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Steering gear and robot

A technology of steering gear and motor shaft, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc. It can solve the problems of large joints of planetary reducers and the joints returning to the mechanical zero position.

Active Publication Date: 2021-06-04
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the embodiment of the present application is to provide a steering gear to solve the technical problem that the joint volume of the existing planetary reducer is large, and the joint must return to the mechanical zero position every time it is started

Method used

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  • Steering gear and robot
  • Steering gear and robot
  • Steering gear and robot

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Embodiment Construction

[0040] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

[0041] In the description of the embodiments of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical ", "horizontal", "top", "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying Describes, but does not indicate or imply that the dev...

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Abstract

This application belongs to the technical field of humanoid service robots, and relates to steering gear and robots. The motor shaft of the motor assembly is connected to the sun gear of the planetary reducer, the planetary gear set meshes with the sun gear and the ring gear at the same time, and the pin shaft connects the planetary gear set and the output shaft through. The motor shaft drives the sun gear to rotate at a high speed, the sun gear drives the planetary gear set to rotate, and the planetary gear set and the inner ring gear are meshed for transmission, so that the pin shaft drives the output shaft to rotate at a low speed. The single-turn absolute value sensor at the output end is set to detect the absolute position of the output shaft, and the single-turn absolute value sensor at the motor end is set to detect the absolute position of the motor shaft. The use of the single-turn absolute value sensor makes the steering gear compact in structure, and its volume and weight are reduced. Configure two single-turn absolute value sensors to achieve high-precision detection and correction of the absolute position of the output shaft, avoiding the use of incremental encoders to perform mechanical zero return to correct the absolute position of the joint every time it is started. A robot with the steering gear can also detect the absolute position of the output shaft.

Description

technical field [0001] The present application belongs to the technical field of humanoid service robots, and in particular relates to a steering gear and a robot. Background technique [0002] The planetary reducer is a relatively low-cost, high-efficiency transmission scheme. In the application of planetary reducer joints, in order to detect the absolute position of the output end, three methods are currently used: [0003] The first is to connect a multi-turn absolute encoder at the motor end, which is obtained through multi-turn absolute position conversion, but the multi-turn absolute encoder is bulky and its application is limited. [0004] The second is to use a chip with memory function to record the single-turn absolute position and the number of rotations of the single-turn absolute value encoder, but this application method either requires an additional battery to continuously supply power to the chip or an electromagnetic brake. The brake prevents rotation, and...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/12B25J9/10
CPCB25J9/102B25J9/126
Inventor 李建杨雄威丁宏钰庞建新熊友军
Owner UBTECH ROBOTICS CORP LTD
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