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Title:
ENERGY-EFFICIENT JOINT STRUCTURE OF HIGH-DYNAMIC ROBOT
Document Type and Number:
WIPO Patent Application WO/2021/184516
Kind Code:
A1
Abstract:
An energy-efficient joint structure of a high-dynamic robot, comprising a motor (1), a ball screw (2), a moving pair (3) and a push rod (5); an output shaft of the motor (1) is connected to the ball screw (2), the ball screw (2) is connected to the moving pair (3), the moving pair (3) is fixed to a sliding block (12), the sliding block (12) is connected to one end of the push rod (5), the other end of the push rod (5) is fixed to a connector (14), and the connector (14) is provided at the lower end of a leg of the robot; a small gap is provided between the sliding block (12) and a housing (4), and the friction coefficient between the sliding block (12) and the inner wall of the housing (4) can be controlled. During actual installation of the joint structure, the motor end faces upwards, and the center of mass as a whole moves upwards, so that the rotational inertia of the leg of the robot is significantly reduced; the ball screw (2) rotates forwards and backwards along with the motor (1), which can effectively improve the motion performance of the robot; in addition, the ball screw (2) is not configured with a rubber dustproof ring, reducing the motion resistance of the moving pair (3), reducing the viscosity of the lubricating oil, and further improving the motion performance of the robot.

Inventors:
HUANG QIANG (CN)
YU ZHANGGUO (CN)
HUANG GAO (CN)
CORTELL JASON BUTLER (CN)
CHEN XUECHAO (CN)
LU LONGZE (CN)
Application Number:
PCT/CN2020/089341
Publication Date:
September 23, 2021
Filing Date:
May 09, 2020
Export Citation:
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Assignee:
UNIV BEIJING TECHNOLOGY (CN)
International Classes:
B25J17/00; B25J9/12
Domestic Patent References:
WO2010137815A22010-12-02
Foreign References:
CN103054692A2013-04-24
CN107128397A2017-09-05
CN110855071A2020-02-28
CN110228545A2019-09-13
Attorney, Agent or Firm:
NANJING IPZHI INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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