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Double-degree-of-freedom robot hip joint steering engine

A degree of freedom, robot technology, applied in the field of robots, can solve the problems of large inertia and poor dynamic response of the body, and achieve the effect of compact joint structure, excellent dynamic performance, and reduced space.

Inactive Publication Date: 2013-01-09
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to its structural characteristics, the body has a large inertia and poor dynamic response.

Method used

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  • Double-degree-of-freedom robot hip joint steering engine
  • Double-degree-of-freedom robot hip joint steering engine

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Embodiment Construction

[0022] The present invention will be further described below in conjunction with drawings and embodiments.

[0023] Such as figure 1 and figure 2 As shown, the steering gear consists of X-direction end cover screw 1, X-direction end cover 2, X-direction output shaft upper bearing 3, X-direction output gear 4, X-direction second gear 5, X-direction second spindle 6, X-direction First spindle 7, X first gear 8, X idler upper bearing 9, X idler 10, X output shaft lower bearing 11, X idler lower bearing 12, Y direction motor cover screw 13 , Y direction motor end cover 14, control circuit board 15, Y direction motor 16, X direction angle sensor 17, X direction angle sensor screw 18, X direction motor 19, housing 20, Y direction first gear 21, Y direction first gear A mandrel 22, Y direction second gear 23, Y direction second mandrel 24, Y direction output shaft lower bearing 25, Y direction idler lower bearing 26, Y direction output gear 27, Y direction idler wheel 28, Y direct...

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Abstract

The invention relates to a double-degree-of-freedom robot hip joint steering engine. The existing robot hip joint steering engine is single-shaft output, namely only one degree of freedom can be provided for a robot. The double-degree-of-freedom robot hip joint steering engine comprises an end cover and a shell. The end cover and the shell are connected through a screw to form a sealed space. The sealed space is internally provided with motors, a motor gear, a speed-reducing mechanism, a bearing, a control circuit board and an angle sensor. The motor gear is engaged with an input gear of the speed-reducing mechanism and an output shaft of the speed-reducing mechanism outputs power. The angle sensor is arranged on the output shaft. According to the double-degree-of-freedom robot hip joint steering engine, the two motors are arranged in the same sealed space, and the power is output in two directions at the same time through the gear speed-reducing mechanism arranged in the shell; and the control circuit board and the angle sensor, which are arranged at the inner part, can respectively control output angles at the two directions, so that the robot hip joint steering engine has the capability of providing two degrees of freedom.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a dual-degree-of-freedom robot hip joint steering gear. Background technique [0002] With the continuous development of robots, the interaction between robots and humans is getting closer and closer, from the traditional industrial environment to the daily life of human beings. [0003] According to the principle of bionics, the movement of the robot imitates that of humans through joints. Each joint is consistent with the degree of freedom of each joint of the human being on the basis of accurate control. The degrees of freedom of the major movable joints of the human body are not the same. In order to achieve multi-degree-of-freedom motion, traditional robot joints usually use two sets of structurally independent power devices, each of which provides a degree of freedom. The overall structure of the joint is complex, the inertia is large, the dynamic response is poor, the recon...

Claims

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Application Information

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IPC IPC(8): B25J17/00
Inventor 周建军林阿斌张亚平傅丹丹
Owner HANGZHOU DIANZI UNIV
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