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    • 25. 发明申请
    • METHOD OF DRIVING JOINT DEVICE
    • 驱动联动装置的方法
    • US20130074636A1
    • 2013-03-28
    • US13577416
    • 2011-03-23
    • Masahiro Doi
    • Masahiro Doi
    • B25J17/00
    • B25J17/00B25J9/1025F16H49/001
    • Provided is a method of driving a joint device suitably used for a robot joint with improved back drivability. A first motor and a second motor are fixedly connected to a first link. An output shaft of the first motor is coupled to an internal gear of a differential speed reducer. An output shaft of the second motor is coupled to an external gear of the differential speed reducer. A second link is coupled to the internal gear of the differential speed reducer. When the first link and the second link are relatively stopped to keep a joint angle fixed, both of the first motor and the second motor are rotated with a rotational speed larger than zero, and the rotational speed of the first motor and that of the second motor are differentiated to stop the second link.
    • 提供一种驱动适合用于具有改进的反向驾驶性能的机器人关节的关节装置的方法。 第一电动机和第二电动机固定地连接到第一连杆。 第一马达的输出轴连接到差速减速器的内齿轮。 第二马达的输出轴与差速减速器的外齿轮相连。 第二连杆联接到差速减速器的内齿轮。 当第一连杆和第二连杆相对停止以保持接合角度固定时,第一电动机和第二电动机都以大于零的转速旋转,并且第一电动机和第二电动机的转速 电机有区别,以阻止第二个连接。