公开(公告)号：US09400035B1

公开(公告)日：2016-07-26

申请号：US14275984

申请日：2014-05-13

Applicant: Google Inc.

Inventor： Aaron Edsinger ,  Andy Metzger

IPC: F16H1/32 ,  F16H1/34

CPC classification number: F16H1/32 ,  F16H1/34 ,  F16H2001/323 ,  F16H2001/325 ,  F16H2057/125

Abstract: Examples are provided that describe a cycloid transmission with an adjustable ring. An example cycloid transmission includes a disc and a motor shaft attached to the disc. The motor shaft is capable of rotating the disc around an outer ring of rollers. The outer ring of rollers surrounds the disc. As the disc is rotated, contact is made between the disc and the outer ring of rollers. A cycloid transmission also comprises an adjustable ring that is interposed between the motor shaft and the disc. A circumference of the adjustable ring can be adjusted in order to cause expansion of a radius of the disc. This expansion will result in increased contact of the disc with the outer ring of rollers and thereby lower backlash during rotation of the disc.

Abstract translation: 提供了描述具有可调环的摆线传动的实例。 示例性摆线传动包括盘和连接到盘的马达轴。 电机轴能够绕圆周的滚筒旋转圆盘。 辊的外圈围绕盘。 当盘旋转时，在盘和外圈之间进行接触。 摆线传动装置还包括插入电动机轴和盘之间的可调环。 可以调节可调环的周长以使得盘的半径膨胀。 这种膨胀将导致盘与辊的外圈的接触增加，从而在盘旋转期间降低齿隙。

公开(公告)号：US20160305509A1

公开(公告)日：2016-10-20

申请号：US15191810

申请日：2016-06-24

Applicant: Google Inc.

Inventor： Aaron Edsinger ,  Andy Metzger

IPC: F16H1/32

CPC classification number: F16H1/32 ,  F16H1/34 ,  F16H2001/323 ,  F16H2001/325 ,  F16H2057/125

Abstract: Examples are provided that describe a cycloid transmission with an adjustable ring. An example cycloid transmission includes a disc and a motor shaft attached to the disc. The motor shaft is capable of rotating the disc around an outer ring of rollers. The outer ring of rollers surrounds the disc. As the disc is rotated, contact is made between the disc and the outer ring of rollers. A cycloid transmission also comprises an adjustable ring that is interposed between the motor shaft and the disc. A circumference of the adjustable ring can be adjusted in order to cause expansion of a radius of the disc. This expansion will result in increased contact of the disc with the outer ring of rollers and thereby lower backlash during rotation of the disc.

Abstract translation: 提供了描述具有可调环的摆线传动的实例。 示例性摆线传动包括盘和连接到盘的马达轴。 电机轴能够绕圆周的滚筒旋转圆盘。 辊的外圈围绕盘。 当盘旋转时，在盘和外圈之间进行接触。 摆线传动装置还包括插入电动机轴和盘之间的可调环。 可以调节可调环的周长以使得盘的半径膨胀。 这种膨胀将导致盘与辊的外圈的接触增加，从而在盘旋转期间降低齿隙。

公开(公告)号：US09346165B1

公开(公告)日：2016-05-24

申请号：US14293065

申请日：2014-06-02

Applicant: Google Inc.

Inventor： Andy Metzger ,  Lee Magnusson

IPC: G05B19/04 ,  G05B19/18 ,  B25J9/16

CPC classification number: B25J9/1674 ,  G05B2219/37274 ,  G05B2219/37624

Abstract: Robotic devices with multi-degree of freedom (DOF) load cells for shear beam sensing are described. An example robotic device includes actuators coupled through joints to form a robotic manipulator, and a load cell provided proximal to a joint for detecting a force applied to the robotic manipulator and a torque experienced about the joint. The device also includes a controller programmable to determine a location of the force along the robotic manipulator based on values of the force and the torque output from the load cell, receive information indicating parameters of the robotic manipulator and of a load being experienced by the robotic device, and based on one of the force applied to the robotic manipulator or the torque experienced about the joint being above a threshold expected amount due to the load being experienced, determine that the robotic manipulator is experiencing an unexpected shear load at the location.

Abstract translation: 描述了具有多自由度（DOF）用于剪切波束感测的称重传感器的机器人装置。 示例性机器人装置包括通过接头耦合以形成机器人操纵器的致动器，以及设置在接头附近的负载传感器，用于检测施加到机器人操纵器的力和关于接头的转矩。 该装置还包括可编程的控制器，用于基于来自测力传感器的力和扭矩输出的值来确定沿着机器人操纵器的力的位置，接收指示机器人操纵器的参数的信息和机器人经历的负载 装置，并且基于施加到机器人操纵器的力之一或由于经历负载而经历关于关节的扭矩高于阈值预期量的扭矩，确定机器人操纵器在该位置处经历意外的剪切载荷。