WO2019041473A1 - 一种可自动紧接触的传动机构及机器人 - Google Patents

一种可自动紧接触的传动机构及机器人 Download PDF

Info

Publication number
WO2019041473A1
WO2019041473A1 PCT/CN2017/106707 CN2017106707W WO2019041473A1 WO 2019041473 A1 WO2019041473 A1 WO 2019041473A1 CN 2017106707 W CN2017106707 W CN 2017106707W WO 2019041473 A1 WO2019041473 A1 WO 2019041473A1
Authority
WO
WIPO (PCT)
Prior art keywords
fixing frame
transmission mechanism
steering wheel
mechanism according
groove
Prior art date
Application number
PCT/CN2017/106707
Other languages
English (en)
French (fr)
Inventor
董学会
唐明军
Original Assignee
歌尔科技有限公司
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 歌尔科技有限公司 filed Critical 歌尔科技有限公司
Publication of WO2019041473A1 publication Critical patent/WO2019041473A1/zh

Links

Images

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
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for

Definitions

  • the present invention relates to a transmission mechanism, and more particularly to a transmission mechanism based on a steering gear and a steering wheel; and to a robot.
  • the humanoid robot has multiple joint structures, which can realize functions such as moving on the ground, stepping up and down, climbing the slope, and the like. These joint structures are usually powered directly by the steering gear, enabling compact, high-precision transmission, centralized control, and programmed control.
  • the output shaft of the steering gear needs to transmit torque through the steering wheel.
  • the steering wheel and the fixed frame on the market are relatively fixed. As time passes, there will be wear between the structure of the steering wheel and the fixed frame, so that the joints will shake and affect the sports performance.
  • artificial grinding In the prior art, in order to solve the problem of joint sway, artificial grinding must be performed periodically.
  • a transmission mechanism capable of automatic close contact including a first fixing frame and a second fixing frame rotatably coupled to the first fixing frame; and a steering gear is disposed on the second fixing frame a steering wheel is disposed on the output shaft of the steering gear, and the steering wheel is engaged with a driving groove on the first fixing frame; a flange is disposed on a side of the second fixing frame opposite to the steering wheel. The flange is supported in a positioning groove on the first fixing frame; an elastic device is further disposed between the second fixing frame and the first fixing frame, and the elastic device is configured to: face the second fixing frame The direction of the drive slot is pre-stressed.
  • the steering wheel includes an internal gear for meshing with the steering output shaft.
  • a key groove is disposed on an outer wall of the steering wheel, and an inner wall of the driving groove is provided with a key tooth that is engaged with the key groove.
  • the opening of the keyway gradually becomes larger from the direction of the steering gear to the driving groove, and the shape of the key teeth is matched thereto.
  • the outer wall of the steering wheel is tapered, and the inner wall of the driving groove matches the shape of the outer wall of the steering wheel.
  • the resilient means is a spring.
  • one end of the spring abuts in the positioning groove, and the other end is sleeved on the flange of the second fixing frame and abuts against the sidewall of the second fixing frame.
  • a washer is further disposed between the spring and the side wall of the second holder, the washer being sleeved on the flange of the second holder.
  • the first mounting bracket includes two mounting brackets that are oppositely disposed and assembled together, the driving slots are located on one of the mounting brackets, and the positioning slots are located on the other mounting bracket.
  • a robot in which a joint structure is driven by the above-described transmission mechanism.
  • the transmission mechanism of the present invention when the steering wheel and the driving groove are worn due to long-time rotation, under the action of the elastic device, the steering wheel and the driving groove can be tightly fitted together, thereby avoiding the steering wheel and the steering wheel. Problems such as swaying and unstable transmission caused by looseness between the drive grooves.
  • the transmission structure of the invention can realize automatic adjustment and correction through the elastic device, and does not need to artificially grind the structural member, thereby saving cost.
  • Figure 1 is an exploded view of the transmission mechanism of the present invention.
  • Figure 2 is a cross-sectional view showing the transverse direction of the transmission mechanism of the present invention.
  • Figure 3 is a schematic view showing the structure of the steering wheel of the present invention.
  • Figure 4 is a longitudinal sectional view of the transmission mechanism of the present invention.
  • the present invention provides an automatic close contact transmission mechanism including a first fixing frame, a second fixing frame 1 rotatably coupled to the first fixing frame, and a driving second fixing frame 1
  • the steering gear 2 that rotates relative to the first fixed frame.
  • the first mounting bracket of the present invention may be a unitary structure.
  • the first mounting bracket includes two mounting brackets that are oppositely disposed and assembled together, respectively, as the first mounting.
  • the first mounting frame 3 and the second mounting frame 4 have similar structural shapes, and the two are oppositely disposed, and the first mounting frame 3 and the second mounting frame 4 can be assembled and fixed together by screws.
  • the second fixing frame 1 of the present invention has a substantially rectangular shape, the steering gear 2 can be fitted in the inner cavity of the second fixing frame 1, and the output shaft 21 of the steering gear 2 projects from the second fixing frame 1.
  • a steering wheel 5 is disposed on the output shaft 21 of the steering gear 2, and the steering wheel 5 is meshed with a driving groove 41 provided on the second mounting frame 4.
  • the steering wheel 5 can be secured to the output shaft 21 by means well known to those skilled in the art such that the torque output by the output shaft 21 can be transmitted through the steering wheel 5.
  • the steering wheel 5 is provided with an internal gear 53, reference drawing 3.
  • the internal gear 53 is disposed at a central portion of the steering wheel 5 so that the output shaft 21 of the steering gear 2 can penetrate into and mesh with the internal gear 53 to effect transmission of the steering gear 2 to the steering wheel 5.
  • the outer wall of the steering wheel 5 is provided with a key groove 52.
  • the inner wall of the driving groove 41 is provided with key teeth 410 for engaging with the key groove 52, with reference to FIG.
  • the outer wall of the steering wheel 5 penetrates into the drive groove 41, and the key groove 52 on the outer wall of the steering wheel 5 is engaged with the key teeth 410 on the inner wall of the drive groove 41.
  • a flange 11 is disposed on a side of the second fixing frame 1 opposite to the steering wheel 5.
  • the steering wheel 5 is located at the right portion of the transmission structure, and the flange 11 is disposed at the second fixing frame 1.
  • the flange 11 projects into and supports the positioning groove 31 provided in the first mounting frame 3.
  • the flange 11 is on the same axis as the output shaft 21 of the steering gear 2, such that the two sides of the second fixing frame 1 are respectively rotatably connected through the flange 11 and the steering wheel 5 connected to the output shaft of the steering gear 2;
  • the rotation of the second fixing frame 1 relative to the first fixing frame can be realized by the driving of the steering gear 2.
  • an elastic device between the second fixing frame 1 and the first fixing frame, and the elastic device is configured to pre-press the second fixing frame 1 in the direction of the driving groove 41.
  • the elastic means of the present invention may be springs, tension springs or other devices having elastic deformation capabilities well known to those skilled in the art.
  • the elastic device of the present invention is the spring 7
  • one end of the spring 7 can abut against the positioning groove 31 of the first mounting frame 3, and the other end is sleeved on the flange 11 of the second fixing frame 1, and is placed against On the side wall of the second holder 1. Since the spring 7 is pre-stressed between the second holder 1 and the first mounting frame 3, this allows the spring 7 to always pre-stress the second holder 1 in the direction of the second mounting 4. That is to say, the steering wheel 5 on the steering gear 2 and the driving groove 41 on the second mounting frame 4 can be always tightly fitted together.
  • a washer 6 is provided between the spring 7 and the side wall of the second holder 1, which is fitted over the flange 11 of the second holder 1. This allows the spring 7 to act on the washer 6, improving structural stability and extending the life of the moving parts.
  • the transmission structure of the invention can realize automatic adjustment and correction through the spring, and does not need to artificially grind the structural member, thereby saving cost.
  • the outer wall of the steering wheel 5 is tapered.
  • the inner wall of the drive groove 41 matches the shape of the outer wall of the steering wheel 5.
  • the draft angle of the steering wheel 5 and the driving groove 41 is made uniform.
  • the contact surface of the steering wheel 5 and the driving groove 41 is inclined, which makes the steering wheel 5 and the driving groove 41 have good alignment, and the pressing force of the elastic device can make the steering wheel 5 and the driving.
  • the slot 41 is always in close contact.
  • the opening of the key groove 52 may gradually become larger from the direction of the steering gear 5 to the driving groove 41. That is, the opening width of the key groove 52 is not fixed, and referring to FIG. 3, it gradually becomes larger from left to right; the shape of the key 410 is matched thereto. With such a structural design, the centering of the steering wheel 5 and the driving groove 41 is good, and the pressing force of the elastic means can keep the steering wheel 5 and the driving groove 41 in close contact at all times.
  • the transmission mechanism of the present invention can be applied to a robot, for example, to a humanoid robot.
  • the present invention also provides a robot in which the joint structure is driven by the above-described transmission mechanism.
  • the pressing force of the elastic device can be automatically adjusted to keep the steering wheel and the driving groove in close contact at all times, which solves the problem of joint sway caused by the wear of the robot joint, improves the joint motion performance, and saves the cost.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Gears, Cams (AREA)
  • Steering Controls (AREA)

Abstract

一种可自动紧接触的传动机构及机器人，在第二固定架（1）上设置有舵机（2），舵机的输出轴（21）上设置有舵盘（5），舵盘与第一固定架上的驱动槽（41）啮合在一起；第二固定架上与舵盘相对的一侧设置有凸缘（11），凸缘支撑在第一固定架上的定位槽（31）中；在第二固定架与第一固定架之间还设置有弹性装置（7），弹性装置被配置为：将第二固定架朝向驱动槽的方向预压。该传动机构，通过弹性装置可以实现自动调整和矫正，不需要人为对结构件进行修磨，节约了成本。

Description

一种可自动紧接触的传动机构及机器人 技术领域
本发明涉及一种传动机构，更具体地，本发明涉及基于舵机、舵盘的传动机构；本发明还涉及一种机器人。
背景技术
人形机器人有多个关节结构，能实现在平地上移动、上下台阶、爬坡等功能。这些关节结构通常通过舵机直接提供动力，实现了结构紧凑、高精度传动、集中控制和程序化控制等。
舵机的输出轴需要通过舵盘来传递扭矩。当前市面上的舵盘和固定架都是相对固定的，随着时间的积累，舵盘、固定架等结构之间会出现磨损，从而使运动关节会出现晃动，影响运动性能。现有技术中，为了解决关节晃动的问题，必须定期进行人为修磨。
发明内容
本发明的一个目的是提供了一种可自动紧接触的传动机构。
根据本发明的一个方面，提供一种可自动紧接触的传动机构，包括第一固定架以及转动连接在第一固定架上的第二固定架；在所述第二固定架上设置有舵机，所述舵机的输出轴上设置有舵盘，所述舵盘与第一固定架上的驱动槽啮合在一起；所述第二固定架上与舵盘相对的一侧设置有凸缘，所述凸缘支撑在第一固定架上的定位槽中；在所述第二固定架与第一固定架之间还设置有弹性装置，所述弹性装置被配置为：将第二固定架朝向驱动槽的方向预压。
可选地，所述舵盘包括用于与舵机输出轴啮合在一起的内齿轮。
可选地，所述舵盘的外壁上设置有键槽，所述驱动槽的内壁上设置有与该键槽啮合在一起的键齿。
可选地，所述键槽的开口从舵机至驱动槽的方向逐渐变大，所述键齿的形状与其匹配。
可选地，所述舵盘的外壁呈锥状，所述驱动槽的内壁与舵盘外壁的形状匹配。
可选地，所述弹性装置为弹簧。
可选地，所述弹簧的一端抵在定位槽内，另一端套在第二固定架的凸缘并抵在第二固定架的侧壁上。
可选地，在弹簧与第二固定架的侧壁之间还设置有垫圈，所述垫圈套在所述第二固定架的凸缘上。
可选地，第一固定架包括两个相对设置且装配在一起的安装架，所述驱动槽位于其中一个安装架上，定位槽位于另一个安装架上。
根据本发明的另一方面，还提供了一种机器人，所述机器人中的关节结构采用上述的传动机构进行传动。
本发明的传动机构，当由于长时间转动造成舵盘与驱动槽之间的磨损时，在弹性装置的作用下，可以始终让舵盘与驱动槽紧紧配合在一起，避免了由于舵盘与驱动槽之间的松动而带来的晃动、传动不稳定等问题。本发明的传动结构，通过弹性装置可以实现自动调整和矫正，不需要人为对结构件进行修磨，节约了成本。
通过以下参照附图对本发明的示例性实施例的详细描述，本发明的其它特征及其优点将会变得清楚。
附图说明
构成说明书的一部分的附图描述了本发明的实施例，并且连同说明书一起用于解释本发明的原理。
图1是本发明传动机构的爆炸图。
图2是本发明传动机构横向的剖面图。
图3是本发明舵盘的结构示意图。
图4是本发明传动机构纵向的剖面图。
具体实施方式
现在将参照附图来详细描述本发明的各种示例性实施例。应注意到：除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本发明的范围。
以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。
对于相关领域普通技术人员已知的技术和设备可能不作详细讨论，但在适当情况下，所述技术和设备应当被视为说明书的一部分。
在这里示出和讨论的所有例子中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它例子可以具有不同的值。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
参考图1至图4，本发明提供了一种可自动紧接触的传动机构，其包括第一固定架、转动连接在第一固定架上的第二固定架1，以及驱动第二固定架1相对于第一固定架转动的舵机2。
具体地，本发明的第一固定架可以是一体结构，在本发明一个优选的实施例中，所述第一固定架包括两个相对设置且装配在一起的安装架，分别记为第一安装架3、第二安装架4。所述第一安装架3、第二安装架4的结构外形相似，且二者相对设置，并可通过螺丝将第一安装架3、第二安装架4装配固定在一起。
本发明的第二固定架1近似呈矩形体状，舵机2可以装配在第二固定架1的内腔中，且舵机2的输出轴21从第二固定架1中伸出。舵机2的输出轴21上设置有舵盘5，且该舵盘5与设置在第二安装架4上的驱动槽41啮合在一起。
参考图1、图2、图3，舵盘5可以通过本领域技术人员所熟知的方式固定在输出轴21上，使得输出轴21输出的扭矩可以通过该舵盘5传出。在本发明一个优选的实施方式中，所述舵盘5上设置有内齿轮53，参考图 3。内齿轮53设置在舵盘5的中心区域，使得舵机2的输出轴21可以穿入该内齿轮53并与其啮合在一起，实现舵机2至舵盘5的传动。
所述舵盘5的外壁上设置有键槽52，所述驱动槽41的内壁上设置有用于与该键槽52啮合在一起的键齿410，参考图4。在装配的时候，所述舵盘5的外壁穿入驱动槽41中，并使得舵盘5外壁上的键槽52与驱动槽41内壁上的键齿410啮合在一起。
所述第二固定架1上与舵盘5相对的一侧设置有凸缘11，参考图2的视图方向，舵盘5位于传动结构的右部，凸缘11则设置在第二固定架1的左侧侧壁上。在装配的时候，该凸缘11伸入并支撑在第一安装架3上设置的定位槽31中。其中，该凸缘11与舵机2的输出轴21在同一轴线上，使得第二固定架1的两侧分别通过凸缘11以及连接在舵机2输出轴上的舵盘5转动连接在第一固定架上，并可通过舵机2的驱动实现第二固定架1相对于第一固定架的转动。
其中，在所述第二固定架1与第一固定架之间还设置有弹性装置，所述弹性装置被配置为：将第二固定架1朝向驱动槽41的方向预压。本发明的弹性装置可以是弹簧、拉簧或本领域技术人员所熟知的其它具有弹性变形能力的装置。
例如，当本发明的弹性装置为弹簧7时，该弹簧7的一端可以抵在第一安装架3的定位槽31内，另一端套在第二固定架1的凸缘11上，并抵在第二固定架1的侧壁上。由于弹簧7被预压在第二固定架1与第一安装架3之间，这就使得该弹簧7可以始终将第二固定架1朝向第二安装架4的方向预压。也就是说，可使舵机2上的舵盘5与第二安装架4上的驱动槽41始终紧配合在一起。
在本发明一个优选的实施方式中，在弹簧7与第二固定架1的侧壁之间还设置有垫圈6，所述垫圈6套在所述第二固定架1的凸缘11上。这就使得弹簧7可以作用在垫圈6上，提高了结构的稳定性，延长了运动部件的寿命。
当由于长时间转动造成舵盘5与驱动槽41之间的磨损时，在弹簧7的作用下，可以始终让舵盘5与驱动槽41紧紧配合在一起，避免了由于舵 盘5与驱动槽41之间的松动而带来的晃动、传动不稳定等问题。本发明的传动结构，通过弹簧可以实现自动调整和矫正，不需要人为对结构件进行修磨，节约了成本。
当舵盘5与驱动槽41之间由于磨损而发生松动时，为了保证弹性装置可以推动舵盘5与驱动槽41始终紧密配合在一起，优选所述舵盘5的外壁呈锥状，所述驱动槽41的内壁与舵盘5外壁的形状匹配。例如当舵盘5、第一安装架3采用注塑工艺成型时，使所述舵盘5与驱动槽41的拔模斜度一致。采用这样的结构设计，使得舵盘5与驱动槽41的接触面为斜面，这就使得舵盘5与驱动槽41的对中性好，通过弹性装置的压紧力可以使舵盘5和驱动槽41始终保持紧密接触。
在此需要注意的是，在装配时，舵盘5的法兰盘端面51与第二安装架4的端面42之间要预留一定的间隙，以便于在发生磨损时，弹簧7可以调整舵盘5的位置。
在本发明另一优选的实施方式中，还可以是：所述键槽52的开口从舵机5至驱动槽41的方向逐渐变大。也就是说，键槽52的开口宽度不是固定的，参考图3，其从左至右逐渐变大；所述键齿410的形状与其相匹配。采用这样的结构设计，使得舵盘5与驱动槽41的对中性好，通过弹性装置的压紧力可以使舵盘5和驱动槽41始终保持紧密接触。
本发明的传动机构可以应用到机器人中，例如应用到人形机器人中，为此本发明还提供了一种机器人，所述机器人中的关节结构采用上述的传动机构进行传动。通过弹性装置的压紧力可以自动调整使舵盘和驱动槽始终保持紧密接触，解决了机器人关节磨损所产生的关节晃动问题，提高关节运动性能；而且节约了成本。
虽然已经通过示例对本发明的一些特定实施例进行了详细说明，但是本领域的技术人员应该理解，以上示例仅是为了进行说明，而不是为了限制本发明的范围。本领域的技术人员应该理解，可在不脱离本发明的范围和精神的情况下，对以上实施例进行修改。本发明的范围由所附权利要求来限定。

Claims (10)

  1. 一种可自动紧接触的传动机构，其特征在于：包括第一固定架以及转动连接在第一固定架上的第二固定架；在所述第二固定架上设置有舵机，所述舵机的输出轴上设置有舵盘，所述舵盘与第一固定架上的驱动槽啮合在一起；所述第二固定架上与舵盘相对的一侧设置有凸缘，所述凸缘支撑在第一固定架上的定位槽中；在所述第二固定架与第一固定架之间还设置有弹性装置，所述弹性装置被配置为：将第二固定架朝向驱动槽的方向预压。
  2. 根据权利要求1所述的传动机构，其特征在于：所述舵盘的外壁上设置有键槽，所述驱动槽的内壁上设置有与该键槽啮合在一起的键齿。
  3. 根据权利要求2所述的传动机构，其特征在于：所述键槽的开口从舵机至驱动槽的方向逐渐变大，所述键齿的形状与其匹配。
  4. 根据权利要求1至3任一项所述的传动机构，其特征在于：所述舵盘包括用于与舵机输出轴啮合在一起的内齿轮。
  5. 根据权利要求1至4任一项所述的传动机构，其特征在于：所述舵盘的外壁呈锥状，所述驱动槽的内壁与舵盘外壁的形状匹配。
  6. 根据权利要求1至5任一项所述的传动机构，其特征在于：所述弹性装置为弹簧。
  7. 根据权利要求6所述的传动机构，其特征在于：所述弹簧的一端抵在定位槽内，另一端套在第二固定架的凸缘并抵在第二固定架的侧壁上。
  8. 根据权利要求7所述的传动机构，其特征在于：在弹簧与第二固定架的侧壁之间还设置有垫圈，所述垫圈套在所述第二固定架的凸缘上。
  9. 根据权利要求1至8任一项所述的传动机构，其特征在于：第一固定架包括两个相对设置且装配在一起的安装架，所述驱动槽位于其中一个安装架上，定位槽位于另一个安装架上。
  10. 一种机器人，其特征在于：所述机器人中的关节结构采用根据权利要求1至9任一项所述的传动机构进行传动。
PCT/CN2017/106707 2017-08-30 2017-10-18 一种可自动紧接触的传动机构及机器人 WO2019041473A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710765136.5 2017-08-30
CN201710765136.5A CN107498550B (zh) 2017-08-30 2017-08-30 一种可自动紧接触的传动机构及机器人

Publications (1)

Publication Number Publication Date
WO2019041473A1 true WO2019041473A1 (zh) 2019-03-07

Family

ID=60693331

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/106707 WO2019041473A1 (zh) 2017-08-30 2017-10-18 一种可自动紧接触的传动机构及机器人

Country Status (2)

Country Link
CN (1) CN107498550B (zh)
WO (1) WO2019041473A1 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108113753B (zh) * 2018-01-29 2019-05-03 孟祥蕾 一种手术机器人电凝钳连接装置
CN112091956B (zh) * 2020-07-31 2021-07-27 深圳市优必选科技股份有限公司 舵机固定装置及机器人

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3705982C2 (zh) * 1987-02-25 1989-10-05 Franz 4280 Borken De Haane
CN102049787A (zh) * 2009-11-06 2011-05-11 鸿富锦精密工业（深圳）有限公司 齿轮侧隙调整装置及采用该调整装置的工业机器人
CN202833860U (zh) * 2012-08-28 2013-03-27 常州市璟胜自动化科技有限公司 一种机器人关节齿轮箱
CN106763645A (zh) * 2016-12-20 2017-05-31 同济大学 基于浮动针齿的摆线针轮传动装置及其修形方法
CN206265331U (zh) * 2016-12-20 2017-06-20 北方天途无人机科技成都有限公司 单轴航测云台
CN206344145U (zh) * 2016-12-29 2017-07-21 潍坊歌尔电子有限公司 机器人舵机输出轴连接结构
CN207290101U (zh) * 2017-08-30 2018-05-01 歌尔科技有限公司 一种可自动紧接触的传动机构及机器人

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69609208T2 (de) * 1995-01-31 2000-11-23 Hitachi Koki Kk Kraftangetriebener Schraubenzieher und Kupplungsmechanismus dafür
KR100193523B1 (ko) * 1996-07-13 1999-06-15 양재신 전기자동차의 배터리단자 접촉장치
JP2804466B2 (ja) * 1996-08-13 1998-09-24 株式会社渡辺製作所 小型モータ装置の出力軸加圧機構
CN100494674C (zh) * 2005-05-30 2009-06-03 日立建机株式会社 容量可变型斜盘式液压旋转机
CN201330826Y (zh) * 2008-12-19 2009-10-21 浙江大学宁波理工学院 行波减速传动机构
CN103244570B (zh) * 2012-02-06 2017-10-17 博世汽车部件(长沙)有限公司 车辆起动机及其花键装置
CN103009343B (zh) * 2012-11-29 2016-04-27 南京德朔实业有限公司 电动工具
CN203504351U (zh) * 2013-10-24 2014-03-26 宁波市海誉机电科技有限公司 管状电机的改进型电机头
JP2017110741A (ja) * 2015-12-16 2017-06-22 トヨタ自動車株式会社 車両の動力伝達装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3705982C2 (zh) * 1987-02-25 1989-10-05 Franz 4280 Borken De Haane
CN102049787A (zh) * 2009-11-06 2011-05-11 鸿富锦精密工业（深圳）有限公司 齿轮侧隙调整装置及采用该调整装置的工业机器人
CN202833860U (zh) * 2012-08-28 2013-03-27 常州市璟胜自动化科技有限公司 一种机器人关节齿轮箱
CN106763645A (zh) * 2016-12-20 2017-05-31 同济大学 基于浮动针齿的摆线针轮传动装置及其修形方法
CN206265331U (zh) * 2016-12-20 2017-06-20 北方天途无人机科技成都有限公司 单轴航测云台
CN206344145U (zh) * 2016-12-29 2017-07-21 潍坊歌尔电子有限公司 机器人舵机输出轴连接结构
CN207290101U (zh) * 2017-08-30 2018-05-01 歌尔科技有限公司 一种可自动紧接触的传动机构及机器人

Also Published As

Publication number Publication date
CN107498550B (zh) 2023-12-22
CN107498550A (zh) 2017-12-22

Similar Documents

Publication Publication Date Title
US6708796B2 (en) Electric power steering apparatus
JP6490718B2 (ja) ステアリングギア
WO2019041473A1 (zh) 一种可自动紧接触的传动机构及机器人
JP5294007B2 (ja) ラック軸支持装置および車両用操舵装置
JP2007247734A (ja) ウォーム式減速機及び電動式パワーステアリング装置
JP6053861B2 (ja) ヨーク遊隔補償装置
US7294080B2 (en) Rotational drive device and processing device using the same
KR101561953B1 (ko) 전동식 파워 스티어링 장치의 틸팅 구조 및 이를 포함하는 전동식 파워 스티어링 장치
JPS6283246A (ja) テレスコピツクステアリング装置
JP2006290148A (ja) ウォーム減速機および電動パワーステアリング装置
US2289552A (en) Windshield wiper arm
KR20210069227A (ko) 스티어링 장치
US20110120246A1 (en) Transmission device
JP2020044854A (ja) 操舵装置
KR101561952B1 (ko) 전동식 파워 스티어링 장치의 틸팅 구조 및 이를 포함하는 전동식 파워 스티어링 장치
JP2002205244A (ja) 割り出し装置とその組み立て方法
CN210919979U (zh) 间隙补偿传动组件及具有其的电动转向助力系统
JPH10193278A (ja) 電動スクリュードライバ
JPH0874885A (ja) 電磁クラッチ
JPH10227350A (ja) 回転体取付構造
KR100630384B1 (ko) 차동장치
CN214304497U (zh) 轴连接结构及离心压缩机
KR101583696B1 (ko) 자동 유격 보상이 가능한 랙바 지지 장치
JP2004068964A (ja) 歯車機構
JP2002002501A (ja) 車両用ステアリング装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17923113

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17923113

Country of ref document: EP

Kind code of ref document: A1