrounds the wave generator 21 in a state of being inserted into the circular spline 22, and rotatably supports the wave generator 21 with respect to the circular spline 22, and one end of the circular bearing.
  • the spline 22 and the harmonic bearing 23 may be inserted and fixed to the other end may include a flex spline 24 is fixed to the center of the torque sensor unit 30.
  • the flex spline 24 is an output element of the harmonic unit 20 which is decelerated and rotates than the output drive shaft 11.
  • the wave generator 21 can be fixed to the output drive shaft 11 by fitting the adjustment wedge 26 between the wave generator 21 and the output drive shaft 11.
  • the wave fixing member 27 into which the output driving shaft 11 is inserted and fixed is coupled to the wave generator 21, thereby fixing the wave generator 21 to the output driving shaft 11.
  • the wave generator 21 is stably fixed to the output drive shaft 11, and prevents the wave generator 21 from flowing on the output drive shaft. can do.
  • the flexspline 24 is elastic and can be elastically deformed with rotation.
  • One end of the flex spline 24 is inserted and fixed between the circular spline 22 and the harmonic bearing 23, and the other end of the flex spline 24 rotates on the output drive shaft 11 via the flex fixing member 25. It is prepared to be possible.
  • the flex fixing member 25 is mounted on the output drive shaft 11 so as to be free to rotate, it can be fixed to the center of the torque sensor unit 30 (center of the output flange 32).
  • the torque sensor unit 30 is coupled to the harmonic unit 20 to measure the torque acting on the output flange 32 that rotates to the output of the harmonic unit 20.
  • the torque measured by the torque sensor unit 30 eventually corresponds to the output torque decelerated by the harmonic unit 20 and output.
  • the torque sensor unit 30 may transmit the rotational force of the output drive shaft 11 to the outside through the coupling with the outside.
  • 7 is a cross-sectional view showing a coupling state of the torque sensor unit 30 in the compliant drive module according to an embodiment of the present invention.
  • the torque sensor unit 30 includes a torque housing 31 coupled to the circular spline 22 of the harmonic unit 20, an output flange 32 rotatably coupled to the torque housing 31, and an output flange ( 32 is coupled to the torque sensing unit 33 for measuring the torque according to the rotation of the output flange 32, and wrapped around the output flange 32 in the state inserted into the torque housing 31 to the torque housing 31 It may include a torque bearing 34 for rotatably supporting the output flange 32 with respect to.
  • the flex fixing member 25 may be fixed to the center of the output flange 32. Accordingly, the output flange 32 is rotated from the output drive shaft 11 to the output decelerated through the harmonic unit 20.
  • the position sensor unit 40 is coupled to the second motor body 142 of the motor unit 10 in a state spaced apart from the other side of the output drive shaft (11).
  • the position sensor unit 40 is connected to the output driving shaft 11 and detects the amount of rotation of the output driving shaft 11 according to the rotation of the output driving shaft 11.
  • the position sensor unit 40 may be connected to the output drive shaft 11 through the sensing shaft joint unit 60 and rotate together with the output drive shaft 11.
  • the position sensor unit 40 includes a sensing drive shaft 41 rotatably coupled to the shaft mounting portion provided in the second motor body 142 of the motor unit 10, and a sensing rotor fixedly coupled to the sensing drive shaft 41. (42), a sensing stator (43) surrounding and supporting the sensing rotor (42), and a sensing housing (44) in which the sensing drive shaft (41) is rotatably supported and the sensing stator (43) is coupled and fixed. Can be.
  • Steps may be formed on the outer circumferential surface of the sensing driving shaft 41 for coupling with peripheral components.
  • the sensing housing 44 is coupled to one side of the first sensing body 441 to which the sensing stator 43 is fixed and coupled, and the second sensing body 44 is rotatably penetrated and supported by the sensing driving shaft 41.
  • the sensing body 442 and the third sensing body 443 may be coupled to the other side of the first sensing body 441 and the sensing driving shaft 41 is rotatably supported therethrough.
  • a first sensing fixing rib may be formed in the second sensing body 442 to fix the sensing bearing coupled to the sensing driving shaft 41 at one side of the sensing rotor 42.
  • a second sensing fixing rib for fixing the sensing bearing coupled to the other side of the sensing rotor 42 may protrude from the third sensing body 443.
  • the sensing driving shaft 41 rotates according to the rotational movement of the output driving shaft 11, and the sensing driving shaft 41 is sensed by sensing the amount of rotation of the sensing driving shaft 41 through the sensing rotor 42 and the sensing stator 43.
  • the rotation amount of the output drive shaft 11 may be sensed by converting the rotation amount of 41.
  • the brake unit 50 is coupled to the motor unit 10 in a state spaced apart from the other side of the output drive shaft 11 and the position sensor unit 40.
  • the brake unit 50 brakes the output drive shaft 11.
  • the brake unit 50 includes a brake drive shaft 51 rotatably coupled to the shaft mounting portion provided in the second motor body 142 of the motor unit 10, and a brake head 52 coupled and fixed to the brake drive shaft 51. ), A friction block 54 disposed to face the braking head 52, and a braking housing 55 that fixes the friction block 54 to the second motor body 142 of the motor unit 10. Can be.
  • the brake unit 50 may further include a head connector 53 coupled to the brake driving shaft 51 to fix the brake head 52 to the brake driving shaft 51.
  • the braking head 52 and the friction block 54 are in close contact with each other in response to the braking operation signal to brake the output drive shaft 11.
  • the sensing shaft joint unit 60 couples the output driving shaft 11 and the sensing driving shaft 41 of the position sensor unit 40 to the shaft joint.
  • the sensing shaft joint unit 60 includes a first sensing timing gear 61 coupled to the output driving shaft 11 to rotate together with the output driving shaft 11, and a sensing driving shaft 41 to rotate together with the sensing driving shaft 41.
  • the first sensing timing gear 61 and the second sensing timing gear 62 are coupled so that the rotational amount of the second sensing timing gear 62 and the first sensing timing gear 61 are transmitted to the second sensing timing gear 62. It may include a sensing timing belt (63) for connecting.
  • the braking shaft joint unit 70 couples the output driving shaft 11 and the brake driving shaft 51 of the brake unit 50 to the shaft joint.
  • the braking shaft joint unit 70 is coupled to the braking driving shaft 51 so as to rotate together with the first braking timing gear 71 and the braking driving shaft 51 coupled to the output driving shaft 11 so as to rotate together with the output driving shaft 11.
  • the first braking timing gear 71 and the second braking timing gear 72 so that the braking amount of the second braking timing gear 72 and the second braking timing gear 72 are transmitted to the first braking timing gear 71. It may include a braking timing belt (73) for connecting.
  • the center of the output drive shaft 11 and the harmonic unit 20 and the center of the torque sensor unit 30 are coaxial with each other to facilitate the transmission of the rotational force of the output drive shaft 11, and the vibration of the drive module. Can be suppressed or prevented.
  • the center of the position sensor unit 40 (sensing drive shaft 41) and the center of the brake unit 50 (braking drive shaft 51) are respectively arranged in parallel to the spaced apart from the output drive shaft 11 and output
  • the rotational force of the drive shaft 11 can be transmitted stably, and the vibration of the drive module can be suppressed or prevented.
  • the compliant drive module according to the embodiment of the present invention may further include an oil leakage blocking member 80.
  • the oil leakage blocking member 80 may block leakage of the lubricant supplied to the flex spline 24 of the harmonic unit 20 to the output drive shaft 11 or to the outside of the torque housing 31 of the torque sensor unit 30. have.
  • the oil leakage blocking member 80 is coupled to one end of the output driving shaft 11 to block leakage of lubricant from the output driving shaft 11, and an output flange of the torque sensor unit 30. 32 may be divided into a second blocking member 82 which prevents lubricating oil from leaking outside the torque housing 31 of the torque sensor unit 30.
  • the first blocking member 81 may be inserted and fixed to the flex fixing member 25 in a state where one end of the output driving shaft 11 is inserted and fixed.
  • the second blocking member 82 may be inserted and fixed between the output flange 32 and the flex fixing member 25.
  • the torque sensing unit 33 and the position sensor unit 40 respectively, torque and output of the output drive shaft The amount of rotation of the drive shaft 11 is sensed.
  • the motor rotates the output drive shaft by operating the motor unit 10 based on the detected torque of the output drive shaft 11 and the rotation amount of the output drive shaft 11 to return the output drive shaft 11 to its original position. You can.
  • the rotational force of the output drive shaft 11 can be precisely and stably adjusted according to the operation of the harmonic unit 20.
  • the torque of the size required for driving is sufficiently generated, and the rotational force generated by the motor unit 10 is the harmonic unit 20, the torque sensor unit 30 and the like. , So that the position sensor unit 40 and the brake unit 50 are transmitted without loss.
  • the compliant drive module according to an embodiment of the present invention can reduce the weight and size by 30% to 60% while generating output of the same size as a conventional simple assembled drive module.
  • the risk to humans can be minimized according to the movement of the person, and the human can interact with the robot with smooth movement, and the stability and ease of use of the robot can be improved. You can.
  • the torque sensor unit 30 may simultaneously implement the torque output function and the torque sensing function.
  • the coupling state of the harmonic unit 20 can be stabilized, and the deceleration state in the harmonic unit 20 can be made clear.
  • connection between the output drive shaft 11, the position sensor unit 40 and the brake unit 50 can be made clear, and the rotational movement of the output drive shaft 11 can be measured and the braking of the output drive shaft 11 can be made clear.
  • motor housing 141 the first motor body
  • first motor fixing rib 145 second motor fixing rib
  • sensing housing 441 first sensing body
  • brake unit 51 braking drive shaft
  • sensing shaft joint unit 61 first sensing timing gear

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Retarders (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

La présente invention concerne, selon un mode de réalisation, un module d'entraînement adaptatif comprenant : une unité de moteur pour faire tourner un arbre d'entraînement de sortie ; une unité harmonique accouplée à un côté de l'arbre d'entraînement de sortie afin de réduire la vitesse de rotation de l'arbre d'entraînement de sortie et de générer la vitesse de rotation réduite ; une unité de détection de couple accouplée à l'unité harmonique afin de mesurer le couple, qui est décéléré et émis par l'unité harmonique ; une unité de détection de position espacée dans une direction radiale de l'autre côté de l'arbre d'entraînement de sortie, accouplée à l'unité de moteur et détectant le degré de rotation de l'arbre d'entraînement de sortie ; une unité de frein espacée dans une direction radiale de l'autre côté de l'arbre d'entraînement de sortie, accouplée à l'unité de moteur, et freinant l'arbre d'entraînement de sortie ; une unité de liaison d'arbre et de détection pour relier l'arbre d'entraînement de sortie et l'unité de capteur de position ; et une unité de liaison d'arbre et de freinage pour relier l'arbre d'entraînement de sortie et l'unité de frein.
PCT/KR2017/005203 2016-05-30 2017-05-19 Module d'entraînement adaptatif WO2017209420A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2016-0066537 2016-05-30
KR1020160066537A KR101838091B1 (ko) 2016-05-30 2016-05-30 순응형 구동모듈

Publications (1)

Publication Number Publication Date
WO2017209420A1 true WO2017209420A1 (fr) 2017-12-07

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KR (1) KR101838091B1 (fr)
WO (1) WO2017209420A1 (fr)

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CN111365435A (zh) * 2020-03-23 2020-07-03 珞石（山东）智能科技有限公司 一种关节力反馈减速器
CN114221474A (zh) * 2021-12-24 2022-03-22 海南浙江大学研究院 机械臂电动关节防水电机
CN114382861A (zh) * 2022-03-25 2022-04-22 成都瑞迪智驱科技股份有限公司 一种机器人关节内嵌电磁制动谐波减速装置及关节系统
WO2023015739A1 (fr) * 2021-08-13 2023-02-16 中国科学院宁波材料技术与工程研究所 Dispositif d'entraînement rotatif et procédé de correction d'erreur de système d'un dispositif d'entraînement rotatif

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JP7012574B2 (ja) * 2018-03-22 2022-01-28 本田技研工業株式会社 モータユニット及び車両
KR102073621B1 (ko) * 2019-02-28 2020-02-06 한국기계연구원 통합구동장치 및 이를 포함하는 무릎형 로봇의족

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JP5659446B2 (ja) * 2012-03-30 2015-01-28 コリア・インスティテュート・オブ・マシナリー・アンド・マテリアルズＫｏｒｅａ Ｉｎｓｔｉｔｕｔｅ Ｏｆ Ｍａｃｈｉｎｅｒｙ ＆ Ｍａｔｅｒｉａｌｓ 中空駆動モジュール
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WO2023015739A1 (fr) * 2021-08-13 2023-02-16 中国科学院宁波材料技术与工程研究所 Dispositif d'entraînement rotatif et procédé de correction d'erreur de système d'un dispositif d'entraînement rotatif
CN114221474A (zh) * 2021-12-24 2022-03-22 海南浙江大学研究院 机械臂电动关节防水电机
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CN114382861A (zh) * 2022-03-25 2022-04-22 成都瑞迪智驱科技股份有限公司 一种机器人关节内嵌电磁制动谐波减速装置及关节系统

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