CN101849119A - Gear bearing drive - Google Patents
Gear bearing drive Download PDFInfo
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- CN101849119A CN101849119A CN200780100463A CN200780100463A CN101849119A CN 101849119 A CN101849119 A CN 101849119A CN 200780100463 A CN200780100463 A CN 200780100463A CN 200780100463 A CN200780100463 A CN 200780100463A CN 101849119 A CN101849119 A CN 101849119A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
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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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/36—Toothed gearings for conveying rotary motion with gears having orbital motion with two central gears coupled by intermeshing orbital gears
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2002/6836—Gears specially adapted therefor, e.g. reduction gears
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2002/6845—Clutches
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Transplantation (AREA)
- Animal Behavior & Ethology (AREA)
- Vascular Medicine (AREA)
- Veterinary Medicine (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Public Health (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Robotics (AREA)
- Retarders (AREA)
- Manipulator (AREA)
Abstract
A kind of gear bearing drive provides compact mechanism, and it provides moment of torsion as actuator operated, and as the joint operation, provides support.Drive unit comprises gearing, combines external rotor DC motor in sun gear.Locking surface keeps the parts alignment of drive unit, and provides support for axial load and moment.Gear bearing drive has multiple application, comprises the joint in mechanical arm and the artificial limb.
Description
Technical field
The present invention relates to a kind of gear bearing drive, and its application in various devices, comprise artificial limb and mechanical arm.
Background technique
Gear-bearing is a kind of mechanical structure, comprises gear and roller bearing surface, thereby machine power structure and bearing movable control function can be carried out under the situation that does not need special bearing.Gear-bearing is taked parts and device form.The gear-bearing parts can be configured to many forms, and the gear-bearing parts can be used as module and directly are connected to each other with the formative gear bearing means.The gear-bearing device uses rolling friction all the time, thereby does not need external bearings.The planetary gear bearing retarder utilizes the gear-bearing technology to be very easy to structure, and they provide good deceleration in the encapsulation of compactness." rock lock " (based on equilibrium of forces) characteristic is intrinsic in the gear-bearing planetary reducer, by preventing that joint reverse direction actuation (joint back drive) is (when the gear-bearing reduction speed ratio is higher than certain value, at 90-120: around 1), these have guaranteed special Security.Gear-bearing uses crown, and this crown cooperates against roller bearing, thus the axial lock fixed system.Except system was locked together, this cooperation can be carried out the thrust-bearing function, had increased extra functional to mechanism.The encapsulation that the gear-bearing device can manufacture with compactness provides special bearing intensity, and has unique motion control characteristic, and this makes them can carry out competitive limbic function.
The gear-bearing system is in U.S. Patent No. 6,626, describes in 792.This system has used planetary gear system, by surface of contact being arranged on the pitch diameter place of each gear, has eliminated common bearing.System has used the difference of a tooth between the input and output small gear.Contact surface keeps correct engagement, and allows the vibration operation of gear train with minimum.Because number of components reduces and overall complexity reduces, reliability also improves.Utilize same mechanism to realize that gear is than the intrinsic characteristic that is this gear-bearing design, for example from 1: 1 to 1: 2000, only by changing the number of teeth of each gear on a large scale equally.Gear-bearing system in this patent comprises the single roller of each gear, and it utilizes the wheel tooth ends that system is locked together.
Other known drive system is used epicyclic gear system, has spiral planetary pinion and ball bearing, and drives the output of carrier.The Harmonic drive unit utilizes the wave-generator operation, is known equally.Concise and to the point description can be referring to U.S. Patent Publication No.2006/0073922.
About the field of prosthetic appliance, the parts that human body drives have been used in several centuries in the prosthese, and still extensive use today.The control of these systems comprises the coordination of overall main body motion, away from cut-out amputation place, and generally includes certain type the health constraint that is directly connected to prosthese.Though this and prosthese are in light weight usually and cost is low, they have significant disadvantage.The constraint of health has limited the scope of work usually, thereby the amputee must be with method of synchronization coordinate body movements operating terminal device correctly.Thereby higher levels of amputee can not produce the correct startup prosthese of abundant exercise usually.Realize that satisfied grip strength is equally very difficult, this is because the present terminal unit of selling and the mechanical constraint of clamping pattern.
Since the later stage in the 1970's, the parts of external drive use, and provide some different advantages with respect to the health driver part.The electronics elbow can produce the lifting force of about 15lbs/ft, and the electric terminal device can produce the maximum grip power of about 22lbs.Though the parts that drive with respect to many human bodies have supplied improved performance, these devices still are not suitable for for a lot of tasks.
Summary of the invention
Gear bearing drive according to the present invention is a kind of mechanism of compactness, can provide moment of torsion as actuator operated, and as the joint operation, provides support.Because external rotor brushless DC motor technology and gear-bearing technology, this is feasible.It can replace traditional motor gear module, saving in weight and space with single mechanism.In addition, the positional accuracy absolute or that increase of height is intrinsic for this design, has increased encoder to drive motor in addition.Its compact size, highi degree of accuracy and joint performance allow it to have application in aviation, space, manufacturing, transportation and other industry.
A kind of gear bearing drive provides a kind of joint (joint) and compact actuator of high power that does not have bearing, has big specific power.Gear bearing drive uses planetary gear system, and wherein the external rotor motor is integrated in the input sun gear sub-component.The coil of motor is grounding to the input ring gear.Gear bearing drive uses the roller bearing surface to provide to mechanism axially and radial support.The roller bearing surface design can be used single rolling surface, and wherein its end face is coupled to gear teeth crown, and perhaps it can use the two-stage roller bearing, it utilizes the roller bearing surface to separate radial and axial support, be used for radial support, and the rotor that extends, thereby system axial is locked.Gear bearing drive comprises two-stage roller sub-component, also can benefit from the chamfering of gear teeth end, thereby remove all loads from the gear crown.This feature moves to most of axial load below the root circle of gear, thereby has greatly increased the join strength of drive unit.
By removing external support structure, gear bearing drive has been simplified the joint assembly of machine.And, use the device of gear-bearing can realize high power density by described articulation structure, motor and gearing are attached in the single compact structure.This makes that gear bearing drive can be used for comprising mechanical arm in the various application, artificial limb, electric capstan and bionics.
Description of drawings
In conjunction with the accompanying drawings,, will fully understand the present invention by following detailed description, in the accompanying drawing:
Fig. 1 is from gear bearing drive first embodiment's of outlet side isometric drawing according to the present invention;
Fig. 2 is the isometric drawing from Fig. 1 gear bearing drive of input side;
Fig. 3 is the part cutaway view of the gear bearing drive of Fig. 2;
Fig. 4 A is gear bearing drive first embodiment's an outlet side planimetric map;
Fig. 4 B is gear bearing drive first embodiment's an input side planimetric map;
Fig. 5 is that wherein locking ring is removed from gear bearing drive first embodiment's of outlet side partial view;
Fig. 6 is that wherein locking ring is removed from gear bearing drive first embodiment's of input side partial view;
Fig. 7 is the isometric drawing of gear bearing drive first embodiment's inner member;
Fig. 8 is the side view of the inner member of Fig. 7;
Fig. 9 is gear bearing drive first embodiment's a isometric cross-sectional view;
Figure 10 A is the side view of gear bearing drive first embodiment's small gear sub-component;
Figure 10 B is the sectional view of the small gear sub-component of Figure 10 A;
Figure 11 A is the isometric drawing of gear bearing drive first embodiment's sun gear sub-component;
Figure 11 B is the end elevation of the sun gear sub-component of Figure 11 A;
Figure 11 C is the other isometric drawing of the sun gear sub-component of Figure 11 A;
Figure 12 is gear bearing drive first embodiment's a sectional view;
Figure 13 is gear bearing drive first embodiment's the sun gear sub-component and the planimetric map of small gear sub-component;
Figure 14 is the isometric drawing of first step in gear bearing drive first embodiment assembling;
Figure 15 is the isometric drawing of second step in gear bearing drive first embodiment assembling;
Figure 16 is the isometric drawing of third step in gear bearing drive first embodiment assembling;
Figure 17 is the isometric drawing of the 4th step in gear bearing drive first embodiment assembling;
Figure 18 is the isometric drawing of the 5th step in gear bearing drive first embodiment assembling;
Figure 19 is the isometric drawing of the 6th step in gear bearing drive first embodiment assembling;
Figure 20 is the isometric drawing of the 7th step in gear bearing drive first embodiment assembling;
Figure 21 is the isometric drawing of the 8th step in gear bearing drive first embodiment assembling;
Figure 22 is the isometric drawing of the 9th step in gear bearing drive first embodiment assembling;
Figure 23 is the isometric drawing of the tenth step in gear bearing drive first embodiment assembling;
Figure 24 is the isometric drawing of the 11 step in gear bearing drive first embodiment assembling;
Figure 25 is the isometric drawing of the 12 step in gear bearing drive first embodiment assembling;
Figure 26 is the isometric drawing of the 13 step in gear bearing drive first embodiment assembling;
Figure 27 is the isometric drawing of the 14 step in gear bearing drive first embodiment assembling;
Figure 27 is the isometric drawing of the 14 step in gear bearing drive first embodiment assembling;
Figure 28 A is first embodiment's of the gear bearing drive that assembles fully a isometric drawing;
Figure 28 B is first embodiment's of the gear bearing drive that assembles fully an other isometric drawing;
Figure 29 is second embodiment's of gear bearing drive a isometric drawing;
Figure 30 is gear bearing drive second embodiment's a sectional view;
Figure 31 is gear bearing drive second embodiment's a phantom;
Figure 32 A is the isometric drawing that combines the mechanical arm of gear bearing drive according to the present invention;
Figure 32 B is the other isometric drawing of Figure 32 A mechanical arm;
Figure 32 C is the other isometric drawing of the mechanical arm of Figure 32 A;
Figure 33 A is the isometric drawing that combines the artificial limb of gear bearing drive according to the present invention;
Figure 33 B is the other isometric drawing of the artificial limb of Figure 33 A;
Figure 34 A is the isometric drawing of elbow joint of the artificial limb of Figure 33 A;
Figure 34 B is the elbow of Figure 34 A and the other isometric drawing of forearm drive unit;
Figure 35 A is the isometric drawing of forearm drive unit of the artificial limb of Figure 33 A;
Figure 35 B is the other view of forearm drive unit of the artificial limb of Figure 35 B;
Figure 36 is the schematic representation that combines the capstan winch assembly of the gear bearing drive according to the present invention;
Figure 37 is the schematic representation of the other embodiment of gear bearing drive according to the present invention;
Figure 38 is the schematic representation of the other embodiment of gear bearing drive according to the present invention.
Embodiment
Fig. 1-13 shows first embodiment of gear-bearing of the present invention (gear bearing) drive unit 10.Gear bearing drive comprises external rotor motor 12, and it is integrated in the gear-bearing assembly 14.The gear-bearing assembly is the gear train of no bearing, and it is placed on the pitch diameter place of each gear with rolling surface, thus keep gear train align and support thrust, radially and flexural load.Concrete, gear train comprises input side sun gear sub-component 16, it is transfused to side and outlet side ring gear 18,20 centers on one heart.The small gear sub-component 22 of a plurality of same sizes engages (interface) between input sun gear sub-component 16 and ring gear 18,20.The small gear sub-component rotates round the sun gear sub-component and around it, thereby input stage is connected to the output stage of drive unit.Motor 12 is integrated on the input side in the sun gear sub-component.The coil 24 of motor is grounding to the input side of assembly.
Input and output locking ring 26,28 is arranged on the input and output side, thereby ring gear 18,20 is coupled to small gear sub-component 22, and whole assembly 14 is locked together.When assembling, drive unit is a rigidity, have support thrust, radially with the ability of flexural load, as described below.Thereby locking ring and ring gear are constructed as required and are connected to suitable application.
Heart is arranged on the inside of drive unit in the sun gear sub-component 16, the magnet 32 and their mounting structure 34 that comprise the external rotor motor, input sun gear 36, optional encoder-driven axle 38, sun gear roller bearing (bearing, bearing) face 42, and sun gear locking surface 43,44.Sun gear roller bearing face 42 radial outward, thus sun locking surface 44 is towards axially cooperating with the roller 46 of the extension of small gear sub-component.
In the illustrated embodiment, sun gear locking ring 48 is coaxial to be arranged on the end that is positioned at input side of sun gear 36.Sun gear locking ring 48 comprises the sun gear roller bearing face 42 of radial outward, and it rolls on the corresponding roller bearing face 52 of small gear sub-component 22 and does not have slippage.Sun gear locking ring 48 also comprises sun gear locking surface 44, and it is gear 36 sunward axially.
Favourable, do not need bearing that sun gear is set with one heart, because the sun gear sub-component is fixed by the locking surface of small gear sub-component radial and axially.
In the same illustrated embodiment, output sun roller sub-component 66 is coaxial to be arranged on the other end place that sun gear is positioned at outlet side.Output sun roller assembly has been stablized drive unit, keeps the small gear sub-component correctly to align.Output sun roller sub-component comprises sun roller bearing face 68, its radial outward, and it rolls on the corresponding roller bearing face 72 of small gear sub-component 22 and does not have slippage.
Sun roller sub-component comprises sun roller locking ring 74 and sun roller bearing 76, encircles the 74 coaxial sun roller sub-components that are arranged on and is positioned at end place on the outlet side.Sun roller sub-component comprises sun roller locking surface 78, and it is gear sunward axially.Sun roller sub-component comprises another locking surface 78, and it axially outwardly.Sun roller locking ring locks onto the small gear sub-component with sun roller sub-component.Locking surface cooperates with the extension roller 82 of small gear sub-component, and is further that the outlet side of gear bearing drive is stable.
Each small gear sub-component comprises input stage small gear 84 and the output stage small gear 86 coaxial with the input stage small gear.The tooth engagement of the tooth of input stage small gear and the tooth of sun gear and input side ring gear.The tooth engagement of the tooth of output pinion and outlet side ring gear.The difference that between the number of teeth of input stage small gear and the output stage small gear number of teeth, has single tooth.Three small gear sub-components are illustrated, but can use four or a plurality of if necessary, thus with Load distribution at planetary gear pinion at interval in the limit of equation (spacing equation).
Input stage small gear and output stage small gear are coaxial to be installed on pinion support member or the pillar (backbone) 88, and it provides main support for the small gear sub-component.Small gear roller cover (roller cap) 102 axially is installed on the threaded stem 108 at an end place of pillar, and the small gear sub-component is locked together.The small gear sub-component can assemble in another way, and is confirmable as those skilled in the art.
At input side, pillar comprises the roller supporting surface 27 that is positioned on the end, its radial outward.The rolling bearing face rolls on sun roller bearing face 42 and input ring gear roller bearing face 92 and does not have slippage.This has fixed the radial position of sun gear sub-component.Locking surface 58 is positioned near on the extension roller 46 of roller bearing face, axially inwardly with outside.They cooperate with the locking slot of sun gear sub-component and input ring gear, and the input side of gear bearing drive mechanism is locked onto the small gear sub-component.The wheel tooth ends terminal chamfering, thereby transfer a load onto gear root circle below.Power Processing capacity that this has increased the joint has reduced the possibility of the terminal accelerated wear test of gear.
At outlet side, pillar comprise radially towards small gear roller bearing face 72.The roller bearing face rolls on sun roller bearing face 68 and does not have slippage, has also fixed the radial position of sun roller sub-component.Locking surface 104 is positioned near on the extension roller 106 of roller bearing face, axially inwardly and outwardly.They cooperate with the locking slot of sun roller sub-component and output ring gear, the outlet side of gear bearing drive mechanism is locked onto the small gear sub-component, and described sun roller assembly axially is set.Thereby the terminal chamfering of wheel increment transfer a load onto Gear Root circle below.This has strengthened the power Processing capacity in joint, and has reduced the possibility of the accelerated wear test of gear end.
Input side ring gear 18 comprises such tooth, and its tooth with input small gear 84 meshes.Locking slot is by the end face of tooth and axially the forming to internal surface of input side locking ring 26 of input ring gear.This groove defines locking surface 118 (Fig. 9), and this surface cooperates with the locking surface 58 of the input side of small gear sub-component.The same with small gear sub-component wheel tooth with the sun gear tooth, the terminal chamfering of input side ring gear.
Outlet side ring gear 20 comprises tooth, the tooth engagement of itself and outlet side small gear 86.Locking slot is by the end face of the tooth of output ring gear and axially forming to internal surface of outlet side locking ring 28.This groove defines locking surface 120 (Fig. 9), and it cooperates with the locking surface 104 of the outlet side of small gear sub-component.The same with small gear sub-component wheel tooth with the sun gear tooth, the terminal chamfering of outlet side ring gear.
Output and input side locking ring are coupled to the small gear sub-component with ring gear, and assembly is locked together.Locking ring comprises roller bearing face 122,124, and they roll on the roller bearing face of small gear roller cover and small gear pillar and do not have slippage.
Motor is compact external rotor DC motor.In this motor, coil stationary is to end bell (end bell) (ground connection stator), and magnet is arranged on the rotor.This rotor design has higher moment of torsion output, bigger heat dissipation potential, and low number of components than common DC motor designs.
With reference to figure 11A-C, show motor is integrated into a embodiment in the sun gear.Fin 132 for example is formed in the internal surface of sun gear by machining.Magnet 32 for example utilizes glue to be attached between the fin.In the chamber of external rotor coaxial arrangement in sun gear.Stator is fixed in the rotor.Thereby little cone shape hole 134 can be included in and help in some fins sun gear locking ring 48 is held in place.
Also can comprise encoder axle 38, be connected to sun gear for application need if be used for.The encoder that is connected to this makes its resolution multiply by the ratio identical with the gear-bearing device, makes that device is well suited to control in precision.For example, 12 (at every turn rotating (click) 4096) encoders are connected to motor, and wherein gear reduction ratio is 300: 1, have produced the possible running accuracy less than 0.0003 degree.
Figure 14-28A and B show the assembling of device.Device preferably assembles by means of assembly fixture (jig) 140, and it is provided with small gear.Among Figure 15, threaded stem 108 is inserted in the mounting hole 144 in the collar 142 in the anchor clamps.Threaded stem is arranged on correct position and they are correctly directed with small gear.As Figure 16, small gear pillar 88 slides above threaded stem.Next, output stage small gear 86 on pillar, slide (Figure 17) in place.
Outlet side sun roller locking ring 74 is held in place in the centre of anchor clamps, with the register (Figure 18) in the anchor clamps.Output sun roller 76 is bolted to output sun roller locking ring (Figure 19) then.Input side small gear 84 slip (Figure 20) on the pinion assemblies pillar then.Outlet side ring gear 20 on small gear, slide (Figure 21) in place.Next, sun gear 36 slides in place, and module fixture is removed (Figure 22).
Then, input side ring gear 18 slips (Figure 23) in place.Small gear roller cover 102 utilizes threaded stem to be screwed togather (Figure 24).It is in place and screwed togather (Figure 25) downwards to have surface 42 sun gear roller slip.Output locking ring 28 utilizes alignment pin 152 to be installed to output ring gear, thereby guarantees that the gear-bearing roller surface is by correct alignment (Figure 26).The motor line coil structures is installed to input side locking ring 26, and the input side locking ring is installed to input side ring gear 18 (Figure 27) then.Figure 28 A and B show two views of the gear bearing drive of assembling fully.
The gear bearing drive of other structure also is feasible.For example as Figure 29-31, gear bearing drive can only utilize gear end crown and smooth gear-bearing roller to provide, thereby mechanism is locked together.In this structure, the roller ring is a diameter, has radial surface, as the gear-bearing roller, and has inner axial vane surface, as locking surface.The input and output locking ring is omitted.The reduction speed ratio of gear bearing drive is determined (for example seeing U.S. Patent No. 6,626,792) by known equation.The external rotor motor is integrated in the sun gear, as mentioned above.Along with gear reduction ratio increases, oppositely drivability (backdrivability) reduces, up to the point that " Rock lock " takes place.After this point, mechanism can not reverse direction actuation.
Among another embodiment of gear bearing drive 150, external rotor motor 152 is combined in one or more small gears 154, rather than in sun gear 156.See Figure 37.Therefore this assembly is the single gear retarder, has integrated motor.Other motor has increased specific power and has not increased the size of assembly.Sun gear 56 and driven pinion 158 that passive (passive) center is provided with can only be roller/locking rings, and perhaps they also can comprise gear.Ring gear is drive machines directly, thereby can comprise that perhaps additional features allows it to be used as small gear part in the rack-and-pinion assembly.Motor stator (a plurality of) is according to application need and ground connection.
In the additional embodiments, gear bearing drive 160 is gear-bearing transmission devices, coaxially is integrated in the inner rotator brushless DC motor 162.See Figure 38.Magnet 164 is installed to the outside of gear-bearing ring gear 166.Motor winding 168 is positioned at stator 169, is grounded together with the position of small gear 170.Small gear utilizes the rotation of master ball bearing in place.Ring gear is driven, and power is delivered to sun gear 172 by small gear.Sun gear has output shaft 174.Ring gear, small gear and sun gear all comprise the roller bearing face.These roller bearing faces maintenance sun and ring gear are concentric with respect to coil.The pinion support internal structure.This structure of gear bearing drive with respect to driven ring gear make output shaft rotating speed at double.The long radius of magnet/coil gives motor with high torque capability.Output shaft has support load, together with the ability of moment of torsion, load comprises thrust and radial load.
The other embodiment of this external drive gear bearing drive uses two-stage system, and wherein planetary pinion has monodentate difference, outlet side ring gear and sun roller.The outlet side ring gear is the output of actuator.It drives embodiment with above-mentioned sun gear and has identical gear-bearing parts, except the input side ring gear now to be driven by inner rotator motor and external coil with the similar mode of the embodiment of Figure 38.In this situation, small gear freely circulates, and sun gear locks in place (ground connection).It can be in conjunction with the locking slot system of type same as described above.This drive unit can support thrust and radial load, together with the moment on the outlet side ring gear.
Gear bearing drive can be implemented as the joint, can support moment, thrust and radial load, simultaneously with high-level torque drive joint.For example, gear bearing drive is suitable for as the joint in mechanical arm or the artificial limb.
An embodiment of mechanical arm 200 who combines gear bearing drive is shown in Figure 32.Shown mechanical arm has six-degree-of-freedom, has high strength and extra high precision in the lightweight compact encapsulation.Arm is modular, combines a series of joint modules and terminal Executive Module.The required degrees of freedom that this modularization allows to sentence virtually any size and arbitrary number at end effector designs these arms and prototype manufacturing fast.
(shoulder 202 in the illustrated embodiment in each joint, ancon 204, wrist 206) utilize its gear bearing drive to be driven, it is attached to actuator, joint load support device and position probing in one space, on this spatial volume less than present any mechanical arm of similar capabilities.The full functionality of gear bearing drive helps the modular design structure of mechanical arm, makes arm reconfigurable and highly be suitable for various tasks more.Each degrees of freedom of robot is used a gear bearing drive.In the illustrated embodiment, shoulder uses identical gear bearing drive with the ancon joint, and less gear bearing drive is used in the wrist joint.
Each gear bearing drive joint assembly comprises its controller and encoder.Gear bearing drive is constructed with synchronous encoder and joint position, thus they can install or replace, do not need again zero-bit with reference to mechanical arm.When in the joint assembling set that is inserted into calibration in advance, the user only needs to be input to the arm type coding in the master controller and system will use.The structure of mechanical arm can change, by simply from mechanical arm replacement, increase or removing component.
According to for what the required by task of carrying out was wanted, the load carrying capacity of mechanical arm can be determined by the size and the intensity of arm.Among the embodiment, shown in the about 15lbs of approximate weight of mechanical arm, have the arm of aluminum.
Gear bearing drive is shown in Figure 33 A-35B in 3-4 degrees of freedom artificial limb 300.Arm comprises gear bearing drive, is positioned at ancon 302 places, is used for bending and stretching, extension.In preceding arm housing 304, near ancon, gear bearing drive 306 is set for the forearm rotation, just revolves preceding and supination.In preceding arm housing, gear bearing drive 308 is set for wrist flexion and stretching, extension equally.Optionally shoulder rotating driving device 310 can be provided with.The holder (socket) 312 that is used for top is provided with equally with the connected system 314 that is used for hand.
The joint can have the rotating speed of 120 degree/seconds.Among the embodiment, for shown in parts, do not comprise holder, the about 1.2kg/2.75lbs of the quality/weight of the estimation of arm.The gear bearing drive at elbow joint place has 2.3 " external diameter and 2.5 " length.This compact size allows the joint to be contained in fully in the conventional ancon occupation space.
The shared identical shape factor of the external rotor motor that uses in the arm have the power capacity of 55-210W, thereby system can be optimised for concrete application, for example heavy lift or ultra low power consumption.
For safety, thereby foil gauge can be combined in the joint when detecting overload conditions, the joint moment of torsion that makes controller to monitor to apply and to rear driving.In another replaceable scheme, the gear ratio of gear bearing drive can be configured such that drive unit can not be reversed driving.Therefore, when elbow joint for example in the following time of effect of static load, motor does not have energy consumption.
Forearm (before revolving-and supination) rotation is by gear bearing drive 306 drivings, and this device also provides connected system, and this connected system is connected to forearm with ancon.(grounded, ground connection) is installed and made up to the input stage ring gear to ancon, and forearm directly is installed to output ring gear.Forearm can be constructed by lightweight composite materials, and it provides required strength and stiffness.
For wrist flexion-extending movement, gear bearing drive 308 is installed in the forearm.As Figure 35 A and B.Non-slip band drive unit 316 of power utilization or transmission shaft from this systems communicate to wrist.The requirement that the connector that is used for wrist is based on hand is by detail design, and also can comprise sliding clutch 318, thereby the protection user prevents the excess impact load.
Among another embodiment, be suitable for being used in capstan winch (winching) device, the input stage ground connection of gear bearing drive, output stage is connected to the capstan winch drum.Concrete, in the situation of sailing boat capstan winch 402 (Figure 36), input stage 404 is grounding to boat deck 406, and output stage 408 is connected to capstan winch drum 410, its coaxial installation.Overrunning clutch or bearing 412 can be implemented between output stage and the capstan winch drum, come manually-operable thereby allow to be used for manually operated suitable mechanism 414.Gear bearing drive is positioned at the capstan winch drum; It drives the rotation of capstan winch, and supports load from line 416.Capstan winch can be from reefing (self-tailing) or non-from reefing.Similarly, gear bearing drive can be integrated with other capstan winch, vehicle capstan winch for example, and building capstan winch etc., perhaps interchangeable, can be used as the flattened type gear motor, outside or remotely drive capstan winch or other machine.
Gear bearing drive can be used in various other application.For example, in the mill, it can be used as actuator and/or joint with drive machines.In the CNC machine, it can replace servomotor and/or precise positioning work table.In bionics, it can be used as joint and/or actuator, is used for dynamo-electric human part.Its actuatable various objects, for example window and haptic interface.It can replace standard DC brush and brushless gear motor.In aviation, gear bearing drive can be used for control or activates undercarriage, wing control surface, hatch etc.
Describe in detail and illustrate above the invention is not restricted to, except claim described.
Claims (51)
1. a gear bearing drive comprises the assembly with input stage and output stage, and described assembly comprises:
The sun gear sub-component comprises:
Sun gear and
Motor has external rotor, and external rotor is arranged in the inner region of sun gear, and sun gear can rotate along with external rotor;
A plurality of small gear sub-components are arranged to engage with the sun gear sub-component and around its rotation, each small gear sub-component comprise with the input small gear of sun gear engagement and output pinion and
Output ring gear is arranged to the output pinion engagement with each small gear sub-component.
2. gear bearing drive as claimed in claim 1 is characterized in that the external rotor of motor comprises a plurality of magnets, and described a plurality of magnets are spaced apart to be fixed on around the internal surface of sun gear.
3. gear bearing drive as claimed in claim 1 is characterized in that, also comprises the encoder-driven axle, and this encoder-driven axle is installed to the sun gear sub-component, is used for and its rotation.
4. gear bearing drive as claimed in claim 1 is characterized in that motor comprises the DC motor.
5. gear bearing drive as claimed in claim 1 is characterized in that, also comprise on the small gear sub-component axially towards the cooperation locking surface, and the sun gear sub-component is arranged in and transmits axial force therebetween.
6. gear bearing drive as claimed in claim 1 is characterized in that, also comprise on the small gear sub-component axially towards the cooperation locking surface, and output ring gear is arranged in and transmits axial force therebetween.
7. gear bearing drive as claimed in claim 1 is characterized in that, also comprises: sun roller sub-component is arranged on the output stage place of assembly; And towards axial cooperation locking surface, be positioned on the small gear sub-component, and sun roller sub-component is arranged in and transmits axial force therebetween.
8. gear bearing drive as claimed in claim 1 is characterized in that, also comprises: the input ring gear, be arranged to input pinion with each small gear sub-component; And axially towards the cooperation locking surface, be positioned on the small gear sub-component, and the input ring gear is arranged in and transmits axial force therebetween.
9. gear bearing drive as claimed in claim 1 is characterized in that, also comprise be positioned on the small gear sub-component towards radially supporting surface, and the sun gear sub-component is arranged to the rolling bearing contact.
10. gear bearing drive as claimed in claim 1 is characterized in that, also comprises: the output locking ring is arranged on the output stage place of assembly, thereby assembly is locked together; And towards radially supporting surface, be positioned on the small gear sub-component, and the output locking ring is arranged to the rolling bearing contact.
11. gear bearing drive as claimed in claim 1 is characterized in that, also comprises: sun roller sub-component is arranged on the output stage place of assembly; And towards radially supporting surface, be positioned on the small gear sub-component, and sun roller sub-component is arranged to the rolling bearing contact.
12. gear bearing drive as claimed in claim 1 is characterized in that, also comprises:
The input ring gear is arranged to the input pinion with each small gear sub-component;
The input locking ring is arranged on the input stage place of assembly, thereby assembly is locked together; With
Radially towards supporting surface is positioned on the small gear sub-component, and the input locking ring is arranged to the rolling bearing contact.
13. gear bearing drive as claimed in claim 1, it is characterized in that, the sun gear sub-component also comprises sun gear roller bearing face, be positioned on the input stage of gear bearing drive of radial outward, the small gear sub-component also comprises the small gear roller surface, radial inward, and near described radially outer sun gear roller bearing surface bearing joint, thereby radial force transmitted.
14. gear bearing drive as claimed in claim 1, it is characterized in that, the sun gear sub-component also comprises locking slot, this groove limit axially towards the sun gear locking surface, the small gear sub-component all comprises the roller of extension in addition, the roller of this extension limits the axial locking surface that cooperates, and this axial locking surface engages with described sun gear locking surface, thereby transmits axial force.
15. gear bearing drive as claimed in claim 1, it is characterized in that, the sun gear sub-component also comprises sun gear roller bearing surface, be positioned on the input stage of gear bearing drive, its radial outward, and sun gear comprises a plurality of sun gear teeth, radially extends with the Pitch radius of determining from sun gear, and this Pitch radius equals the radius of sun gear roller bearing face.
16. gear bearing drive as claimed in claim 1 is characterized in that, sun gear comprises a plurality of sun gear teeth, radially extend from sun gear, thereby load is removed from end in the end of sun gear tooth to the root chamfering from end.
17. gear bearing drive as claimed in claim 1 is characterized in that, input small gear and output pinion comprise a plurality of gear teeth that radially extend, thereby load is removed from end in the end of the gear teeth to the root chamfering from end.
18. gear bearing drive as claimed in claim 1, it is characterized in that, also comprise sun roller sub-component, be arranged on the output stage place of assembly, sun roller sub-component comprises the sun roller bearing face of radial outward, and the small gear sub-component also comprises small gear roller surface, radial inward, and the sun roller bearing surface bearing near described radial outward engages, thereby transmits radial force.
19. gear bearing drive as claimed in claim 18, it is characterized in that, sun roller sub-component also comprise from sun gear axially towards sun roller locking surface and sun roller locking ring, this sun roller locking ring comprises axially the sun roller locking surface towards described sun gear; With
The small gear sub-component all comprises the roller of extension in addition, and this roller limits the axial locking surface that cooperates, this axial locking surface and sun roller locking surface engagement, thus transmit axial force.
20. gear bearing drive as claimed in claim 1, it is characterized in that, also comprise sun roller sub-component, be arranged on the output stage of assembly, sun roller sub-component comprises sun roller locking ring, and sun roller locking ring comprises axial sun roller locking surface towards sun gear, the small gear sub-component all comprises the roller of extension in addition, this roller limits the axial locking surface that cooperates, this axial locking surface and sun roller locking surface engagement, thus transmit axial force.
21. gear bearing drive as claimed in claim 1, it is characterized in that, each small gear sub-component also comprises supporting member, input small gear and output pinion are by support member support, supporting member comprises the roller bearing face that is positioned at the output stage place, engages with roller bearing surface bearing on the output ring gear.
22. gear bearing drive as claimed in claim 21, it is characterized in that, also comprise sun roller sub-component, be arranged on the output stage place of assembly, sun roller sub-component comprises the sun roller bearing face of radial outward, and the small gear roller bearing face of small gear sub-component also is arranged to engage with sun roller bearing surface bearing.
23. gear bearing drive as claimed in claim 1 is characterized in that, also comprises the output locking ring, is arranged to the small gear sub-component is coupled to output ring gear.
24. gear bearing drive as claimed in claim 1 is characterized in that, also comprises the input ring gear, is arranged to the input pinion with each small gear sub-component.
25. gear bearing drive as claimed in claim 24 is characterized in that, also comprises the input locking ring, is arranged to the small gear sub-component is coupled to the input ring gear.
26. gear bearing drive as claimed in claim 24 is characterized in that, also comprises output locking ring and input locking ring, they are arranged to the small gear sub-component is coupled to output ring gear and input ring gear.
27. an arm prosthesis is combined with the described gear bearing drive of claim 1, comprising:
Limbs comprise forearm and upper arm, are positioned at the shoulder at upper arm ends place, the ancon between forearm and upper arm, and the wrist that is positioned at place, forearm end; With
Gear bearing drive is arranged on a place in shoulder, ancon and the wrist at least.
28. arm prosthesis as claimed in claim 27 is characterized in that, also comprises other gear bearing drive, is arranged on second place in shoulder, ancon and the wrist at least.
29. arm prosthesis as claimed in claim 27 is characterized in that, also comprises the gear bearing drive that is arranged on each place in shoulder, ancon and the wrist,
30. a mechanical arm is combined with the described gear bearing drive of claim 1, comprising:
Limbs have at least one joint, and gear bearing drive is arranged on a described joint at least.
31. mechanical arm as claimed in claim 30 is characterized in that, also comprises second joint, second gear bearing drive is arranged on described second joint place.
32. a capstan winch assembly is combined with the described gear bearing drive of claim 1, comprising:
Capstan winch drum, gear bearing drive are arranged in the capstan winch drum, and the gear bearing drive output stage is connected to the capstan winch drum, but gear bearing drive input stage ground connection.
33. capstan winch assembly as claimed in claim 32 is characterized in that, also comprises overrunning clutch, is arranged between gear bearing drive output stage and the capstan winch drum.
34. an electronic joint comprises:
The gear transmission device has: input stage comprises the input gear; And output stage, comprise output gear and output mating interface, output gear and described input gear engagement, the output mating interface is configured to provide moment of torsion output to device; With
Motor comprises external rotor and internal stator, and external rotor is arranged in the input gear inside of gear transmission device, is used for driving the input gear.
35. electronic joint as claimed in claim 34 is characterized in that, the output mating interface is configured to cooperate with arm prosthesis.
36. electronic joint as claimed in claim 34 is characterized in that, the output mating interface is configured to cooperate with mechanical arm.
37. electronic joint as claimed in claim 36 is characterized in that, the gear transmission device also comprises:
The sun gear sub-component comprises:
Sun gear and
Motor has external rotor, is arranged in the inner region of sun gear, and sun gear can rotate along with external rotor;
A plurality of small gear sub-components are arranged to engage with the sun gear sub-component and around its rotation, each small gear sub-component comprise with the input small gear of sun gear engagement and output pinion and
Output ring gear is arranged to the output pinion engagement with each small gear sub-component.
38. electronic joint as claimed in claim 34 is characterized in that the external rotor of motor comprises a plurality of magnets, around the spaced apart internal surface that is fixed on sun gear.
39. electronic joint as claimed in claim 34 is characterized in that, also comprises the encoder-driven axle, is installed to the sun gear sub-component, is used for and its rotation.
40. electronic joint as claimed in claim 34 is characterized in that motor comprises the DC motor.
41. electronic joint as claimed in claim 34 is characterized in that, also comprises towards axial cooperation locking surface, be positioned on the small gear sub-component, and the sun gear sub-component is arranged in and transmits axial force therebetween.
42. electronic joint as claimed in claim 34 is characterized in that, also comprises towards axial cooperation locking surface, be positioned on the small gear sub-component, and output ring gear is arranged in and transmits axial force therebetween.
43. electronic joint as claimed in claim 34 is characterized in that, also comprises: sun roller sub-component is arranged on the output stage place of assembly; With axially towards the cooperation locking surface, be positioned on the small gear sub-component, and sun roller sub-component is arranged in and transmits axial force therebetween.
44. electronic joint as claimed in claim 34 is characterized in that, also comprises: the input ring gear, be arranged to input pinion with each small gear sub-component; With axially towards the cooperation locking surface, on the small gear sub-component, and the input ring gear is arranged in and transmits axial force therebetween.
45. electronic joint as claimed in claim 34 is characterized in that, also comprises the supporting surface towards radially, is positioned on the small gear sub-component, the sun gear sub-component is arranged to the rolling bearing contact.
46. electronic joint as claimed in claim 34 is characterized in that, also comprises: the output locking ring is arranged on the output stage place of assembly, thereby assembly is locked together; Radially towards supporting surface is positioned on the small gear sub-component, and the output locking ring is arranged to the rolling bearing contact.
47. electronic joint as claimed in claim 34 is characterized in that, also comprises: sun roller sub-component is arranged on the output stage place of assembly; Radially towards supporting surface is positioned on the small gear sub-component, and sun roller sub-component is arranged to the rolling bearing contact.
48. electronic joint as claimed in claim 34 is characterized in that, also comprises:
The input ring gear is arranged to the input pinion with each small gear sub-component;
The input locking ring, the input stage that is arranged on assembly is sentenced assembly is locked together; With
Radially towards supporting surface on the small gear sub-component, is imported ring gear and is arranged to the rolling bearing contact.
49. electronic joint as claimed in claim 34, it is characterized in that, the sun gear sub-component also comprises sun gear roller bearing face, on the input stage of gear bearing drive, radial outward, the small gear sub-component also comprises the small gear roller surface of radial inward, and nestles up the sun gear roller bearing surface bearing joint of described radial outward, thereby transmits radial force.
50. electronic joint as claimed in claim 34 is characterized in that, the gear transmission device also comprises:
Sun gear
A plurality of small gears are arranged to the sun gear engagement and around its rotation;
Motor has external rotor, and external rotor is arranged in the inner region of one of them small gear, and small gear can rotate with external rotor;
Output ring gear is arranged to and pinion.
51. electronic joint as claimed in claim 50 is characterized in that, also comprises other motor, this other motor has external rotor, and external rotor is arranged in the inner region of another small gear, and small gear can rotate along with external rotor.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/US2007/016366 WO2009011682A1 (en) | 2007-07-19 | 2007-07-19 | Gear bearing drive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101849119A true CN101849119A (en) | 2010-09-29 |
Family
ID=40259882
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200780100463A Pending CN101849119A (en) | 2007-07-19 | 2007-07-19 | Gear bearing drive |
Country Status (5)
| Country | Link |
|---|---|
| EP (1) | EP2179197A4 (en) |
| JP (1) | JP2010533830A (en) |
| CN (1) | CN101849119A (en) |
| CA (1) | CA2694004A1 (en) |
| WO (1) | WO2009011682A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103064342A (en) * | 2012-12-14 | 2013-04-24 | 王泓晖 | Hand-operated pulser |
| CN105240413A (en) * | 2015-10-10 | 2016-01-13 | 广西大美电器有限公司 | Remote control system for heat dissipation |
| CN105373199A (en) * | 2015-10-10 | 2016-03-02 | 广西大美电器有限公司 | System for controlling heat dissipation by using computer |
| CN105666520A (en) * | 2016-04-01 | 2016-06-15 | 哈尔滨工业大学 | Under-actuated mechanical arm wrist based on gear transmission |
| CN107298385A (en) * | 2017-06-23 | 2017-10-27 | 河南省中原凌空起重设备有限公司 | For crane gear can safe self-locking control device for pivoting |
| WO2018045495A1 (en) * | 2016-09-06 | 2018-03-15 | 深圳市优必选科技有限公司 | Speed reduction device, joint servo steering engine, and robot |
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| US8618692B2 (en) | 2007-12-04 | 2013-12-31 | Solaredge Technologies Ltd. | Distributed power system using direct current power sources |
| KR20130096631A (en) | 2010-04-05 | 2013-08-30 | 아이워크, 아이엔씨. | Controlling torque in a prosthesis or orthosis |
| CN102431039B (en) * | 2010-09-29 | 2014-12-10 | 鸿富锦精密工业（深圳）有限公司 | Mechanical arm |
| US9060883B2 (en) * | 2011-03-11 | 2015-06-23 | Iwalk, Inc. | Biomimetic joint actuators |
| GB201114264D0 (en) | 2011-08-18 | 2011-10-05 | Touch Emas Ltd | Improvements in or relating to prosthetics and orthotics |
| WO2013067407A1 (en) | 2011-11-02 | 2013-05-10 | Iwalk, Inc. | Biomimetic transfemoral prosthesis |
| CN102542105B (en) * | 2011-12-24 | 2013-07-24 | 中国煤炭科工集团太原研究院 | Gear load wireless monitoring system and interactive multi-stage gear physical simulation method finished based on same |
| US10531965B2 (en) | 2012-06-12 | 2020-01-14 | Bionx Medical Technologies, Inc. | Prosthetic, orthotic or exoskeleton device |
| GB201302025D0 (en) | 2013-02-05 | 2013-03-20 | Touch Emas Ltd | Improvements in or relating to prosthetics |
| EP3354235A3 (en) | 2014-02-04 | 2019-02-20 | Rehabilitation Institute of Chicago | Modular and lightweight myoelectric prosthesis components |
| GB201403265D0 (en) | 2014-02-25 | 2014-04-09 | Touch Emas Ltd | Prosthetic digit for use with touchscreen devices |
| GB201408253D0 (en) | 2014-05-09 | 2014-06-25 | Touch Emas Ltd | Systems and methods for controlling a prosthetic hand |
| GB201417541D0 (en) | 2014-10-03 | 2014-11-19 | Touch Bionics Ltd | Wrist device for a prosthetic limb |
| CN105090380A (en) * | 2015-09-10 | 2015-11-25 | 上海奇步机器人有限公司 | Planetary gear transmission mechanism |
| KR101892562B1 (en) * | 2016-07-13 | 2018-08-28 | 주식회사 세진아이지비 | Module bearing and transmission device for converting torque having the same |
| US11185426B2 (en) | 2016-09-02 | 2021-11-30 | Touch Bionics Limited | Systems and methods for prosthetic wrist rotation |
| US10369024B2 (en) | 2016-09-02 | 2019-08-06 | Touch Bionics Limited | Systems and methods for prosthetic wrist rotation |
| US20210085551A1 (en) * | 2017-05-11 | 2021-03-25 | Board Of Regents, The University Of Texas System | Powered orthosis with combined motor and gear technology |
| US10973660B2 (en) | 2017-12-15 | 2021-04-13 | Touch Bionics Limited | Powered prosthetic thumb |
| CN109591045A (en) * | 2018-12-20 | 2019-04-09 | 杭州宇树科技有限公司 | A kind of high integration high-performance joint of robot unit |
| JP2020118261A (en) * | 2019-01-25 | 2020-08-06 | シナノケンシ株式会社 | Speed reducer and motor with speed reducer |
| US11931270B2 (en) | 2019-11-15 | 2024-03-19 | Touch Bionics Limited | Prosthetic digit actuator |
| JP2021081007A (en) * | 2019-11-20 | 2021-05-27 | シンフォニアテクノロジー株式会社 | Magical planetary gear mechanism |
| CN111365620A (en) * | 2020-02-24 | 2020-07-03 | 郑州大学 | Pipeline radar detection robot |
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| US5851162A (en) * | 1996-11-19 | 1998-12-22 | Tether; David | System and apparatus for a multiple input and dual output electric differential motor transmission device |
| US6626792B2 (en) * | 2000-03-07 | 2003-09-30 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Gear bearings |
| DE10161942A1 (en) * | 2001-12-17 | 2003-07-03 | Thomas Hirn | Planetary gear has teeth of two planet wheels of planet wheel pair offset in relation to each other by determined angle and is calculated by mathematical expression |
| DE10236372A1 (en) * | 2002-08-02 | 2004-02-19 | Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Coburg | Multi-modular component disk armature drive motor for adjusting devices in motor vehicles has an electrical connection module to form a modular component group to control and power the motor |
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2007
- 2007-07-19 JP JP2010516959A patent/JP2010533830A/en not_active Withdrawn
- 2007-07-19 CN CN200780100463A patent/CN101849119A/en active Pending
- 2007-07-19 WO PCT/US2007/016366 patent/WO2009011682A1/en active Application Filing
- 2007-07-19 CA CA2694004A patent/CA2694004A1/en not_active Abandoned
- 2007-07-19 EP EP07796944A patent/EP2179197A4/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103064342A (en) * | 2012-12-14 | 2013-04-24 | 王泓晖 | Hand-operated pulser |
| CN103064342B (en) * | 2012-12-14 | 2016-03-02 | 王泓晖 | Manual pulse generator |
| CN105240413A (en) * | 2015-10-10 | 2016-01-13 | 广西大美电器有限公司 | Remote control system for heat dissipation |
| CN105373199A (en) * | 2015-10-10 | 2016-03-02 | 广西大美电器有限公司 | System for controlling heat dissipation by using computer |
| CN105666520A (en) * | 2016-04-01 | 2016-06-15 | 哈尔滨工业大学 | Under-actuated mechanical arm wrist based on gear transmission |
| WO2018045495A1 (en) * | 2016-09-06 | 2018-03-15 | 深圳市优必选科技有限公司 | Speed reduction device, joint servo steering engine, and robot |
| CN107298385A (en) * | 2017-06-23 | 2017-10-27 | 河南省中原凌空起重设备有限公司 | For crane gear can safe self-locking control device for pivoting |
Also Published As
| Publication number | Publication date |
|---|---|
| EP2179197A4 (en) | 2010-09-01 |
| CA2694004A1 (en) | 2009-01-22 |
| WO2009011682A1 (en) | 2009-01-22 |
| JP2010533830A (en) | 2010-10-28 |
| EP2179197A1 (en) | 2010-04-28 |
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Application publication date: 20100929 |