外骨骼(ge)機(ji)(ji)(ji)(ji)(ji)器人(ren)(ren)技術是(shi)融(rong)合傳感、控(kong)制、信息、融(rong)合、移動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)計(ji)算,為(wei)(wei)(wei)作(zuo)為(wei)(wei)(wei)操作(zuo)者的(de)人(ren)(ren)提供一(yi)種(zhong)(zhong)(zhong)可穿戴的(de)機(ji)(ji)(ji)(ji)(ji)械機(ji)(ji)(ji)(ji)(ji)構的(de)綜合技術，是(shi)指套在(zai)人(ren)(ren)體外面(mian)的(de)機(ji)(ji)(ji)(ji)(ji)器人(ren)(ren)，也稱“可穿戴的(de)機(ji)(ji)(ji)(ji)(ji)器人(ren)(ren)”。外骨骼(ge)機(ji)(ji)(ji)(ji)(ji)器人(ren)(ren)電(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)驅動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)系(xi)統位(wei)于(yu)機(ji)(ji)(ji)(ji)(ji)器運(yun)(yun)行的(de)末端，負(fu)責(ze)帶動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)械結構，執行控(kong)制系(xi)統傳遞(di)來的(de)具(ju)體任(ren)務。根據驅動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)形式(shi)的(de)不同，主(zhu)要分為(wei)(wei)(wei)三種(zhong)(zhong)(zhong)驅動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)方(fang)(fang)(fang)式(shi)：電(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)驅動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)、氣壓驅動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)、液(ye)壓驅動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)。三種(zhong)(zhong)(zhong)方(fang)(fang)(fang)式(shi)各(ge)有(you)優劣，其(qi)中以電(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)驅動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)在(zai)實際中應用(yong)(yong)較為(wei)(wei)(wei)廣泛。電(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)驅動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)在(zai)外骨骼(ge)機(ji)(ji)(ji)(ji)(ji)器人(ren)(ren)上使(shi)用(yong)(yong)電(dian)(dian)(dian)驅動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)方(fang)(fang)(fang)式(shi)一(yi)般(ban)有(you)2種(zhong)(zhong)(zhong)方(fang)(fang)(fang)案。一(yi)種(zhong)(zhong)(zhong)方(fang)(fang)(fang)案是(shi)在(zai)旋轉(zhuan)關(guan)(guan)節(jie)上直接(jie)(jie)安(an)裝(zhuang)盤式(shi)電(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)，利(li)用(yong)(yong)電(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)轉(zhuan)子的(de)旋轉(zhuan)帶動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)關(guan)(guan)節(jie)旋轉(zhuan)。這種(zhong)(zhong)(zhong)安(an)裝(zhuang)方(fang)(fang)(fang)式(shi)結構簡單，易于(yu)維護拆(chai)卸(xie)。但是(shi)采(cai)用(yong)(yong)這種(zhong)(zhong)(zhong)方(fang)(fang)(fang)案，將使(shi)得外骨骼(ge)機(ji)(ji)(ji)(ji)(ji)器人(ren)(ren)的(de)旋轉(zhuan)關(guan)(guan)節(jie)十分笨(ben)重，加之安(an)裝(zhuang)空間有(you)限，往(wang)往(wang)會由于(yu)電(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)尺寸限制而達不到到理(li)想的(de)輸出(chu)驅動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)力(li)(li)，因此這種(zhong)(zhong)(zhong)方(fang)(fang)(fang)案大多(duo)用(yong)(yong)于(yu)實驗室原(yuan)理(li)樣機(ji)(ji)(ji)(ji)(ji)上用(yong)(yong)以開展相關(guan)(guan)實驗研究。另一(yi)種(zhong)(zhong)(zhong)方(fang)(fang)(fang)案就是(shi)利(li)用(yong)(yong)電(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)推桿驅動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)，在(zai)電(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)推桿兩端用(yong)(yong)連(lian)接(jie)(jie)耳與外骨骼(ge)連(lian)接(jie)(jie)，將電(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)的(de)旋轉(zhuan)運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)轉(zhuan)化為(wei)(wei)(wei)推桿的(de)直線運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)，推動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)轉(zhuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)關(guan)(guan)節(jie)轉(zhuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)。電(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)推桿一(yi)般(ban)由電(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)和(he)(he)絲(si)杠(gang)(gang)組成，通常(chang)采(cai)用(yong)(yong)的(de)是(shi)直流(liu)電(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)，其(qi)原(yuan)理(li)是(shi)電(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)的(de)轉(zhuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)帶動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)絲(si)杠(gang)(gang)的(de)螺(luo)(luo)母轉(zhuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)，然(ran)后螺(luo)(luo)母利(li)用(yong)(yong)螺(luo)(luo)旋副的(de)原(yuan)理(li)推動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)絲(si)杠(gang)(gang)做直線運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)，從而使(shi)絲(si)杠(gang)(gang)帶動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)外骨骼(ge)機(ji)(ji)(ji)(ji)(ji)器人(ren)(ren)的(de)大腿(tui)、小腿(tui)、足部分別繞髖 關(guan)(guan)節(jie)、膝關(guan)(guan)節(jie)和(he)(he)踝關(guan)(guan)節(jie)做旋轉(zhuan)運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)，實現(xian)髖關(guan)(guan)節(jie)、膝關(guan)(guan)節(jie)和(he)(he)踝關(guan)(guan)節(jie)在(zai)矢狀面(mian)內的(de)屈伸運(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)。兆威公(gong)司(si)致力(li)(li)于(yu)研發、設(she)計(ji)、制造外骨骼(ge)機(ji)(ji)(ji)(ji)(ji)器人(ren)(ren)電(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)齒輪箱產品，提供定(ding)制開發服務。

定制開發方案：

項目名稱：機器人關節齒輪箱解決方案

項目背(bei)景：傳動機器(qi)人的(de)關(guan)節，要(yao)求有較(jiao)大功(gong)率質(zhi)量比和(he)(he)扭矩慣(guan)量比、高啟(qi)動轉矩、低(di)慣(guan)量和(he)(he)較(jiao)寬廣且平(ping)滑(hua)的(de)調速范圍。特別(bie)是機器(qi)人末端執行器(qi)(手爪)應(ying)采用體(ti)積和(he)(he)質(zhi)量較(jiao)小，并且能夠擁(yong)有短時過載(zai)能力較(jiao)大的(de)關(guan)節電機。

技術方案：機(ji)(ji)器(qi)(qi)人搭配(pei)兆威行星齒輪(lun)關節電(dian)機(ji)(ji)， 可大(da)大(da)提高機(ji)(ji)器(qi)(qi)人的(de)品質(zhi)和效率。我們(men)的(de)機(ji)(ji)器(qi)(qi)人關節齒輪(lun)擁有二級(ji)(ji)、三級(ji)(ji)、四級(ji)(ji)傳動(dong)變化可根據(ju)機(ji)(ji)器(qi)(qi)人電(dian)機(ji)(ji)的(de)設計需(xu)(xu)求更換減(jian)速比及調整齒輪(lun)箱(xiang)(xiang)的(de)輸入轉(zhuan)速及力矩。此(ci)外，我們(men)生產的(de)機(ji)(ji)器(qi)(qi)人電(dian)機(ji)(ji)齒輪(lun)箱(xiang)(xiang)具有低(di)電(dian)壓、低(di)功率、低(di)轉(zhuan)速、低(di)噪(zao)音(yin)、壽(shou)命長(chang)、微(wei)型、高扭矩的(de)特性(xing)，更好滿足(zu)六自(zi)由度(du)機(ji)(ji)器(qi)(qi)人的(de)傳動(dong)需(xu)(xu)求。

產品齒輪(lun)箱定制：直徑3.4mm-38mm，功率：0.01-40W，輸出轉速(su)(su)5-2000rpm，減(jian)速(su)(su)比5-1500，輸出扭矩(ju)1gf.cm到50Kgf.cm。 機(ji)器(qi)人關節齒輪(lun)箱電(dian)壓，轉速(su)(su)和(he)力矩(ju)一般都是根據(ju)客(ke)戶的(de)需求(qiu)來定的(de)，力矩(ju)要求(qiu)越大，齒輪(lun)箱所匹(pi)配(pei)的(de)電(dian)機(ji)就越長，減(jian)速(su)(su)比也越大，單體馬(ma)達(da)的(de)轉速(su)(su)和(he)功率也是可(ke)以調整(zheng).